88 lines
3.7 KiB
Python
88 lines
3.7 KiB
Python
#!/usr/bin/env python3
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from ..helpers.console_output import ConsoleOutput
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from ..shaketune_thread import ShakeTuneThread
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from . import AXIS_CONFIG
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from .accelerometer import Accelerometer
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from .resonance_test import vibrate_axis
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def compare_belts_responses(gcmd, gcode, printer, st_thread: ShakeTuneThread) -> None:
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min_freq = gcmd.get_float('FREQ_START', default=5.0, minval=1)
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max_freq = gcmd.get_float('FREQ_END', default=133.33, minval=1)
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hz_per_sec = gcmd.get_float('HZ_PER_SEC', default=1.0, minval=1)
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accel_per_hz = gcmd.get_float('ACCEL_PER_HZ', default=None)
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feedrate_travel = gcmd.get_float('TRAVEL_SPEED', default=120.0, minval=20.0)
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z_height = gcmd.get_float('Z_HEIGHT', default=None, minval=1)
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systime = printer.get_reactor().monotonic()
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toolhead = printer.lookup_object('toolhead')
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res_tester = printer.lookup_object('resonance_tester')
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accel_chip = Accelerometer.find_axis_accelerometer(printer, 'xy')
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if accel_chip is None:
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gcmd.error(
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'No suitable accelerometer found for measurement! Multi-accelerometer configurations are not supported for this macro.'
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)
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accelerometer = Accelerometer(printer.lookup_object(accel_chip))
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if accel_per_hz is None:
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accel_per_hz = res_tester.test.accel_per_hz
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max_accel = max_freq * accel_per_hz
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# Move to the starting point
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test_points = res_tester.test.get_start_test_points()
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if len(test_points) > 1:
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gcmd.error('Only one test point in the [resonance_tester] section is supported by Shake&Tune.')
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if test_points[0] == (-1, -1, -1):
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if z_height is None:
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gcmd.error(
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'Z_HEIGHT parameter is required if the test_point in [resonance_tester] section is set to -1,-1,-1'
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)
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# Use center of bed in case the test point in [resonance_tester] is set to -1,-1,-1
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# This is usefull to get something automatic and is also used in the Klippain modular config
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kin_info = toolhead.kin.get_status(systime)
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mid_x = (kin_info['axis_minimum'].x + kin_info['axis_maximum'].x) / 2
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mid_y = (kin_info['axis_minimum'].y + kin_info['axis_maximum'].y) / 2
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point = (mid_x, mid_y, z_height)
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else:
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x, y, z = test_points[0]
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if z_height is not None:
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z = z_height
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point = (x, y, z)
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toolhead.manual_move(point, feedrate_travel)
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# set the needed acceleration values for the test
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toolhead_info = toolhead.get_status(systime)
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old_accel = toolhead_info['max_accel']
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old_mcr = toolhead_info['minimum_cruise_ratio']
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gcode.run_script_from_command(f'SET_VELOCITY_LIMIT ACCEL={max_accel} MINIMUM_CRUISE_RATIO=0')
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# Deactivate input shaper if it is active to get raw movements
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input_shaper = printer.lookup_object('input_shaper', None)
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if input_shaper is not None:
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input_shaper.disable_shaping()
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else:
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input_shaper = None
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# Filter axis configurations to get the A and B axis only
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filtered_config = [a for a in AXIS_CONFIG if a['axis'] in ('x', 'y')]
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for config in filtered_config:
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accelerometer.start_measurement()
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vibrate_axis(toolhead, gcode, config['direction'], min_freq, max_freq, hz_per_sec, accel_per_hz)
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accelerometer.stop_measurement(config['label'], append_time=True)
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# Re-enable the input shaper if it was active
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if input_shaper is not None:
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input_shaper.enable_shaping()
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# Restore the previous acceleration values
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gcode.run_script_from_command(f'SET_VELOCITY_LIMIT ACCEL={old_accel} MINIMUM_CRUISE_RATIO={old_mcr}')
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# Run post-processing
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ConsoleOutput.print('Belts comparative frequency profile generation...')
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ConsoleOutput.print('This may take some time (3-5min)')
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st_thread.run()
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