128 lines
5.8 KiB
Python
128 lines
5.8 KiB
Python
# Shake&Tune: 3D printer analysis tools
|
|
#
|
|
# Copyright (C) 2024 Félix Boisselier <felix@fboisselier.fr> (Frix_x on Discord)
|
|
# Licensed under the GNU General Public License v3.0 (GPL-3.0)
|
|
#
|
|
# File: axes_shaper_calibration.py
|
|
# Description: Provides a command for calibrating the input shaper of a 3D printer's axes using an accelerometer.
|
|
# The script performs resonance tests along specified axes, starts and stops measurements,
|
|
# and generates graphs for each axis to analyze the collected data.
|
|
|
|
|
|
from ..helpers.common_func import AXIS_CONFIG
|
|
from ..helpers.console_output import ConsoleOutput
|
|
from ..helpers.resonance_test import vibrate_axis
|
|
from ..shaketune_process import ShakeTuneProcess
|
|
from .accelerometer import Accelerometer
|
|
|
|
|
|
def axes_shaper_calibration(gcmd, config, st_process: ShakeTuneProcess) -> None:
|
|
printer = config.get_printer()
|
|
toolhead = printer.lookup_object('toolhead')
|
|
res_tester = printer.lookup_object('resonance_tester')
|
|
systime = printer.get_reactor().monotonic()
|
|
toolhead_info = toolhead.get_status(systime)
|
|
|
|
min_freq = gcmd.get_float('FREQ_START', default=res_tester.test.min_freq, minval=1)
|
|
max_freq = gcmd.get_float('FREQ_END', default=res_tester.test.max_freq, minval=1)
|
|
hz_per_sec = gcmd.get_float('HZ_PER_SEC', default=1, minval=1)
|
|
accel_per_hz = gcmd.get_float('ACCEL_PER_HZ', default=None)
|
|
axis_input = gcmd.get('AXIS', default='all').lower()
|
|
if axis_input not in {'x', 'y', 'all'}:
|
|
raise gcmd.error('AXIS selection invalid. Should be either x, y, or all!')
|
|
scv = gcmd.get_float('SCV', default=toolhead_info['square_corner_velocity'], minval=0)
|
|
max_sm = gcmd.get_float('MAX_SMOOTHING', default=None, minval=0)
|
|
feedrate_travel = gcmd.get_float('TRAVEL_SPEED', default=120.0, minval=20.0)
|
|
z_height = gcmd.get_float('Z_HEIGHT', default=None, minval=1)
|
|
|
|
if accel_per_hz == '':
|
|
accel_per_hz = None
|
|
|
|
if accel_per_hz is None:
|
|
accel_per_hz = res_tester.test.accel_per_hz
|
|
|
|
gcode = printer.lookup_object('gcode')
|
|
|
|
max_accel = max_freq * accel_per_hz
|
|
|
|
# Move to the starting point
|
|
test_points = res_tester.test.get_start_test_points()
|
|
if len(test_points) > 1:
|
|
raise gcmd.error('Only one test point in the [resonance_tester] section is supported by Shake&Tune.')
|
|
if test_points[0] == (-1, -1, -1):
|
|
if z_height is None:
|
|
raise gcmd.error(
|
|
'Z_HEIGHT parameter is required if the test_point in [resonance_tester] section is set to -1,-1,-1'
|
|
)
|
|
# Use center of bed in case the test point in [resonance_tester] is set to -1,-1,-1
|
|
# This is usefull to get something automatic and is also used in the Klippain modular config
|
|
kin_info = toolhead.kin.get_status(systime)
|
|
mid_x = (kin_info['axis_minimum'].x + kin_info['axis_maximum'].x) / 2
|
|
mid_y = (kin_info['axis_minimum'].y + kin_info['axis_maximum'].y) / 2
|
|
point = (mid_x, mid_y, z_height)
|
|
else:
|
|
x, y, z = test_points[0]
|
|
if z_height is not None:
|
|
z = z_height
|
|
point = (x, y, z)
|
|
|
|
toolhead.manual_move(point, feedrate_travel)
|
|
toolhead.dwell(0.5)
|
|
|
|
# Configure the graph creator
|
|
creator = st_process.get_graph_creator()
|
|
creator.configure(scv, max_sm, accel_per_hz)
|
|
|
|
# set the needed acceleration values for the test
|
|
toolhead_info = toolhead.get_status(systime)
|
|
old_accel = toolhead_info['max_accel']
|
|
if 'minimum_cruise_ratio' in toolhead_info: # minimum_cruise_ratio found: Klipper >= v0.12.0-239
|
|
old_mcr = toolhead_info['minimum_cruise_ratio']
|
|
gcode.run_script_from_command(f'SET_VELOCITY_LIMIT ACCEL={max_accel} MINIMUM_CRUISE_RATIO=0')
|
|
else: # minimum_cruise_ratio not found: Klipper < v0.12.0-239
|
|
old_mcr = None
|
|
gcode.run_script_from_command(f'SET_VELOCITY_LIMIT ACCEL={max_accel}')
|
|
|
|
# Deactivate input shaper if it is active to get raw movements
|
|
input_shaper = printer.lookup_object('input_shaper', None)
|
|
if input_shaper is not None:
|
|
input_shaper.disable_shaping()
|
|
else:
|
|
input_shaper = None
|
|
|
|
# Filter axis configurations based on user input, assuming 'axis_input' can be 'x', 'y', 'all' (that means 'x' and 'y')
|
|
filtered_config = [
|
|
a for a in AXIS_CONFIG if a['axis'] == axis_input or (axis_input == 'all' and a['axis'] in ('x', 'y'))
|
|
]
|
|
for config in filtered_config:
|
|
# First we need to find the accelerometer chip suited for the axis
|
|
accel_chip = Accelerometer.find_axis_accelerometer(printer, config['axis'])
|
|
if accel_chip is None:
|
|
raise gcmd.error('No suitable accelerometer found for measurement!')
|
|
accelerometer = Accelerometer(printer.lookup_object(accel_chip))
|
|
|
|
# Then do the actual measurements
|
|
accelerometer.start_measurement()
|
|
vibrate_axis(toolhead, gcode, config['direction'], min_freq, max_freq, hz_per_sec, accel_per_hz)
|
|
accelerometer.stop_measurement(config['label'], append_time=True)
|
|
|
|
accelerometer.wait_for_file_writes()
|
|
|
|
# And finally generate the graph for each measured axis
|
|
ConsoleOutput.print(f'{config["axis"].upper()} axis frequency profile generation...')
|
|
ConsoleOutput.print('This may take some time (1-3min)')
|
|
st_process.run()
|
|
st_process.wait_for_completion()
|
|
toolhead.dwell(1)
|
|
toolhead.wait_moves()
|
|
|
|
# Re-enable the input shaper if it was active
|
|
if input_shaper is not None:
|
|
input_shaper.enable_shaping()
|
|
|
|
# Restore the previous acceleration values
|
|
if old_mcr is not None: # minimum_cruise_ratio found: Klipper >= v0.12.0-239
|
|
gcode.run_script_from_command(f'SET_VELOCITY_LIMIT ACCEL={old_accel} MINIMUM_CRUISE_RATIO={old_mcr}')
|
|
else: # minimum_cruise_ratio not found: Klipper < v0.12.0-239
|
|
gcode.run_script_from_command(f'SET_VELOCITY_LIMIT ACCEL={old_accel}')
|