129 lines
5.9 KiB
Python
129 lines
5.9 KiB
Python
# Shake&Tune: 3D printer analysis tools
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#
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# Copyright (C) 2024 Félix Boisselier <felix@fboisselier.fr> (Frix_x on Discord)
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# Licensed under the GNU General Public License v3.0 (GPL-3.0)
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#
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# File: compare_belts_responses.py
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# Description: Provides a command for comparing the frequency response of belts in CoreXY and CoreXZ kinematics 3D printers.
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# The script performs resonance tests along specified axes, starts and stops measurements, and generates graphs
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# for each axis to analyze the collected data.
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from ..helpers.common_func import AXIS_CONFIG
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from ..helpers.console_output import ConsoleOutput
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from ..helpers.motors_config_parser import MotorsConfigParser
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from ..helpers.resonance_test import vibrate_axis
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from ..shaketune_process import ShakeTuneProcess
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from .accelerometer import Accelerometer
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def compare_belts_responses(gcmd, config, st_process: ShakeTuneProcess) -> None:
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printer = config.get_printer()
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toolhead = printer.lookup_object('toolhead')
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res_tester = printer.lookup_object('resonance_tester')
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systime = printer.get_reactor().monotonic()
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min_freq = gcmd.get_float('FREQ_START', default=res_tester.test.min_freq, minval=1)
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max_freq = gcmd.get_float('FREQ_END', default=res_tester.test.max_freq, minval=1)
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hz_per_sec = gcmd.get_float('HZ_PER_SEC', default=1, 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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if accel_per_hz == '':
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accel_per_hz = None
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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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gcode = printer.lookup_object('gcode')
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max_accel = max_freq * accel_per_hz
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# Configure the graph creator
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motors_config_parser = MotorsConfigParser(config, motors=None)
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creator = st_process.get_graph_creator()
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creator.configure(motors_config_parser.kinematics, accel_per_hz)
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if motors_config_parser.kinematics == 'corexy':
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filtered_config = [a for a in AXIS_CONFIG if a['axis'] in ('a', 'b')]
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accel_chip = Accelerometer.find_axis_accelerometer(printer, 'xy')
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elif motors_config_parser.kinematics == 'corexz':
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filtered_config = [a for a in AXIS_CONFIG if a['axis'] in ('corexz_x', 'corexz_z')]
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# For CoreXZ kinematics, we can use the X axis accelerometer as most of the time they are moving bed printers
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accel_chip = Accelerometer.find_axis_accelerometer(printer, 'x')
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else:
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raise gcmd.error('Only CoreXY and CoreXZ kinematics are supported for the belt comparison tool!')
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ConsoleOutput.print(f'{motors_config_parser.kinematics.upper()} kinematics mode')
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if accel_chip is None:
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raise 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.get_reactor(), printer.lookup_object(accel_chip))
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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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raise 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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raise 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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toolhead.dwell(0.5)
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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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if 'minimum_cruise_ratio' in toolhead_info: # minimum_cruise_ratio found: Klipper >= v0.12.0-239
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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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else: # minimum_cruise_ratio not found: Klipper < v0.12.0-239
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old_mcr = None
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gcode.run_script_from_command(f'SET_VELOCITY_LIMIT ACCEL={max_accel}')
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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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# Run the test for each axis
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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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accelerometer.wait_for_file_writes()
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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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if old_mcr is not None: # minimum_cruise_ratio found: Klipper >= v0.12.0-239
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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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else: # minimum_cruise_ratio not found: Klipper < v0.12.0-239
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gcode.run_script_from_command(f'SET_VELOCITY_LIMIT ACCEL={old_accel}')
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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 (1-3min)')
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st_process.run()
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st_process.wait_for_completion()
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