input_shaper: Initial support of input shaping (#3032)

Input shaping can help to reduce printer vibrations due to resonances
and eliminate or reduce ghosting in prints.

Signed-off-by: Dmitry Butyugin <dmbutyugin@google.com>

1 files changed, 34 insertions, 0 deletions

diff --git a/config/example-extras.cfg b/config/example-extras.cfg
index 8e7e0a5b..6ab4398b 100644
--- a/config/example-extras.cfg
+++ b/config/example-extras.cfg
@@ -522,6 +522,40 @@
 #    Directly sets the default prefix. If present, this value will override
 #    the "default_type".
 
+######################################################################
+# Resonance compensation
+######################################################################
+
+# Enables input shaping.
+#[input_shaper]
+#shaper_freq_x: 0
+#   A frequency (in Hz) of the input shaper for X axis. This is usually a
+#   resonance frequency of X axis that the input shaper should suppress.
+#   For more complex shapers, like 2- and 3-hump EI input shapers, this
+#   parameter can be set from different considerations.
+#   The default value is 0, which disables input shaping for X axis.
+#shaper_freq_y: 0
+#   A frequency (in Hz) of the input shaper for Y axis. This is usually a
+#   resonance frequency of Y axis that the input shaper should suppress.
+#   For more complex shapers, like 2- and 3-hump EI input shapers, this
+#   parameter can be set from different considerations.
+#   The default value is 0, which disables input shaping for Y axis.
+#shaper_type: mzv
+#   A type of the input shaper to use for both X and Y axes. Supported shapers
+#   are zv, mzv, zvd, ei, 2hump_ei, and 3hump_ei.
+#   The default is mzv input shaper.
+#shaper_type_x:
+#shaper_type_y:
+#   If shaper_type is not set, these two parameters can be used to configure
+#   different input shapers for X and Y axes. The same values are supported
+#   as for shaper_type parameter.
+#damping_ratio_x: 0.1
+#damping_ratio_y: 0.1
+#   Damping ratios of vibrations of X and Y axes used by input shapers to
+#   improve vibration suppression. Should not be changed without some proper
+#   measurements, e.g. with an accelerometer.
+#   Default value is 0.1 which is a good all-round value for most printers.
+
 
 ######################################################################
 # Config file helpers