76 lines
2.9 KiB
Python
76 lines
2.9 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 .accelerometer import Accelerometer
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def axes_map_calibration(gcmd, gcode, printer, st_thread: ShakeTuneThread) -> 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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accel_chip = gcmd.get('ACCEL_CHIP', default=None)
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if accel_chip is None:
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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 accelerometer specified 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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systime = printer.get_reactor().monotonic()
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toolhead = printer.lookup_object('toolhead')
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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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old_sqv = toolhead_info['square_corner_velocity']
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# set the wanted acceleration values
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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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# 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 - 15, mid_y - 15, 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(1)
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toolhead.move([mid_x + 15, mid_y - 15, z_height, E], speed)
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toolhead.dwell(1)
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toolhead.move([mid_x + 15, mid_y + 15, z_height, E], speed)
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toolhead.dwell(1)
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toolhead.move([mid_x + 15, mid_y + 15, z_height + 15, E], speed)
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toolhead.dwell(1)
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accelerometer.stop_measurement('axemap')
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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(
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f'SET_VELOCITY_LIMIT ACCEL={old_accel} MINIMUM_CRUISE_RATIO={old_mcr} SQUARE_CORNER_VELOCITY={old_sqv}'
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)
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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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creator = st_thread.get_graph_creator()
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creator.configure(accel)
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st_thread.run()
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