Merge pull request #16 from Frix-x/accel-patch

Allow user input for ACCEL on vibration measurements
and use a low accel by default (with automated restore of the previous values at the end of the test) to get proper measurements

K-ShakeTune/IS_shaper_calibrate.cfg

@@ -2,9 +2,10 @@
 ###### STANDARD INPUT_SHAPER CALIBRATIONS ######
 ################################################
 # Written by Frix_x#0161 #
-# @version: 1.4
+# @version: 1.5
 
 # CHANGELOG:
+#   v1.5: modified EXCITATE_AXIS_AT_FREQ to allow A or B belt testing
 #   v1.4: added possibility to only run one axis at a time for the axes shaper calibration
 #   v1.3: added possibility to override the default parameters
 #   v1.2: added EXCITATE_AXIS_AT_FREQ to hold a specific excitating frequency on an axis and diagnose mechanical problems
@@ -26,7 +27,7 @@
 
 
 [gcode_macro AXES_SHAPER_CALIBRATION]
-description: Run standard input shaper test for all axes
+description: Perform standard axis input shaper tests on one or both XY axes to select the best input shaper filter
 gcode:
     {% set verbose = params.VERBOSE|default(true) %}
     {% set min_freq = params.FREQ_START|default(5)|float %}
@@ -51,7 +52,8 @@ gcode:
         M400
 
         {% if verbose %}
-            RESPOND MSG="X axis shaper graphs generation..."
+            RESPOND MSG="X axis frequency profile generation..."
+            RESPOND MSG="This may take some time (1-3min)"
         {% endif %}
         RUN_SHELL_COMMAND CMD=plot_graph PARAMS=SHAPER
     {% endif %}
@@ -61,14 +63,15 @@ gcode:
         M400
 
         {% if verbose %}
-            RESPOND MSG="Y axis shaper graphs generation..."
+            RESPOND MSG="Y axis frequency profile generation..."
+            RESPOND MSG="This may take some time (1-3min)"
         {% endif %}
         RUN_SHELL_COMMAND CMD=plot_graph PARAMS=SHAPER
     {% endif %}
 
 
 [gcode_macro BELTS_SHAPER_CALIBRATION]
-description: Run custom demi-axe test to analyze belts on CoreXY printers
+description: Perform a custom half-axis test to analyze and compare the frequency profiles of individual belts on CoreXY printers
 gcode:
     {% set verbose = params.VERBOSE|default(true) %}
     {% set min_freq = params.FREQ_START|default(5)|float %}
@@ -77,21 +80,33 @@ gcode:
 
     TEST_RESONANCES AXIS=1,1 OUTPUT=raw_data NAME=b FREQ_START={min_freq} FREQ_END={max_freq} HZ_PER_SEC={hz_per_sec}
     M400
+
     TEST_RESONANCES AXIS=1,-1 OUTPUT=raw_data NAME=a FREQ_START={min_freq} FREQ_END={max_freq} HZ_PER_SEC={hz_per_sec}
     M400
 
     {% if verbose %}
-        RESPOND MSG="Belts graphs generation..."
+        RESPOND MSG="Belts comparative frequency profile generation..."
+        RESPOND MSG="This may take some time (3-5min)"
     {% endif %}
     RUN_SHELL_COMMAND CMD=plot_graph PARAMS=BELTS
 
 
 [gcode_macro EXCITATE_AXIS_AT_FREQ]
-description: Maintain a specified input shaper excitating frequency for some time to diagnose vibrations
+description: Maintain a specified input shaper excitation frequency for a period of time to diagnose and locate a source of vibration
 gcode:
-    {% set FREQUENCY = params.FREQUENCY|default(25)|int %}
+    {% set frequency = params.FREQUENCY|default(25)|int %}
-    {% set TIME = params.TIME|default(10)|int %}
+    {% set time = params.TIME|default(10)|int %}
-    {% set AXIS = params.AXIS|default("x")|string|lower %}
+    {% set axis = params.AXIS|default("x")|string|lower %}
 
-    TEST_RESONANCES OUTPUT=raw_data AXIS={AXIS} FREQ_START={FREQUENCY-1} FREQ_END={FREQUENCY+1} HZ_PER_SEC={1/(TIME/3)}
+    {% if axis not in ["x", "y", "a", "b"] %}
+        { action_raise_error("AXIS selection invalid. Should be either x, y, a or b!") }
+    {% endif %}
+
+    {% if axis == "a" %}
+        {% set axis = "1,-1" %}
+    {% elif axis == "b" %}
+        {% set axis = "1,1" %}
+    {% endif %}
+
+    TEST_RESONANCES OUTPUT=raw_data AXIS={axis} FREQ_START={frequency-1} FREQ_END={frequency+1} HZ_PER_SEC={1/(time/3)}
     M400

K-ShakeTune/IS_vibrations_measurements.cfg

@@ -2,40 +2,17 @@
 ###### VIBRATIONS AND SPEED OPTIMIZATIONS ######
 ################################################
 # Written by Frix_x#0161 #
-# @version: 2.1
+# @version: 2.2
 
 # CHANGELOG:
+#   v2.2: allow custom accel values and set sane defaults (3k) to avoid using very high accels that produce bad results
 #   v2.1: allow decimal entries for speed and increment and added the E axis as an option to be neasured
 #   v2.0: added the possibility to measure mutliple axis
 #   v1.0: first speed and vibrations optimization macro
 
 
-### What is it ? ###
-# This macro helps you to identify the speed settings that exacerbate the vibrations of the machine (ie. where the frame resonate badly).
-# It also helps to find the clean speed ranges where the machine is silent.
-# I had some strong vibrations at very specific speeds on my machine (52mm/s for example) and I wanted to find all these problematic speeds
-# to avoid them in my slicer profile and finally get the silent machine I was dreaming!
-
-# It works by moving the toolhead at different speed settings while recording the vibrations using the ADXL chip. Then the macro call a custom script
-# to compute and find the best speed settings. The results can be found in your config folder using Fluidd/Mainsail file manager.
-
-# The goal is to make it easy to set, share and use it.
-
-# This macro is parametric and most of the values can be adjusted with their respective input parameters.
-# It can be called without any parameters - in which case the default values would be used - or with any combination of parameters as desired.
-
-# Usage:
-#   1. DO YOUR INPUT SHAPER CALIBRATION FIRST !!! This macro should not be used before as it would be useless and the results invalid.
-#   2. Call the VIBRATIONS_CALIBRATION macro with the speed range you want to measure (default 20 to 200mm/s with 2mm/s increment).
-#      Be carefull about the Z_HEIGHT variable that default to 20mm -> if your ADXL is under the nozzle, increase it to avoid a crash of the ADXL on the bed of the machine.
-#   3. Wait for it to finish all the measurement and compute the graph. Then look at it in the results folder.
-
-
 [gcode_macro VIBRATIONS_CALIBRATION]
 gcode:
-    #
-    # PARAMETERS
-    #
     {% set size = params.SIZE|default(60)|int %} # size of the area where the movements are done
     {% set direction = params.DIRECTION|default('XY') %} # can be set to either XY, AB, ABXY, A, B, X, Y, Z
     {% set z_height = params.Z_HEIGHT|default(20)|int %} # z height to put the toolhead before starting the movements
@@ -45,16 +22,18 @@ gcode:
     {% set max_speed = params.MAX_SPEED|default(200)|float * 60 %} # maximum feedrate for the movements
     {% set speed_increment = params.SPEED_INCREMENT|default(2)|float * 60 %} # feedrate increment between each move
     {% set feedrate_travel = params.TRAVEL_SPEED|default(200)|int * 60 %} # travel feedrate between moves
-
+    {% set accel = params.ACCEL|default(3000)|int %} # accel value used to move on the pattern
     {% set accel_chip = params.ACCEL_CHIP|default("adxl345") %} # ADXL chip name in the config
 
-    #
-    # COMPUTED VALUES
-    #
     {% set mid_x = printer.toolhead.axis_maximum.x|float / 2 %}
     {% set mid_y = printer.toolhead.axis_maximum.y|float / 2 %}
     {% set nb_samples = ((max_speed - min_speed) / speed_increment + 1) | int %}
 
+    {% set accel = [accel, printer.configfile.settings.printer.max_accel]|min %}
+    {% set old_accel = printer.toolhead.max_accel %}
+    {% set old_accel_to_decel = printer.toolhead.max_accel_to_decel %}
+    {% set old_sqv = printer.toolhead.square_corner_velocity %}
+
     {% set direction_factor = {
         'XY'  : {
             'start' : {'x': -0.5, 'y': -0.5 },
@@ -158,6 +137,9 @@ gcode:
     M83
     G90
 
+    # Set the wanted acceleration values (not too high to avoid oscillation, not too low to be able to reach constant speed on each segments)
+    SET_VELOCITY_LIMIT ACCEL={accel} ACCEL_TO_DECEL={accel} SQUARE_CORNER_VELOCITY={[(accel / 1000), 5.0]|max}
+    
     # Going to the start position
     G1 Z{z_height}
     G1 X{mid_x + (size * direction_factor[direction].start.x) } Y{mid_y + (size * direction_factor[direction].start.y)} F{feedrate_travel}
@@ -188,4 +170,7 @@ gcode:
     {% endif %}
     RUN_SHELL_COMMAND CMD=plot_graph PARAMS="VIBRATIONS {direction}"
 
+    # Restore the previous acceleration values
+    SET_VELOCITY_LIMIT ACCEL={old_accel} ACCEL_TO_DECEL={old_accel_to_decel} SQUARE_CORNER_VELOCITY={old_sqv}
+
     RESTORE_GCODE_STATE NAME=STATE_VIBRATIONS_CALIBRATION

K-ShakeTune/scripts/graph_belts.py

@@ -4,9 +4,10 @@
 ######## CoreXY BELTS CALIBRATION SCRIPT ########
 #################################################
 # Written by Frix_x#0161 #
-# @version: 2.0
+# @version: 2.1
 
 # CHANGELOG:
+#   v2.1: replaced the TwoSlopNorm by a custom made norm to allow the script to work on older versions of matplotlib
 #   v2.0: updated the script to align it to the new K-Shake&Tune module
 #   v1.0: first version of this tool for enhanced vizualisation of belt graphs
 
@@ -473,9 +474,13 @@ def plot_difference_spectrogram(ax, data1, data2, signal1, signal2, similarity_f
     ax.set_title(f"Differential Spectrogram", fontsize=14, color=KLIPPAIN_COLORS['dark_orange'], weight='bold')
     ax.plot([], [], ' ', label=f'{textual_mhi} (experimental)')
     
-    # Draw the differential spectrogram with a specific norm to get light grey zero values and red for max values (vmin to vcenter is not used)
+    # Draw the differential spectrogram with a specific custom norm to get white or light orange zero values and red for max values
-    norm = matplotlib.colors.TwoSlopeNorm(vcenter=np.min(combined_data), vmax=np.max(combined_data))
+    colors = ['white', 'bisque', 'red', 'black']  
-    ax.pcolormesh(bins, t, combined_data.T, cmap='RdBu_r', norm=norm, shading='gouraud')
+    n_bins = [0, 0.12, 0.9, 1] # These values where found experimentaly to get a good higlhlighting of the differences only
+    cm = matplotlib.colors.LinearSegmentedColormap.from_list('WhiteToRed', list(zip(n_bins, colors)))
+    norm = matplotlib.colors.Normalize(vmin=np.min(combined_data), vmax=np.max(combined_data))
+    ax.pcolormesh(bins, t, combined_data.T, cmap=cm, norm=norm, shading='gouraud')
+
     ax.set_xlabel('Frequency (hz)')
     ax.set_xlim([0., max_freq])
     ax.set_ylabel('Time (s)')

K-ShakeTune/scripts/graph_shaper.py

@@ -164,7 +164,7 @@ def detect_peaks(psd, freqs, window_size=5, vicinity=3):
 # Graphing
 ######################################################################
 
-def plot_freq_response_with_damping(ax, calibration_data, shapers, selected_shaper, fr, zeta, max_freq):
+def plot_freq_response_with_damping(ax, calibration_data, shapers, performance_shaper, fr, zeta, max_freq):
     freqs = calibration_data.freq_bins
     psd = calibration_data.psd_sum[freqs <= max_freq]
     px = calibration_data.psd_x[freqs <= max_freq]
@@ -194,32 +194,50 @@ def plot_freq_response_with_damping(ax, calibration_data, shapers, selected_shap
     ax2 = ax.twinx()
     ax2.yaxis.set_visible(False)
     
-    best_shaper_vals = None
+    lowvib_shaper_vibrs = float('inf')
-    lowest_vibration = float('inf')
+    lowvib_shaper = None
-    lowest_vibration_shaper = None
+    lowvib_shaper_freq = None
-    lowest_vibration_shaper_freq = None
+    lowvib_shaper_accel = 0
-    lowest_vibration_shaper_accel = 0
     
     # Draw the shappers curves and add their specific parameters in the legend
-    # This adds also a way to find the best shaper with 0% of vibrations (to be printed in the legend later)
+    # This adds also a way to find the best shaper with a low level of vibrations (with a resonable level of smoothing)
     for shaper in shapers:
         shaper_max_accel = round(shaper.max_accel / 100.) * 100.
         label = "%s (%.1f Hz, vibr=%.1f%%, sm~=%.2f, accel<=%.f)" % (
                 shaper.name.upper(), shaper.freq,
                 shaper.vibrs * 100., shaper.smoothing,
                 shaper_max_accel)
-        linestyle = 'dotted'
+        ax2.plot(freqs, shaper.vals, label=label, linestyle='dotted')
-        if shaper.name == selected_shaper:
+
-            linestyle = 'dashdot'
+        # Get the performance shaper
-            selected_shaper_freq = shaper.freq
+        if shaper.name == performance_shaper:
-            best_shaper_vals = shaper.vals
+            performance_shaper_freq = shaper.freq
-        if (shaper.vibrs * 100 < lowest_vibration or (shaper.vibrs * 100 == lowest_vibration and shaper_max_accel > lowest_vibration_shaper_accel)) and shaper.smoothing < MAX_SMOOTHING:
+            performance_shaper_vibr = shaper.vibrs * 100.
-            lowest_vibration = shaper.vibrs * 100
+            performance_shaper_vals = shaper.vals
-            lowest_vibration_shaper_accel = shaper_max_accel
+
-            lowest_vibration_shaper = shaper.name
+        # Get the low vibration shaper
-            lowest_vibration_shaper_freq = shaper.freq
+        if (shaper.vibrs * 100 < lowvib_shaper_vibrs or (shaper.vibrs * 100 == lowvib_shaper_vibrs and shaper_max_accel > lowvib_shaper_accel)) and shaper.smoothing < MAX_SMOOTHING:
-        ax2.plot(freqs, shaper.vals, label=label, linestyle=linestyle)
+            lowvib_shaper_accel = shaper_max_accel
-    ax.plot(freqs, psd * best_shaper_vals, label='With %s applied' % (selected_shaper.upper()), color='cyan')
+            lowvib_shaper = shaper.name
+            lowvib_shaper_freq = shaper.freq
+            lowvib_shaper_vibrs = shaper.vibrs * 100
+            lowvib_shaper_vals = shaper.vals
+
+    # User recommendations are added to the legend: one is Klipper's original suggestion that is usually good for performances
+    # and the other one is the custom "low vibration" recommendation that looks for a suitable shaper that doesn't have excessive
+    # smoothing and that have a lower vibration level. If both recommendation are the same shaper, or if no suitable "low
+    # vibration" shaper is found, then only a single line as the "best shaper" recommendation is added to the legend
+    if lowvib_shaper != None and lowvib_shaper != performance_shaper and lowvib_shaper_vibrs <= performance_shaper_vibr:
+        ax2.plot([], [], ' ', label="Recommended performance shaper: %s @ %.1f Hz" % (performance_shaper.upper(), performance_shaper_freq))
+        ax.plot(freqs, psd * performance_shaper_vals, label='With %s applied' % (performance_shaper.upper()), color='cyan')
+        ax2.plot([], [], ' ', label="Recommended low vibrations shaper: %s @ %.1f Hz" % (lowvib_shaper.upper(), lowvib_shaper_freq))
+        ax.plot(freqs, psd * lowvib_shaper_vals, label='With %s applied' % (lowvib_shaper.upper()), color='lime')
+    else:
+        ax2.plot([], [], ' ', label="Recommended best shaper: %s @ %.1f Hz" % (performance_shaper.upper(), performance_shaper_freq))
+        ax.plot(freqs, psd * performance_shaper_vals, label='With %s applied' % (performance_shaper.upper()), color='cyan')
+
+    # And the estimated damping ratio is finally added at the end of the legend
+    ax2.plot([], [], ' ', label="Estimated damping ratio (ζ): %.3f" % (zeta))
 
     # Draw the detected peaks and name them
     # This also draw the detection threshold and warning threshold (aka "effect zone")
@@ -243,18 +261,6 @@ def plot_freq_response_with_damping(ax, calibration_data, shapers, selected_shap
     ax.fill_between(freqs, 0, peaks_warning_threshold, color='green', alpha=0.15, label='Relax Region')
     ax.fill_between(freqs, peaks_warning_threshold, peaks_effect_threshold, color='orange', alpha=0.2, label='Warning Region')
 
-    # User recommendations are added to the legend: one is Klipper's original suggestion that is usually good for performances
-    # and the other one is the custom "low vibration" recommendation that looks for a suitable shaper that doesn't have excessive
-    # smoothing (<0.1) and that have a lower vibration level. If both recommendation are the same shaper, or if no suitable "low
-    # vibration" shaper is found, then only a single line as the "best shaper" recommendation is added to the legend
-    if lowest_vibration_shaper != selected_shaper and lowest_vibration_shaper != None:
-        ax2.plot([], [], ' ', label="Recommended performance shaper: %s @ %.1f Hz" % (selected_shaper.upper(), selected_shaper_freq))
-        ax2.plot([], [], ' ', label="Recommended low vibrations shaper: %s @ %.1f Hz" % (lowest_vibration_shaper.upper(), lowest_vibration_shaper_freq))
-    else:
-        ax2.plot([], [], ' ', label="Recommended best shaper: %s @ %.1f Hz" % (selected_shaper.upper(), selected_shaper_freq))
-
-    # And the estimated damping ratio is finally added at the end of the legend
-    ax2.plot([], [], ' ', label="Estimated damping ratio (ζ): %.3f" % (zeta))
 
     # Add the main resonant frequency and damping ratio of the axis to the graph title
     ax.set_title("Axis Frequency Profile (ω0=%.1fHz, ζ=%.3f)" % (fr, zeta), fontsize=14, color=KLIPPAIN_COLORS['dark_orange'], weight='bold')
@@ -326,7 +332,7 @@ def shaper_calibration(lognames, klipperdir="~/klipper", max_smoothing=None, max
     datas = [parse_log(fn) for fn in lognames]
 
     # Calibrate shaper and generate outputs
-    selected_shaper, shapers, calibration_data, fr, zeta = calibrate_shaper_with_damping(datas, max_smoothing)
+    performance_shaper, shapers, calibration_data, fr, zeta = calibrate_shaper_with_damping(datas, max_smoothing)
 
     fig = matplotlib.pyplot.figure()
     gs = matplotlib.gridspec.GridSpec(2, 1, height_ratios=[4, 3])
@@ -346,7 +352,7 @@ def shaper_calibration(lognames, klipperdir="~/klipper", max_smoothing=None, max
     fig.text(0.12, 0.957, title_line2, ha='left', va='top', fontsize=16, color=KLIPPAIN_COLORS['dark_purple'])
 
     # Plot the graphs
-    peaks = plot_freq_response_with_damping(ax1, calibration_data, shapers, selected_shaper, fr, zeta, max_freq)
+    peaks = plot_freq_response_with_damping(ax1, calibration_data, shapers, performance_shaper, fr, zeta, max_freq)
     plot_spectrogram(ax2, datas[0], peaks, max_freq)
 
     fig.set_size_inches(8.3, 11.6)

K-ShakeTune/scripts/is_workflow.py

@@ -3,9 +3,10 @@
 ###### INPUT SHAPER KLIPPAIN WORKFLOW ######
 ############################################
 # Written by Frix_x#0161 #
-# @version: 2.0
+# @version: 2.1
 
 # CHANGELOG:
+#   v2.1: added more filesystem sync and file handler checks to avoid using corrupted CSV files by going to fast
 #   v2.0: new version of this as a Python script (to replace the old bash script) and implement the newer and improved shaper plotting scripts
 #   v1.7: updated the handling of shaper files to account for the new analysis scripts as we are now using raw data directly
 #   v1.6: - updated the handling of shaper graph files to be able to optionnaly account for added positions in the filenames and remove them
@@ -25,7 +26,6 @@
 #      VIBRATIONS  - To generate vibration diagram after calling the custom (Frix_x#0161) VIBRATIONS_CALIBRATION macro
 
 
-
 import os
 import time
 import glob
@@ -55,6 +55,10 @@ def is_file_open(filepath):
                     if os.path.samefile(fd, filepath):
                         return True
                 except FileNotFoundError:
+                    # Klipper has already released the CSV file
+                    pass
+                except PermissionError:
+                    # Unable to check for this particular process due to permissions
                     pass
     return False
 
@@ -75,16 +79,21 @@ def get_belts_graph():
     for filename in sorted_files[:2]:
         # Wait for the file handler to be released by Klipper
         while is_file_open(filename):
-            time.sleep(3)
+            time.sleep(2)
         
         # Extract the tested belt from the filename and rename/move the CSV file to the result folder
         belt = os.path.basename(filename).split('_')[3].split('.')[0].upper()
         new_file = os.path.join(RESULTS_FOLDER, RESULTS_SUBFOLDERS[0], f'belt_{current_date}_{belt}.csv')
         shutil.move(filename, new_file)
+        os.sync() # Sync filesystem to avoid problems
 
         # Save the file path for later
         lognames.append(new_file)
 
+        # Wait for the file handler to be released by the move command
+        while is_file_open(new_file):
+            time.sleep(2)
+    
     # Generate the belts graph and its name
     fig = belts_calibration(lognames, KLIPPER_FOLDER)
     png_filename = os.path.join(RESULTS_FOLDER, RESULTS_SUBFOLDERS[0], f'belts_{current_date}.png')
@@ -105,12 +114,17 @@ def get_shaper_graph():
 
     # Wait for the file handler to be released by Klipper
     while is_file_open(filename):
-        time.sleep(3)
+        time.sleep(2)
     
     # Extract the tested axis from the filename and rename/move the CSV file to the result folder
     axis = os.path.basename(filename).split('_')[3].split('.')[0].upper()
     new_file = os.path.join(RESULTS_FOLDER, RESULTS_SUBFOLDERS[1], f'resonances_{current_date}_{axis}.csv')
     shutil.move(filename, new_file)
+    os.sync() # Sync filesystem to avoid problems
+
+    # Wait for the file handler to be released by the move command
+    while is_file_open(new_file):
+        time.sleep(2)
     
     # Generate the shaper graph and its name
     fig = shaper_calibration([new_file], KLIPPER_FOLDER)
@@ -134,7 +148,7 @@ def get_vibrations_graph(axis_name):
     for filename in globbed_files:
         # Wait for the file handler to be released by Klipper
         while is_file_open(filename):
-            time.sleep(3)
+            time.sleep(2)
 
         # Cleanup of the filename and moving it in the result folder
         cleanfilename = os.path.basename(filename).replace('adxl345', f'vibr_{current_date}')
@@ -146,6 +160,7 @@ def get_vibrations_graph(axis_name):
 
     # Sync filesystem to avoid problems as there is a lot of file copied
     os.sync()
+    time.sleep(5)
 
     # Generate the vibration graph and its name
     fig = vibrations_calibration(lognames, KLIPPER_FOLDER, axis_name)

README.md

@@ -11,11 +11,11 @@ It operates in two steps:
      2. Relocates the graphs and associated CSV files to your Klipper config folder for easy access via Mainsail/Fluidd to eliminate the need for SSH.
      3. Manages the folder by retaining only the most recent results (default setting of keeping the latest three sets).
 
-The [detailed documentation is here](./docs/README.md).
+Check out the **[detailed documentation of the Shake&Tune module here](./docs/README.md)**. You can also look at the documentation for each type of graph by directly clicking on them below to better understand your results and tune your machine!
 
-| Belts graphs | Axis graphs | Vibrations measurement |
+| [Belts graph](./docs/macros/belts_tuning.md) | [Axis input shaper graphs](./docs/macros/axis_tuning.md) | [Vibrations graph](./docs/macros/vibrations_tuning.md) |
 |:----------------:|:------------:|:---------------------:|
-| ![](./docs/images/belts_example.png) | ![](./docs/images/axis_example.png) | ![](./docs/images/vibrations_example.png) |
+| [<img src="./docs/images/belts_example.png">](./docs/macros/belts_tuning.md) | [<img src="./docs/images/axis_example.png">](./docs/macros/axis_tuning.md) | [<img src="./docs/images/vibrations_example.png">](./docs/macros/vibrations_tuning.md) |
 
 ## Installation
 

docs/README.md

@@ -1,13 +1,16 @@
 # Klippain Shake&Tune module documentation
 
+![](./banner_long.png)
+
 ### Detailed documentation
 
-  1. [Input Shaping and tuning generalities](./is_tuning_generalities.md)
+First, check out **[input shaping and tuning generalities](./is_tuning_generalities.md)** to understand how it all works and what to look for when taking these measurements.
-  1. [Belt graphs](./macros/belts_tuning.md)
+Then look at the documentation for each type of graph by clicking on them below to better understand your results and tune your machine!
-  1. [Axis Input Shaper graphs](./macros/axis_tuning.md)
+
-  1. [Klippain vibrations graphs](./macros/vibrations_tuning.md)
+| [Belts graph](./macros/belts_tuning.md) | [Axis input shaper graphs](./macros/axis_tuning.md) | [Vibrations graph](./macros/vibrations_tuning.md) |
+|:----------------:|:------------:|:---------------------:|
+| [<img src="./images/belts_example.png">](./macros/belts_tuning.md) | [<img src="./images/axis_example.png">](./macros/axis_tuning.md) | [<img src="./images/vibrations_example.png">](./macros/vibrations_tuning.md) |
 
-![](./banner.png)
 
 ### Complementary ressources
 

docs/macros/vibrations_tuning.md

@@ -17,6 +17,7 @@ Call the `VIBRATIONS_CALIBRATION` macro with the direction and speed range you w
 |DIRECTION|"XY"|direction vector where you want to do the measurements. Can be set to either "XY", "AB", "ABXY", "A", "B", "X", "Y", "Z", "E"|
 |Z_HEIGHT|20|z height to put the toolhead before starting the movements. Be careful, if your ADXL is under the nozzle, increase it to avoid a crash of the ADXL on the bed of the machine|
 |VERBOSE|1|Wether to log the current speed in the console|
+|ACCEL|3000 (or max printer accel)|accel in mm/s^2 used for all the moves. Try to keep it relatively low to avoid bad oscillations that affect the measurements, but but high enough to reach constant speed for >~70% of the segments|
 |MIN_SPEED|20|minimum speed of the toolhead in mm/s for the movements|
 |MAX_SPEED|200|maximum speed of the toolhead in mm/s for the movements|
 |SPEED_INCREMENT|2|speed increments of the toolhead in mm/s between every movements|