shaper_calibrate: Choose input shapers accounting smoothing

Improved algorithm to choose the 'optimal' shaper frequency taking
shaper smoothing into account. This may choose a frequency with
slightly more vibrations but less smoothing. Also allow users to
limit the maximum input shaper smoothing.

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

1 files changed, 12 insertions, 7 deletions

diff --git a/klippy/extras/resonance_tester.py b/klippy/extras/resonance_tester.py
index 70bea4a1..045527c8 100644
--- a/klippy/extras/resonance_tester.py
+++ b/klippy/extras/resonance_tester.py
@@ -82,6 +82,7 @@ class ResonanceTester:
                 ('y', config.get('accel_chip_y').strip())]
             if self.accel_chip_names[0][1] == self.accel_chip_names[1][1]:
                 self.accel_chip_names = [('xy', self.accel_chip_names[0][1])]
+        self.max_smoothing = config.getfloat('max_smoothing', None, minval=0.05)
 
         self.gcode = self.printer.lookup_object('gcode')
         self.gcode.register_command("MEASURE_AXES_NOISE",
@@ -188,6 +189,9 @@ class ResonanceTester:
         else:
             calibrate_axes = [axis.lower()]
 
+        max_smoothing = gcmd.get_float(
+                "MAX_SMOOTHING", self.max_smoothing, minval=0.05)
+
         name_suffix = gcmd.get("NAME", time.strftime("%Y%m%d_%H%M%S"))
         if not self.is_valid_name_suffix(name_suffix):
             raise gcmd.error("Invalid NAME parameter")
@@ -244,15 +248,16 @@ class ResonanceTester:
                     "Calculating the best input shaper parameters for %s axis"
                     % (axis,))
             calibration_data[axis].normalize_to_frequencies()
-            shaper_name, shaper_freq, shapers_vals = helper.find_best_shaper(
-                    calibration_data[axis], gcmd.respond_info)
+            best_shaper, all_shapers = helper.find_best_shaper(
+                    calibration_data[axis], max_smoothing, gcmd.respond_info)
             gcmd.respond_info(
                     "Recommended shaper_type_%s = %s, shaper_freq_%s = %.1f Hz"
-                    % (axis, shaper_name, axis, shaper_freq))
-            helper.save_params(configfile, axis, shaper_name, shaper_freq)
+                    % (axis, best_shaper.name, axis, best_shaper.freq))
+            helper.save_params(configfile, axis,
+                               best_shaper.name, best_shaper.freq)
             csv_name = self.save_calibration_data(
                     'calibration_data', name_suffix, helper, axis,
-                    calibration_data[axis], shapers_vals)
+                    calibration_data[axis], all_shapers)
             gcmd.respond_info(
                     "Shaper calibration data written to %s file" % (csv_name,))
 
@@ -293,10 +298,10 @@ class ResonanceTester:
         return os.path.join("/tmp", name + ".csv")
 
     def save_calibration_data(self, base_name, name_suffix, shaper_calibrate,
-                              axis, calibration_data, shapers_vals=None):
+                              axis, calibration_data, all_shapers=None):
         output = self.get_filename(base_name, name_suffix, axis)
         shaper_calibrate.save_calibration_data(output, calibration_data,
-                                               shapers_vals)
+                                               all_shapers)
         return output
 
 def load_config(config):