171 lines
8.8 KiB
INI
171 lines
8.8 KiB
INI
#############################################
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###### DIRECTIONAL VIBRATIONS ANALYSIS ######
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#############################################
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# Written by Frix_x#0161 #
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[gcode_macro DIRECTIONAL_VIBRATIONS_PROFILE]
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gcode:
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{% set size = params.SIZE|default(100)|int %} # size of the circle where the angled lines are done
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{% set z_height = params.Z_HEIGHT|default(20)|int %} # z height to put the toolhead before starting the movements
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# {% set nb_angles = params.TESTED_ANGLES|default(45)|int %} # number of angles to test over 180deg (default is each 180/36 = 5deg)
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{% set max_speed = params.MAX_SPEED|default(200)|float * 60 %} # maximum feedrate for the movements
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{% set speed_increment = params.SPEED_INCREMENT|default(2)|float * 60 %} # feedrate increment between each move
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{% set feedrate_travel = params.TRAVEL_SPEED|default(200)|int * 60 %} # travel feedrate between moves
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{% set accel = params.ACCEL|default(3000)|int %} # accel value used to move on the pattern
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{% set accel_chip = params.ACCEL_CHIP|default("adxl345") %} # ADXL chip name in the config
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{% set keep_results = params.KEEP_N_RESULTS|default(3)|int %}
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{% set keep_csv = params.KEEP_CSV|default(True) %}
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{% set mid_x = printer.toolhead.axis_maximum.x|float / 2 %}
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{% set mid_y = printer.toolhead.axis_maximum.y|float / 2 %}
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{% set min_speed = 2 * 60 %} # minimum feedrate for the movements is set to 2mm/s
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{% set nb_speed_samples = ((max_speed - min_speed) / speed_increment + 1) | int %}
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{% set accel = [accel, printer.configfile.settings.printer.max_accel]|min %}
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{% set old_accel = printer.toolhead.max_accel %}
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{% set old_accel_to_decel = printer.toolhead.max_accel_to_decel %}
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{% set old_sqv = printer.toolhead.square_corner_velocity %}
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{% set kinematics = printer.configfile.settings.printer.kinematics %}
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{% if not 'xyz' in printer.toolhead.homed_axes %}
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{ action_raise_error("Must Home printer first!") }
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{% endif %}
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{% if params.SPEED_INCREMENT|default(2)|float * 100 != (params.SPEED_INCREMENT|default(2)|float * 100)|int %}
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{ action_raise_error("Only 2 decimal digits are allowed for SPEED_INCREMENT") }
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{% endif %}
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{% if (size / (max_speed / 60)) < 0.25 %}
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{ action_raise_error("SIZE is too small for this MAX_SPEED. Increase SIZE or decrease MAX_SPEED!") }
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{% endif %}
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{action_respond_info("")}
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{action_respond_info("Starting machine directional vibrations profile measurement")}
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{action_respond_info("This operation can not be interrupted by normal means. Hit the \"emergency stop\" button to stop it if needed")}
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{action_respond_info("")}
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SAVE_GCODE_STATE NAME=STATE_DIRECTIONAL_VIBRATIONS_PROFILE
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G90
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# Set the wanted acceleration values (not too high to avoid oscillation, not too low to be able to reach constant speed on each segments)
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SET_VELOCITY_LIMIT ACCEL={accel} ACCEL_TO_DECEL={accel} SQUARE_CORNER_VELOCITY={[(accel / 1000), 5.0]|max}
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# Going to the start position
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G1 Z{z_height} F{feedrate_travel / 10}
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G1 X{mid_x } Y{mid_y} F{feedrate_travel}
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{% if kinematics == "cartesian" %}
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# Cartesian motors are on X and Y axis directly
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RESPOND MSG="Cartesian kinematics mode"
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{% set main_angles = [0, 90] %}
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{% elif kinematics == "corexy" %}
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# CoreXY motors are on A and B axis (45 and 135 degrees)
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RESPOND MSG="CoreXY kinematics mode"
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{% set main_angles = [45, 135] %}
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{% else %}
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{ action_raise_error("Only Cartesian and CoreXY kinematics are supported at the moment for the vibrations measurement tool!") }
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{% endif %}
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{% set pi = (3.141592653589793) | float %}
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{% set tau = (pi * 2) | float %}
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{% for curr_angle in main_angles %}
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{% for curr_speed_sample in range(0, nb_speed_samples) %}
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{% set curr_speed = min_speed + curr_speed_sample * speed_increment %}
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{% set rad_angle_full = (curr_angle|float * pi / 180) %}
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# -----------------------------------------------------------------------------------------------------------
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# Here are some maths to approximate the sin and cos values of rad_angle in Jinja
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# Thanks a lot to Aubey! for sharing the idea of using hardcoded Taylor series and
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# the associated bit of code to do it easily! This is pure madness!
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{% set rad_angle = ((rad_angle_full % tau) - (tau / 2)) | float %}
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{% if rad_angle < (-(tau / 4)) %}
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{% set rad_angle = (rad_angle + (tau / 2)) | float %}
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{% set final_mult = (-1) %}
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{% elif rad_angle > (tau / 4) %}
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{% set rad_angle = (rad_angle - (tau / 2)) | float %}
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{% set final_mult = (-1) %}
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{% else %}
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{% set final_mult = (1) %}
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{% endif %}
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{% set sin0 = (rad_angle) %}
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{% set sin1 = ((rad_angle ** 3) / 6) | float %}
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{% set sin2 = ((rad_angle ** 5) / 120) | float %}
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{% set sin3 = ((rad_angle ** 7) / 5040) | float %}
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{% set sin4 = ((rad_angle ** 9) / 362880) | float %}
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{% set sin5 = ((rad_angle ** 11) / 39916800) | float %}
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{% set sin6 = ((rad_angle ** 13) / 6227020800) | float %}
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{% set sin7 = ((rad_angle ** 15) / 1307674368000) | float %}
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{% set sin = (-(sin0 - sin1 + sin2 - sin3 + sin4 - sin5 + sin6 - sin7) * final_mult) | float %}
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{% set cos0 = (1) | float %}
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{% set cos1 = ((rad_angle ** 2) / 2) | float %}
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{% set cos2 = ((rad_angle ** 4) / 24) | float %}
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{% set cos3 = ((rad_angle ** 6) / 720) | float %}
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{% set cos4 = ((rad_angle ** 8) / 40320) | float %}
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{% set cos5 = ((rad_angle ** 10) / 3628800) | float %}
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{% set cos6 = ((rad_angle ** 12) / 479001600) | float %}
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{% set cos7 = ((rad_angle ** 14) / 87178291200) | float %}
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{% set cos = (-(cos0 - cos1 + cos2 - cos3 + cos4 - cos5 + cos6 - cos7) * final_mult) | float %}
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# -----------------------------------------------------------------------------------------------------------
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# Reduce the segments length for the lower speed range (0-100mm/s). The minimum length is 1/3 of the SIZE and is gradually increased
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# to the nominal SIZE at 100mm/s. No further size changes are made above this speed. The goal is to ensure that the print head moves
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# enough to collect enough data for vibration analysis, without doing unnecessary distance to save time. At higher speeds, the full
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# segments lengths are used because the head moves faster and travels more distance in the same amount of time and we want enough data
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{% if curr_speed < (100 * 60) %}
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{% set segment_length_multiplier = 1/3 + 2/3 * (curr_speed / 60) / 100 %}
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{% else %}
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{% set segment_length_multiplier = 1 %}
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{% endif %}
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# Calculate angle coordinates using trigonometry and length multiplier and move to start point
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{% set dx = (size / 2) * cos * segment_length_multiplier %}
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{% set dy = (size / 2) * sin * segment_length_multiplier %}
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G1 X{mid_x - dx} Y{mid_y - dy} F{feedrate_travel}
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# Adjust the number of back and forth movements based on speed to also save time on lower speed range
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# 3 movements are done by default, reduced to 2 between 150-250mm/s and to 1 under 150mm/s.
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{% set movements = 3 %}
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{% if curr_speed < (150 * 60) %}
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{% set movements = 1 %}
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{% elif curr_speed < (250 * 60) %}
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{% set movements = 2 %}
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{% endif %}
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ACCELEROMETER_MEASURE CHIP={accel_chip}
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# Back and forth movements to record the vibrations at constant speed in both direction
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{% for n in range(movements) %}
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G1 X{mid_x + dx} Y{mid_y + dy} F{curr_speed}
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G1 X{mid_x - dx} Y{mid_y - dy} F{curr_speed}
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{% endfor %}
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ACCELEROMETER_MEASURE CHIP={accel_chip} NAME=an{("%.2f" % curr_angle|float)|replace('.','_')}sp{("%.2f" % (curr_speed / 60)|float)|replace('.','_')}
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G4 P300
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M400
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{% endfor %}
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{% endfor %}
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RESPOND MSG="Machine directional vibrations profile generation..."
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RESPOND MSG="This may take some time (3-5min)"
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# RUN_SHELL_COMMAND CMD=shaketune PARAMS="--type dir_vibrations --accel {accel|int} --chip_name {accel_chip} {% if keep_csv %}--keep_csv{% endif %}"
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M400
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# RUN_SHELL_COMMAND CMD=shaketune PARAMS="--type clean --keep_results {keep_results}"
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# Restore the previous acceleration values
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SET_VELOCITY_LIMIT ACCEL={old_accel} ACCEL_TO_DECEL={old_accel_to_decel} SQUARE_CORNER_VELOCITY={old_sqv}
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RESTORE_GCODE_STATE NAME=STATE_DIRECTIONAL_VIBRATIONS_PROFILE
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