code cleanup

README.md

@@ -31,6 +31,27 @@ Follow these steps to install Shake&Tune on your printer:
      #    printer.cfg file. If you want to see the macros in the webui, set this to True.
      # timeout: 300
      #    The maximum time in seconds to let Shake&Tune process the CSV files and generate the graphs.
+
+     # motor_freq:
+     #    /!\ This option has limitations in stock Klipper and is best used with DangerKlipper /!\
+     #    Frequencies of X and Y motor resonances to filter them by using
+     #    composite shapers. This requires the `[input_shaper]` config
+     #    section to be defined in your printer.cfg file to work.
+     # motor_freq_x:
+     # motor_freq_y:
+     #   /!\ This option has limitations in stock Klipper and is best used with DangerKlipper /!\
+     #   If motor_freq is not set, these two parameters can be used
+     #   to configure different filters for X and Y motors. The same
+     #   values are supported as for motor_freq parameter.
+     # motor_damping_ratio: 0.05
+     #   /!\ This option has limitations in stock Klipper and is best used with DangerKlipper /!\
+     #   Damping ratios for X and Y motor resonances. 
+     # motor_damping_ratio_x:
+     # motor_damping_ratio_y:
+     #   /!\ This option has limitations in stock Klipper and is best used with DangerKlipper /!\
+     #   If motor_damping_ratio is not set, these two parameters can be used
+     #   to configure different filters for X and Y motors. The same values
+     #   are supported as for motor_damping_ratio parameter.
      ```
 
 Don't forget to check out **[Shake&Tune documentation here](./docs/README.md)**.

shaketune/graph_creators/vibrations_graph_creator.py

@@ -39,6 +39,7 @@ from ..helpers.motors_config_parser import Motor, MotorsConfigParser
 from ..shaketune_config import ShakeTuneConfig
 from .graph_creator import GraphCreator
 
+DEFAULT_LOW_FREQ_MAX = 30
 PEAKS_DETECTION_THRESHOLD = 0.05
 PEAKS_RELATIVE_HEIGHT_THRESHOLD = 0.04
 CURVE_SIMILARITY_SIGMOID_K = 0.5
@@ -114,58 +115,61 @@ def calc_freq_response(data) -> Tuple[np.ndarray, np.ndarray]:
     return helper.process_accelerometer_data(data)
 
 
-# Calculate motor frequency profiles based on the measured Power Spectral Density (PSD) measurements for the machine kinematics
+def find_motor_characteristics(motor: str, freqs: np.ndarray, psd: np.ndarray) -> Tuple[float, float, int]:
-# main angles and then create a global motor profile as a weighted average (from their own vibrations) of all calculated profiles
+    motor_fr, motor_zeta, motor_res_idx, lowfreq_max = compute_mechanical_parameters(psd, freqs, DEFAULT_LOW_FREQ_MAX)
-def compute_motor_profiles(
-    freqs: np.ndarray,
-    psds: dict,
-    all_angles_energy: dict,
-    measured_angles: Optional[List[int]] = None,
-    energy_amplification_factor: int = 2,
-) -> Tuple[dict, np.ndarray]:
-    if measured_angles is None:
-        measured_angles = [0, 90]
 
+    if lowfreq_max:
+        ConsoleOutput.print(
+            (
+                f'[WARNING] {motor} motor has a lot of low frequency vibrations. This is '
+                'probably due to the test being performed at too high an acceleration!\n'
+                'Try lowering ACCEL and/or increasing SIZE before restarting the macro '
+                'to ensure that only constant speeds are being recorded and that the '
+                'dynamic behavior of the machine is not affecting the measurements.'
+            )
+        )
+    if motor_zeta is not None:
+        ConsoleOutput.print(
+            (
+                f'Motor {motor} have a main resonant frequency at {motor_fr:.1f}Hz '
+                f'with an estimated damping ratio of {motor_zeta:.3f}'
+            )
+        )
+    else:
+        ConsoleOutput.print(
+            (
+                f'Motor {motor} have a main resonant frequency at {motor_fr:.1f}Hz '
+                'but it was impossible to estimate its damping ratio.'
+            )
+        )
+
+    return motor_fr, motor_zeta, motor_res_idx
+
+
+# Calculate motor frequency profiles based on the measured Power Spectral Density (PSD) measurements
+# for the machine kinematics main angles
+def compute_motor_profiles(freqs: np.ndarray, psds: dict, measured_angles: Optional[List[int]] = (0, 90)) -> dict:
     motor_profiles = {}
-    weighted_sum_profiles = np.zeros_like(freqs)
-    total_weight = 0
     conv_filter = np.ones(20) / 20
 
-    # Creating the PSD motor profiles for each angles
+    # Creating the PSD motor profiles for each angle by summing the PSDs for each speed
     for angle in measured_angles:
-        # Calculate the sum of PSDs for the current angle and then convolve
         sum_curve = np.sum(np.array([psds[angle][speed] for speed in psds[angle]]), axis=0)
         motor_profiles[angle] = np.convolve(sum_curve / len(psds[angle]), conv_filter, mode='same')
 
-        # Calculate weights
+    return motor_profiles
-        angle_energy = (
-            all_angles_energy[angle] ** energy_amplification_factor
-        )  # First weighting factor is based on the total vibrations of the machine at the specified angle
-        curve_area = (
-            np.trapz(motor_profiles[angle], freqs) ** energy_amplification_factor
-        )  # Additional weighting factor is based on the area under the current motor profile at this specified angle
-        total_angle_weight = angle_energy * curve_area
-
-        # Update weighted sum profiles to get the global motor profile
-        weighted_sum_profiles += motor_profiles[angle] * total_angle_weight
-        total_weight += total_angle_weight
-
-    # Creating a global average motor profile that is the weighted average of all the PSD motor profiles
-    global_motor_profile = weighted_sum_profiles / total_weight if total_weight != 0 else weighted_sum_profiles
-
-    return motor_profiles, global_motor_profile
 
 
 # Since it was discovered that there is no non-linear mixing in the stepper "steps" vibrations, instead of measuring
 # the effects of each speeds at each angles, this function simplify it by using only the main motors axes (X/Y for Cartesian
-# printers and A/B for CoreXY) measurements and project each points on the [0,360] degrees range using trigonometry
+# printers and A/B for CoreXY) measurements and project each points on the [0, 360] degrees range using trigonometry
 # to "sum" the vibration impact of each axis at every points of the generated spectrogram. The result is very similar at the end.
 def compute_dir_speed_spectrogram(
-    measured_speeds: List[float], data: dict, kinematics: str = 'cartesian', measured_angles: Optional[List[int]] = None
+    measured_speeds: List[float],
+    data: dict,
+    kinematics: str = 'cartesian',
+    measured_angles: Optional[List[int]] = (0, 90),
 ) -> Tuple[np.ndarray, np.ndarray, np.ndarray]:
-    if measured_angles is None:
-        measured_angles = [0, 90]
-
     # We want to project the motor vibrations measured on their own axes on the [0, 360] range
     spectrum_angles = np.linspace(0, 360, 720)  # One point every 0.5 degrees
     spectrum_speeds = np.linspace(min(measured_speeds), max(measured_speeds), len(measured_speeds) * 6)
@@ -293,11 +297,8 @@ def filter_and_split_ranges(
 # This function allow the computation of a symmetry score that reflect the spectrogram apparent symmetry between
 # measured axes on both the shape of the signal and the energy level consistency across both side of the signal
 def compute_symmetry_analysis(
-    all_angles: np.ndarray, spectrogram_data: np.ndarray, measured_angles: Optional[List[int]] = None
+    all_angles: np.ndarray, spectrogram_data: np.ndarray, measured_angles: Optional[List[int]] = (0, 90)
 ) -> float:
-    if measured_angles is None:
-        measured_angles = [0, 90]
-
     total_spectrogram_angles = len(all_angles)
     half_spectrogram_angles = total_spectrogram_angles // 2
 
@@ -501,75 +502,40 @@ def plot_angular_speed_profiles(
 
 
 def plot_motor_profiles(
-    ax: plt.Axes,
+    ax: plt.Axes, freqs: np.ndarray, main_angles: List[int], motor_profiles: dict, max_freq: float
-    freqs: np.ndarray,
-    main_angles: List[int],
-    motor_profiles: dict,
-    global_motor_profile: np.ndarray,
-    max_freq: float,
 ) -> None:
-    ax.set_title('Motor frequency profile', fontsize=14, color=KLIPPAIN_COLORS['dark_orange'], weight='bold')
+    ax.set_title('Motors frequency profiles', fontsize=14, color=KLIPPAIN_COLORS['dark_orange'], weight='bold')
     ax.set_ylabel('Energy')
     ax.set_xlabel('Frequency (Hz)')
 
     ax2 = ax.twinx()
     ax2.yaxis.set_visible(False)
 
-    # Global weighted average motor profile
-    ax.plot(freqs, global_motor_profile, label='Combined', color=KLIPPAIN_COLORS['purple'], zorder=5)
-    max_value = global_motor_profile.max()
-
     # Mapping of angles to axis names
     angle_settings = {0: 'X', 90: 'Y', 45: 'A', 135: 'B'}
 
-    # And then plot the motor profiles at each measured angles
+    # And then plot the motor profiles at each measured angles with their characteristics
+    max_value = 0
     for angle in main_angles:
         profile_max = motor_profiles[angle].max()
         if profile_max > max_value:
             max_value = profile_max
         label = f'{angle_settings[angle]} ({angle} deg)' if angle in angle_settings else f'{angle} deg'
-        ax.plot(freqs, motor_profiles[angle], linestyle='--', label=label, zorder=2)
+        ax.plot(freqs, motor_profiles[angle], label=label, zorder=2)
+
+        motor_fr, motor_zeta, motor_res_idx = find_motor_characteristics(
+            angle_settings[angle], freqs, motor_profiles[angle]
+        )
+        ax2.plot([], [], ' ', label=f'{angle_settings[angle]} resonant frequency (ω0): {motor_fr:.1f}Hz')
+        if motor_zeta is not None:
+            ax2.plot([], [], ' ', label=f'{angle_settings[angle]} damping ratio (ζ): {motor_zeta:.3f}')
+        else:
+            ax2.plot([], [], ' ', label=f'{angle_settings[angle]} damping ratio (ζ): unknown')
 
     ax.set_xlim([0, max_freq])
     ax.set_ylim([0, max_value * 1.1])
     ax.ticklabel_format(axis='y', style='scientific', scilimits=(0, 0))
 
-    # Then add the motor resonance peak to the graph and print some infos about it
-    motor_fr, motor_zeta, motor_res_idx, lowfreq_max = compute_mechanical_parameters(global_motor_profile, freqs, 30)
-    if lowfreq_max:
-        ConsoleOutput.print(
-            '[WARNING] There are a lot of low frequency vibrations that can alter the readings. This is probably due to the test being performed at too high an acceleration!'
-        )
-        ConsoleOutput.print(
-            'Try lowering the ACCEL value and/or increasing the SIZE value before restarting the macro to ensure that only constant speeds are being recorded and that the dynamic behavior of the machine is not affecting the measurements'
-        )
-    if motor_zeta is not None:
-        ConsoleOutput.print(
-            f'Motors have a main resonant frequency at {motor_fr:.1f}Hz with an estimated damping ratio of {motor_zeta:.3f}'
-        )
-    else:
-        ConsoleOutput.print(
-            f'Motors have a main resonant frequency at {motor_fr:.1f}Hz but it was impossible to estimate a damping ratio.'
-        )
-
-    ax.plot(freqs[motor_res_idx], global_motor_profile[motor_res_idx], 'x', color='black', markersize=10)
-    ax.annotate(
-        'R',
-        (freqs[motor_res_idx], global_motor_profile[motor_res_idx]),
-        textcoords='offset points',
-        xytext=(15, 5),
-        ha='right',
-        fontsize=14,
-        color=KLIPPAIN_COLORS['red_pink'],
-        weight='bold',
-    )
-
-    ax2.plot([], [], ' ', label=f'Motor resonant frequency (ω0): {motor_fr:.1f}Hz')
-    if motor_zeta is not None:
-        ax2.plot([], [], ' ', label=f'Motor damping ratio (ζ): {motor_zeta:.3f}')
-    else:
-        ax2.plot([], [], ' ', label='No damping ratio computed')
-
     ax.xaxis.set_minor_locator(matplotlib.ticker.AutoMinorLocator())
     ax.yaxis.set_minor_locator(matplotlib.ticker.AutoMinorLocator())
     ax.grid(which='major', color='grey')
@@ -649,7 +615,7 @@ def plot_vibration_spectrogram(
 def plot_motor_config_txt(fig: plt.Figure, motors: List[MotorsConfigParser], differences: Optional[str]) -> None:
     motor_details = [(motors[0], 'X motor'), (motors[1], 'Y motor')]
 
-    distance = 0.12
+    distance = 0.15
     if motors[0].get_config('autotune_enabled'):
         distance = 0.27
         config_blocks = [
@@ -732,9 +698,9 @@ def vibrations_profile(
     shaper_calibrate = setup_klipper_import(klipperdir)
 
     if kinematics == 'cartesian' or kinematics == 'corexz':
-        main_angles = [0, 90]
+        main_angles = (0, 90)
     elif kinematics == 'corexy':
-        main_angles = [45, 135]
+        main_angles = (45, 135)
     else:
         raise ValueError('Only Cartesian, CoreXY and CoreXZ kinematics are supported by this tool at the moment!')
 
@@ -775,7 +741,7 @@ def vibrations_profile(
     )
     all_angles_energy = compute_angle_powers(spectrogram_data)
     sp_min_energy, sp_max_energy, sp_variance_energy, vibration_metric = compute_speed_powers(spectrogram_data)
-    motor_profiles, global_motor_profile = compute_motor_profiles(target_freqs, psds, all_angles_energy, main_angles)
+    motor_profiles = compute_motor_profiles(target_freqs, psds, main_angles)
 
     # symmetry_factor = compute_symmetry_analysis(all_angles, all_angles_energy)
     symmetry_factor = compute_symmetry_analysis(all_angles, spectrogram_data, main_angles)
@@ -884,7 +850,7 @@ def vibrations_profile(
     plot_angular_speed_profiles(ax3, all_speeds, all_angles, spectrogram_data, kinematics)
     plot_vibration_spectrogram(ax5, all_angles, all_speeds, spectrogram_data, vibration_peaks)
 
-    plot_motor_profiles(ax6, target_freqs, main_angles, motor_profiles, global_motor_profile, max_freq)
+    plot_motor_profiles(ax6, target_freqs, main_angles, motor_profiles, max_freq)
 
     # Adding a small Klippain logo to the top left corner of the figure
     ax_logo = fig.add_axes([0.001, 0.924, 0.075, 0.075], anchor='NW')

shaketune/motor_res_filter.py

@@ -0,0 +1,142 @@
+# Shake&Tune: 3D printer analysis tools
+#
+# Copyright (C) 2024 Félix Boisselier <felix@fboisselier.fr> (Frix_x on Discord)
+# Licensed under the GNU General Public License v3.0 (GPL-3.0)
+#
+# File: motor_res_filter.py
+# Description: This script defines the MotorResonanceFilter class that applies and removes motor resonance filters
+#              into the input shaper initial Klipper object. This is done by convolving a motor resonance targeted
+#              input shaper filter with the current configured axis input shapers.
+
+import math
+
+from .helpers.console_output import ConsoleOutput
+
+
+class MotorResonanceFilter:
+    def __init__(self, printer, freq_x: float, freq_y: float, damping_x: float, damping_y: float, in_danger: bool):
+        self._printer = printer
+        self.freq_x = freq_x
+        self.freq_y = freq_y
+        self.damping_x = damping_x
+        self.damping_y = damping_y
+        self._in_danger = in_danger
+
+        self._original_shapers = {}
+
+    # Convolve two Klipper shapers into a new custom composite input shaping filter
+    @staticmethod
+    def convolve_shapers(L, R):
+        As = [a * b for a in L[0] for b in R[0]]
+        Ts = [a + b for a in L[1] for b in R[1]]
+        C = sorted(list(zip(Ts, As)))
+        return ([a for _, a in C], [t for t, _ in C])
+
+    def apply_filters(self) -> None:
+        input_shaper = self._printer.lookup_object('input_shaper', None)
+        if input_shaper is None:
+            raise ValueError(
+                'Unable to apply Shake&Tune motor resonance filters: no [input_shaper] config section found!'
+            )
+
+        shapers = input_shaper.get_shapers()
+        for shaper in shapers:
+            axis = shaper.axis
+            shaper_type = shaper.params.get_status()['shaper_type']
+
+            # Ignore the motor resonance filters for smoothers from DangerKlipper
+            if shaper_type.startswith('smooth_'):
+                ConsoleOutput.print(
+                    (
+                        f'Warning: {shaper_type} type shaper on {axis} axis is a smoother from DangerKlipper '
+                        'Bleeding-Edge that already filters the motor resonance frequency range. Shake&Tune '
+                        'motor resonance filters will be ignored for this axis...'
+                    )
+                )
+                continue
+
+            # Ignore the motor resonance filters for custom shapers as users can set their own A&T values
+            if shaper_type == 'custom':
+                ConsoleOutput.print(
+                    (
+                        f'Warning: custom type shaper on {axis} axis is a manually crafted filter. So you have '
+                        'already set custom A&T values for this axis and you should be able to convolve the motor '
+                        'resonance frequency range to this custom shaper. Shake&Tune motor resonance filters will '
+                        'be ignored for this axis...'
+                    )
+                )
+                continue
+
+            # At the moment, when running stock Klipper, only ZV type shapers are supported to get combined with
+            # the motor resonance filters. This is due to the size of the pulse train that is too small and is not
+            # allowing the convolved shapers to be applied. This unless this PR is merged: https://github.com/Klipper3d/klipper/pull/6460
+            if not self._in_danger and shaper_type != 'zv':
+                ConsoleOutput.print(
+                    (
+                        f'Error: the {axis} axis is not a ZV type shaper. Shake&Tune motor resonance filters '
+                        'will be ignored for this axis... This is due to the size of the pulse train being too '
+                        'small and not allowing the convolved shapers to be applied... unless this PR is '
+                        'merged: https://github.com/Klipper3d/klipper/pull/6460'
+                    )
+                )
+                continue
+
+            # Get the current shaper parameters and store them for later restoration
+            _, axis_shaper_A, axis_shaper_T = shaper.get_shaper()
+            self._original_shapers[axis] = (axis_shaper_A, axis_shaper_T)
+
+            # Creating the new combined shapers that contains the motor resonance filters
+            if axis in {'x', 'y'}:
+                if self._in_danger:
+                    # In DangerKlipper, the pulse train is large enough to allow the
+                    # convolution of any shapers in order to craft the new combined shapers
+                    # so we can use the MZV shaper (that looks to be the best for this purpose)
+                    df = math.sqrt(1.0 - self.damping_x**2)
+                    K = math.exp(-0.75 * self.damping_x * math.pi / df)
+                    t_d = 1.0 / (self.freq_x * df)
+                    a1 = 1.0 - 1.0 / math.sqrt(2.0)
+                    a2 = (math.sqrt(2.0) - 1.0) * K
+                    a3 = a1 * K * K
+                    motor_filter_A = [a1, a2, a3]
+                    motor_filter_T = [0.0, 0.375 * t_d, 0.75 * t_d]
+                else:
+                    # In stock Klipper, the pulse train is too small for most shapers
+                    # to be convolved. So we need to use the ZV shaper instead for the
+                    # motor resonance filters... even if it's not the best for this purpose
+                    df = math.sqrt(1.0 - self.damping_x**2)
+                    K = math.exp(-self.damping_x * math.pi / df)
+                    t_d = 1.0 / (self.freq_x * df)
+                    motor_filter_A = [1.0, K]
+                    motor_filter_T = [0.0, 0.5 * t_d]
+
+                combined_filter_A, combined_filter_T = MotorResonanceFilter.convolve_shapers(
+                    (axis_shaper_A, axis_shaper_T),
+                    (motor_filter_A, motor_filter_T),
+                )
+
+                shaper.A = combined_filter_A
+                shaper.T = combined_filter_T
+                shaper.n = len(combined_filter_A)
+
+        # Update the running input shaper filter with the new parameters
+        input_shaper._update_input_shaping()
+
+    def remove_filters(self) -> None:
+        input_shaper = self._printer.lookup_object('input_shaper', None)
+        if input_shaper is None:
+            raise ValueError(
+                'Unable to deactivate Shake&Tune motor resonance filters: no [input_shaper] config section found!'
+            )
+
+        shapers = input_shaper.get_shapers()
+        for shaper in shapers:
+            axis = shaper.axis
+            if axis in self._original_shapers:
+                A, T = self._original_shapers[axis]
+                shaper.A = A
+                shaper.T = T
+                shaper.n = len(A)
+
+        # Update the running input shaper filter with the restored initial parameters
+        # to keep only standard axis input shapers activated
+        input_shaper._update_input_shaping()

shaketune/shaketune.py

@@ -8,6 +8,7 @@
 #              loading of the plugin, and the registration of the tuning commands
 
 
+import importlib
 import os
 from pathlib import Path
 
@@ -26,166 +27,234 @@ from .graph_creators import (
     VibrationsGraphCreator,
 )
 from .helpers.console_output import ConsoleOutput
+from .motor_res_filter import MotorResonanceFilter
 from .shaketune_config import ShakeTuneConfig
 from .shaketune_process import ShakeTuneProcess
 
-IN_DANGER = False
+DEFAULT_MOTOR_DAMPING_RATIO = 0.05
+ST_COMMANDS = {
+    'EXCITATE_AXIS_AT_FREQ': (
+        'Maintain a specified excitation frequency for a period '
+        'of time to diagnose and locate a source of vibrations'
+    ),
+    'AXES_MAP_CALIBRATION': (
+        'Perform a set of movements to measure the orientation of the accelerometer '
+        'and help you set the best axes_map configuration for your printer'
+    ),
+    'COMPARE_BELTS_RESPONSES': (
+        'Perform a custom half-axis test to analyze and compare the '
+        'frequency profiles of individual belts on CoreXY or CoreXZ printers'
+    ),
+    'AXES_SHAPER_CALIBRATION': 'Perform standard axis input shaper tests on one or both XY axes to select the best input shaper filter',
+    'CREATE_VIBRATIONS_PROFILE': (
+        'Run a series of motions to find speed/angle ranges where the printer could be '
+        'exposed to VFAs to optimize your slicer speed profiles and TMC driver parameters'
+    ),
+}
 
 
 class ShakeTune:
     def __init__(self, config) -> None:
-        try:
+        self._config = config
-            from extras.danger_options import get_danger_options
-
-            IN_DANGER = True  # check if Shake&Tune is running in DangerKlipper
-        except ImportError:
-            continue
-
-        self._pconfig = config
         self._printer = config.get_printer()
+        self._printer.register_event_handler('klippy:connect', self._on_klippy_connect)
+
+        # Check if Shake&Tune is running in DangerKlipper
+        self.IN_DANGER = importlib.util.find_spec('extras.danger_options') is not None
+
+        # Register the console print output callback to the corresponding Klipper function
         gcode = self._printer.lookup_object('gcode')
+        ConsoleOutput.register_output_callback(gcode.respond_info)
 
-        res_tester = self._printer.lookup_object('resonance_tester', None)
+        self._initialize_config(config)
-        if res_tester is None:
+        self._register_commands()
-            config.error('No [resonance_tester] config section found in printer.cfg! Please add one to use Shake&Tune.')
+        self._initialize_motor_resonance_filter()
 
-        self.timeout = config.getfloat('timeout', 300, above=0.0)
+    # Initialize the ShakeTune object and its configuration
+    def _initialize_config(self, config) -> None:
         result_folder = config.get('result_folder', default='~/printer_data/config/ShakeTune_results')
         result_folder_path = Path(result_folder).expanduser() if result_folder else None
         keep_n_results = config.getint('number_of_results_to_keep', default=3, minval=0)
         keep_csv = config.getboolean('keep_raw_csv', default=False)
-        show_macros = config.getboolean('show_macros_in_webui', default=True)
         dpi = config.getint('dpi', default=150, minval=100, maxval=500)
+        self._st_config = ShakeTuneConfig(result_folder_path, keep_n_results, keep_csv, dpi)
 
-        self._config = ShakeTuneConfig(result_folder_path, keep_n_results, keep_csv, dpi)
+        self.timeout = config.getfloat('timeout', 300, above=0.0)
-        ConsoleOutput.register_output_callback(gcode.respond_info)
+        self._show_macros = config.getboolean('show_macros_in_webui', default=True)
 
-        # Register Shake&Tune's measurement commands
+        motor_freq = config.getfloat('motor_freq', None, minval=0.0)
+        self._motor_freq_x = config.getfloat('motor_freq_x', motor_freq, minval=0.0)
+        self._motor_freq_y = config.getfloat('motor_freq_y', motor_freq, minval=0.0)
+        motor_damping = config.getfloat('motor_damping_ratio', DEFAULT_MOTOR_DAMPING_RATIO, minval=0.0)
+        self._motor_damping_x = config.getfloat('motor_damping_ratio_x', motor_damping, minval=0.0)
+        self._motor_damping_y = config.getfloat('motor_damping_ratio_y', motor_damping, minval=0.0)
+
+    # Create the Klipper commands to allow the user to run Shake&Tune's tools
+    def _register_commands(self) -> None:
+        gcode = self._printer.lookup_object('gcode')
         measurement_commands = [
-            (
+            ('EXCITATE_AXIS_AT_FREQ', self.cmd_EXCITATE_AXIS_AT_FREQ, ST_COMMANDS['EXCITATE_AXIS_AT_FREQ']),
-                'EXCITATE_AXIS_AT_FREQ',
+            ('AXES_MAP_CALIBRATION', self.cmd_AXES_MAP_CALIBRATION, ST_COMMANDS['AXES_MAP_CALIBRATION']),
-                self.cmd_EXCITATE_AXIS_AT_FREQ,
+            ('COMPARE_BELTS_RESPONSES', self.cmd_COMPARE_BELTS_RESPONSES, ST_COMMANDS['COMPARE_BELTS_RESPONSES']),
-                (
+            ('AXES_SHAPER_CALIBRATION', self.cmd_AXES_SHAPER_CALIBRATION, ST_COMMANDS['AXES_SHAPER_CALIBRATION']),
-                    'Maintain a specified excitation frequency for a period '
+            ('CREATE_VIBRATIONS_PROFILE', self.cmd_CREATE_VIBRATIONS_PROFILE, ST_COMMANDS['CREATE_VIBRATIONS_PROFILE']),
-                    'of time to diagnose and locate a source of vibrations'
-                ),
-            ),
-            (
-                'AXES_MAP_CALIBRATION',
-                self.cmd_AXES_MAP_CALIBRATION,
-                (
-                    'Perform a set of movements to measure the orientation of the accelerometer '
-                    'and help you set the best axes_map configuration for your printer'
-                ),
-            ),
-            (
-                'COMPARE_BELTS_RESPONSES',
-                self.cmd_COMPARE_BELTS_RESPONSES,
-                (
-                    'Perform a custom half-axis test to analyze and compare the '
-                    'frequency profiles of individual belts on CoreXY or CoreXZ printers'
-                ),
-            ),
-            (
-                'AXES_SHAPER_CALIBRATION',
-                self.cmd_AXES_SHAPER_CALIBRATION,
-                'Perform standard axis input shaper tests on one or both XY axes to select the best input shaper filter',
-            ),
-            (
-                'CREATE_VIBRATIONS_PROFILE',
-                self.cmd_CREATE_VIBRATIONS_PROFILE,
-                (
-                    'Run a series of motions to find speed/angle ranges where the printer could be '
-                    'exposed to VFAs to optimize your slicer speed profiles and TMC driver parameters'
-                ),
-            ),
         ]
-        command_descriptions = {name: desc for name, _, desc in measurement_commands}
-        for name, command, description in measurement_commands:
-            gcode.register_command(f'_{name}' if show_macros else name, command, desc=description)
 
-        # Load the dummy macros with their description in order to show them in the web interfaces
+        # Register Shake&Tune's measurement commands using the official Klipper API (gcode.register_command)
-        if show_macros:
+        # Doing this makes the commands available in Klipper but they are not shown in the web interfaces
-            pconfig = self._printer.lookup_object('configfile')
+        # and are only available by typing the full name in the console (like all the other Klipper commands)
+        for name, command, description in measurement_commands:
+            gcode.register_command(f'_{name}' if self._show_macros else name, command, desc=description)
+
+        # Then, a hack to inject the macros into Klipper's config system in order to show them in the web
+        # interfaces. This is not a good way to do it, but it's the only way to do it for now to get
+        # a good user experience while using Shake&Tune (it's indeed easier to just click a macro button)
+        if self._show_macros:
+            configfile = self._printer.lookup_object('configfile')
             dirname = os.path.dirname(os.path.realpath(__file__))
             filename = os.path.join(dirname, 'dummy_macros.cfg')
             try:
-                dummy_macros_cfg = pconfig.read_config(filename)
+                dummy_macros_cfg = configfile.read_config(filename)
             except Exception as err:
-                raise config.error(f'Cannot load Shake&Tune dummy macro {filename}') from err
+                raise self._config.error(f'Cannot load Shake&Tune dummy macro {filename}') from err
 
             for gcode_macro in dummy_macros_cfg.get_prefix_sections('gcode_macro '):
                 gcode_macro_name = gcode_macro.get_name()
 
-                # Replace the dummy description by the one here (to avoid code duplication and define it in only one place)
+                # Replace the dummy description by the one from ST_COMMANDS (to avoid code duplication and define it in only one place)
                 command = gcode_macro_name.split(' ', 1)[1]
-                description = command_descriptions.get(command, 'Shake&Tune macro')
+                description = ST_COMMANDS.get(command, 'Shake&Tune macro')
                 gcode_macro.fileconfig.set(gcode_macro_name, 'description', description)
 
                 # Add the section to the Klipper configuration object with all its options
-                if not config.fileconfig.has_section(gcode_macro_name.lower()):
+                if not self._config.fileconfig.has_section(gcode_macro_name.lower()):
-                    config.fileconfig.add_section(gcode_macro_name.lower())
+                    self._config.fileconfig.add_section(gcode_macro_name.lower())
                 for option in gcode_macro.fileconfig.options(gcode_macro_name):
                     value = gcode_macro.fileconfig.get(gcode_macro_name, option)
-                    config.fileconfig.set(gcode_macro_name.lower(), option, value)
+                    self._config.fileconfig.set(gcode_macro_name.lower(), option, value)
-
                     # Small trick to ensure the new injected sections are considered valid by Klipper config system
-                    config.access_tracking[(gcode_macro_name.lower(), option.lower())] = 1
+                    self._config.access_tracking[(gcode_macro_name.lower(), option.lower())] = 1
 
                 # Finally, load the section within the printer objects
-                self._printer.load_object(config, gcode_macro_name.lower())
+                self._printer.load_object(self._config, gcode_macro_name.lower())
+
+    # Register the motor resonance filters if they are defined in the config
+    # DangerKlipper is required for the full feature but a degraded system forcing the ZV filter for
+    # both input shaping and motor resonance filter will be used instead in stock Klipper. But this might
+    # be improved in the future if https://github.com/Klipper3d/klipper/pull/6460 get merged
+    # TODO: To mitigate this issue, add an automated patch to klippy/chelper/kin_shaper.c
+    #       (using a .diff file) to enable the motor filters in stock Klipper as well.
+    #       But this will make the Klipper repo dirty to moonraker update manager, so I'm not
+    #       sure how to handle this. Maybe with also a command to revert the patch? Or a
+    #       manual command to apply the patch with a required user action?
+    def _initialize_motor_resonance_filter(self) -> None:
+        if self._motor_freq_x is not None and self._motor_freq_y is not None:
+            self._printer.register_event_handler('klippy:ready', self._on_klippy_ready)
+            gcode = self._printer.lookup_object('gcode')
+            gcode.register_command(
+                'MOTOR_RESONANCE_FILTER',
+                self.cmd_MOTOR_RESONANCE_FILTER,
+                desc='Enable/disable the motor resonance filters',
+            )
+            self.motor_resonance_filter = MotorResonanceFilter(
+                self._printer,
+                self._motor_freq_x,
+                self._motor_freq_y,
+                self._motor_damping_x,
+                self._motor_damping_y,
+                self.IN_DANGER,
+            )
+
+    def _on_klippy_connect(self) -> None:
+        # Check if the resonance_tester object is available in the printer
+        # configuration as it is required for Shake&Tune to work properly
+        res_tester = self._printer.lookup_object('resonance_tester', None)
+        if res_tester is None:
+            raise self._config.error(
+                'No [resonance_tester] config section found in printer.cfg! Please add one to use Shake&Tune!'
+            )
+
+        # In case the user has configured a motor resonance filter, we need to make sure
+        # that the input shaper is configured as well in order to use them. This is because
+        # the input shaper object is the one used to actually applies the additional filters
+        if self._motor_freq_x is not None and self._motor_freq_y is not None:
+            input_shaper = self._printer.lookup_object('input_shaper', None)
+            if input_shaper is None:
+                raise self._config.error(
+                    (
+                        'No [input_shaper] config section found in printer.cfg! Please add one to use Shake&Tune '
+                        'motor resonance filters!'
+                    )
+                )
+
+    def _on_klippy_ready(self) -> None:
+        self.motor_resonance_filter.apply_filters()
+
+    # ------------------------------------------------------------------------------------------
+    # ------------------------------------------------------------------------------------------
+    # Following are all the Shake&Tune commands that are registered to the Klipper console
+    # ------------------------------------------------------------------------------------------
+    # ------------------------------------------------------------------------------------------
 
     def cmd_EXCITATE_AXIS_AT_FREQ(self, gcmd) -> None:
         ConsoleOutput.print(f'Shake&Tune version: {ShakeTuneConfig.get_git_version()}')
-        static_freq_graph_creator = StaticGraphCreator(self._config)
+        static_freq_graph_creator = StaticGraphCreator(self._st_config)
         st_process = ShakeTuneProcess(
-            self._config,
+            self._st_config,
             self._printer.get_reactor(),
             static_freq_graph_creator,
             self.timeout,
         )
-        excitate_axis_at_freq(gcmd, self._pconfig, st_process)
+        excitate_axis_at_freq(gcmd, self._config, st_process)
 
     def cmd_AXES_MAP_CALIBRATION(self, gcmd) -> None:
         ConsoleOutput.print(f'Shake&Tune version: {ShakeTuneConfig.get_git_version()}')
-        axes_map_graph_creator = AxesMapGraphCreator(self._config)
+        axes_map_graph_creator = AxesMapGraphCreator(self._st_config)
         st_process = ShakeTuneProcess(
-            self._config,
+            self._st_config,
             self._printer.get_reactor(),
             axes_map_graph_creator,
             self.timeout,
         )
-        axes_map_calibration(gcmd, self._pconfig, st_process)
+        axes_map_calibration(gcmd, self._config, st_process)
 
     def cmd_COMPARE_BELTS_RESPONSES(self, gcmd) -> None:
         ConsoleOutput.print(f'Shake&Tune version: {ShakeTuneConfig.get_git_version()}')
-        belt_graph_creator = BeltsGraphCreator(self._config)
+        belt_graph_creator = BeltsGraphCreator(self._st_config)
         st_process = ShakeTuneProcess(
-            self._config,
+            self._st_config,
             self._printer.get_reactor(),
             belt_graph_creator,
             self.timeout,
         )
-        compare_belts_responses(gcmd, self._pconfig, st_process)
+        compare_belts_responses(gcmd, self._config, st_process)
 
     def cmd_AXES_SHAPER_CALIBRATION(self, gcmd) -> None:
         ConsoleOutput.print(f'Shake&Tune version: {ShakeTuneConfig.get_git_version()}')
-        shaper_graph_creator = ShaperGraphCreator(self._config)
+        shaper_graph_creator = ShaperGraphCreator(self._st_config)
         st_process = ShakeTuneProcess(
-            self._config,
+            self._st_config,
             self._printer.get_reactor(),
             shaper_graph_creator,
             self.timeout,
         )
-        axes_shaper_calibration(gcmd, self._pconfig, st_process)
+        axes_shaper_calibration(gcmd, self._config, st_process)
 
     def cmd_CREATE_VIBRATIONS_PROFILE(self, gcmd) -> None:
         ConsoleOutput.print(f'Shake&Tune version: {ShakeTuneConfig.get_git_version()}')
-        vibration_profile_creator = VibrationsGraphCreator(self._config)
+        vibration_profile_creator = VibrationsGraphCreator(self._st_config)
         st_process = ShakeTuneProcess(
-            self._config,
+            self._st_config,
             self._printer.get_reactor(),
             vibration_profile_creator,
             self.timeout,
         )
-        create_vibrations_profile(gcmd, self._pconfig, st_process)
+        create_vibrations_profile(gcmd, self._config, st_process)
+
+    def cmd_MOTOR_RESONANCE_FILTER(self, gcmd) -> None:
+        enable = gcmd.get_int('ENABLE', default=1, minval=0, maxval=1)
+        if enable:
+            self.motor_resonance_filter.apply_filters()
+        else:
+            self.motor_resonance_filter.remove_filters()
+        ConsoleOutput.print(f'Motor resonance filter {"enabled" if enable else "disabled"}.')