110 lines
4.9 KiB
Python
110 lines
4.9 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: axes_map_calibration.py
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# Description: Provides a command for calibrating the axes map of a 3D printer using an accelerometer.
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# The script moves the printer head along specified axes, starts and stops measurements,
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# and performs post-processing to analyze the collected data.
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from ..helpers.console_output import ConsoleOutput
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from ..shaketune_process import ShakeTuneProcess
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from .accelerometer import Accelerometer
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SEGMENT_LENGTH = 30 # mm
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def axes_map_calibration(gcmd, config, st_process: ShakeTuneProcess) -> None:
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z_height = gcmd.get_float('Z_HEIGHT', default=20.0)
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speed = gcmd.get_float('SPEED', default=80.0, minval=20.0)
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accel = gcmd.get_int('ACCEL', default=1500, minval=100)
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feedrate_travel = gcmd.get_float('TRAVEL_SPEED', default=120.0, minval=20.0)
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printer = config.get_printer()
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gcode = printer.lookup_object('gcode')
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toolhead = printer.lookup_object('toolhead')
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systime = printer.get_reactor().monotonic()
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accel_chip = Accelerometer.find_axis_accelerometer(printer, 'xy')
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k_accelerometer = printer.lookup_object(accel_chip, None)
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if k_accelerometer is None:
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raise gcmd.error('Multi-accelerometer configurations are not supported for this macro!')
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pconfig = printer.lookup_object('configfile')
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current_axes_map = pconfig.status_raw_config[accel_chip].get('axes_map', None)
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if current_axes_map is not None and current_axes_map.strip().replace(' ', '') != 'x,y,z':
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raise gcmd.error(
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f'The parameter axes_map is already set in your {accel_chip} configuration! Please remove it (or set it to "x,y,z")!'
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)
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accelerometer = Accelerometer(k_accelerometer)
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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_sqv = toolhead_info['square_corner_velocity']
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# set the wanted acceleration values
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if 'minimum_cruise_ratio' in toolhead_info:
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old_mcr = toolhead_info['minimum_cruise_ratio'] # minimum_cruise_ratio found: Klipper >= v0.12.0-239
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gcode.run_script_from_command(f'SET_VELOCITY_LIMIT ACCEL={accel} MINIMUM_CRUISE_RATIO=0 SQUARE_CORNER_VELOCITY=5.0')
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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={accel} SQUARE_CORNER_VELOCITY=5.0')
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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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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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_, _, _, E = toolhead.get_position()
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# Going to the start position
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toolhead.move([mid_x - SEGMENT_LENGTH / 2, mid_y - SEGMENT_LENGTH / 2, z_height, E], feedrate_travel)
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toolhead.dwell(0.5)
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# Start the measurements and do the movements (+X, +Y and then +Z)
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accelerometer.start_measurement()
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toolhead.dwell(0.5)
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toolhead.move([mid_x + SEGMENT_LENGTH / 2, mid_y - SEGMENT_LENGTH / 2, z_height, E], speed)
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toolhead.dwell(0.5)
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accelerometer.stop_measurement('axesmap_X', append_time=True)
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toolhead.dwell(0.5)
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accelerometer.start_measurement()
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toolhead.dwell(0.5)
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toolhead.move([mid_x + SEGMENT_LENGTH / 2, mid_y + SEGMENT_LENGTH / 2, z_height, E], speed)
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toolhead.dwell(0.5)
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accelerometer.stop_measurement('axesmap_Y', append_time=True)
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toolhead.dwell(0.5)
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accelerometer.start_measurement()
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toolhead.dwell(0.5)
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toolhead.move([mid_x + SEGMENT_LENGTH / 2, mid_y + SEGMENT_LENGTH / 2, z_height + SEGMENT_LENGTH, E], speed)
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toolhead.dwell(0.5)
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accelerometer.stop_measurement('axesmap_Z', 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} SQUARE_CORNER_VELOCITY={old_sqv}')
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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} SQUARE_CORNER_VELOCITY={old_sqv}')
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toolhead.wait_moves()
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# Run post-processing
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ConsoleOutput.print('Analysis of the movements...')
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ConsoleOutput.print('This may take some time (1-3min)')
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creator = st_process.get_graph_creator()
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creator.configure(accel, SEGMENT_LENGTH)
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st_process.run()
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st_process.wait_for_completion()
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