diff options
Diffstat (limited to 'klippy')
| -rw-r--r-- | klippy/extras/resonance_tester.py | 177 |
1 files changed, 68 insertions, 109 deletions
diff --git a/klippy/extras/resonance_tester.py b/klippy/extras/resonance_tester.py index 55fa5583..b78305e1 100644 --- a/klippy/extras/resonance_tester.py +++ b/klippy/extras/resonance_tester.py @@ -17,8 +17,8 @@ def _parse_probe_points(config): class VibrationPulseTest: def __init__(self, config): - printer = config.get_printer() - self.gcode = printer.lookup_object('gcode') + self.printer = config.get_printer() + self.gcode = self.printer.lookup_object('gcode') self.min_freq = config.getfloat('min_freq', 5., minval=1.) # Defaults are such that max_freq * accel_per_hz == 10000 (max_accel) self.max_freq = config.getfloat('max_freq', 10000. / 75., @@ -51,6 +51,12 @@ class VibrationPulseTest: vib_dir = (1, 0) if axis == 'x' else (0., 1.) sign = 1. freq = self.freq_start + input_shaper = self.printer.lookup_object('input_shaper', None) + if input_shaper is not None and not gcmd.get_int('INPUT_SHAPING', 0): + input_shaper.disable_shaping() + gcmd.respond_info("Disabled [input_shaper] for resonance testing") + else: + input_shaper = None gcmd.respond_info("Testing frequency %.0f Hz" % (freq,)) _, max_accel = toolhead.get_max_velocity() while freq <= self.freq_end + 0.000001: @@ -69,6 +75,10 @@ class VibrationPulseTest: freq += 2. * t_seg * self.hz_per_sec if math.floor(freq) > math.floor(old_freq): gcmd.respond_info("Testing frequency %.0f Hz" % (freq,)) + # Restore input shaper if it was disabled for resonance testing + if input_shaper is not None: + input_shaper.enable_shaping() + gcmd.respond_info("Re-enabled [input_shaper]") class ResonanceTester: def __init__(self, config): @@ -99,10 +109,59 @@ class ResonanceTester: (axis, self.printer.lookup_object(chip_name)) for axis, chip_name in self.accel_chip_names] - def cmd_TEST_RESONANCES(self, gcmd): + def _run_test(self, gcmd, axes, helper, raw_name_suffix=None): toolhead = self.printer.lookup_object('toolhead') - # Parse parameters + calibration_data = {axis: None for axis in axes} + self.test.prepare_test(toolhead, gcmd) + test_points = self.test.get_start_test_points() + for point in test_points: + toolhead.manual_move(point, self.move_speed) + if len(test_points) > 1: + gcmd.respond_info( + "Probing point (%.3f, %.3f, %.3f)" % tuple(point)) + for axis in axes: + toolhead.wait_moves() + toolhead.dwell(0.500) + if len(axes) > 1: + gcmd.respond_info("Testing axis %s" % axis.upper()) + + for chip_axis, chip in self.accel_chips: + if axis in chip_axis or chip_axis in axis: + chip.start_measurements() + # Generate moves + self.test.run_test(toolhead, axis, gcmd) + raw_values = [] + for chip_axis, chip in self.accel_chips: + if axis in chip_axis or chip_axis in axis: + results = chip.finish_measurements() + if raw_name_suffix is not None: + raw_name = self.get_filename( + 'raw_data', raw_name_suffix, axis, + point if len(test_points) > 1 else None) + results.write_to_file(raw_name) + gcmd.respond_info( + "Writing raw accelerometer data to " + "%s file" % (raw_name,)) + raw_values.append((chip_axis, results)) + gcmd.respond_info("%s-axis accelerometer stats: %s" % ( + chip_axis, results.get_stats(),)) + if helper is None: + continue + for chip_axis, chip_values in raw_values: + if not chip_values: + raise gcmd.error( + "%s-axis accelerometer measured no data" % ( + chip_axis,)) + new_data = helper.process_accelerometer_data(chip_values) + if calibration_data[axis] is None: + calibration_data[axis] = new_data + else: + calibration_data[axis].add_data(new_data) + return calibration_data + + def cmd_TEST_RESONANCES(self, gcmd): + # Parse parameters if len(self.test.get_supported_axes()) > 1: axis = gcmd.get("AXIS").lower() else: @@ -127,75 +186,20 @@ class ResonanceTester: # Setup calculation of resonances if csv_output: helper = shaper_calibrate.ShaperCalibrate(self.printer) - - input_shaper = self.printer.lookup_object('input_shaper', None) - if input_shaper is not None and not gcmd.get_int('INPUT_SHAPING', 0): - input_shaper.disable_shaping() - gcmd.respond_info("Disabled [input_shaper] for resonance testing") else: - input_shaper = None - - currentPos = toolhead.get_position() - Z = currentPos[2] - E = currentPos[3] + helper = None - calibration_points = self.test.get_start_test_points() - data = None - for point in calibration_points: - toolhead.manual_move(point, self.move_speed) - if len(calibration_points) > 1: - gcmd.respond_info( - "Probing point (%.3f, %.3f, %.3f)" % tuple(point)) - toolhead.wait_moves() - toolhead.dwell(0.500) - gcmd.respond_info("Testing axis %s" % axis.upper()) - - for chip_axis, chip in self.accel_chips: - if axis in chip_axis or chip_axis in axis: - chip.start_measurements() - # Generate moves - self.test.run_test(toolhead, axis, gcmd) - raw_values = [] - for chip_axis, chip in self.accel_chips: - if axis in chip_axis or chip_axis in axis: - results = chip.finish_measurements() - if raw_output: - raw_name = self.get_filename( - 'raw_data', name_suffix, axis, - point if len(calibration_points) > 1 else None) - results.write_to_file(raw_name) - gcmd.respond_info( - "Writing raw accelerometer data to %s file" % ( - raw_name,)) - raw_values.append((chip_axis, results)) - if not csv_output: - continue - for chip_axis, chip_values in raw_values: - gcmd.respond_info("%s-axis accelerometer stats: %s" % ( - chip_axis, chip_values.get_stats(),)) - if not chip_values: - raise gcmd.error( - "%s-axis accelerometer measured no data" % ( - chip_axis,)) - new_data = helper.process_accelerometer_data(chip_values) - if data is None: - data = new_data - else: - data.add_data(new_data) + data = self._run_test( + gcmd, [axis], helper, + raw_name_suffix=name_suffix if raw_output else None)[axis] if csv_output: csv_name = self.save_calibration_data('resonances', name_suffix, helper, axis, data) gcmd.respond_info( "Resonances data written to %s file" % (csv_name,)) - if input_shaper is not None: - input_shaper.enable_shaping() - gcmd.respond_info( - "Re-enabled [input_shaper] after resonance testing") def cmd_SHAPER_CALIBRATE(self, gcmd): - toolhead = self.printer.lookup_object('toolhead') # Parse parameters - self.test.prepare_test(toolhead, gcmd) axis = gcmd.get("AXIS", None) if not axis: calibrate_axes = self.test.get_supported_axes() @@ -214,50 +218,9 @@ class ResonanceTester: # Setup shaper calibration helper = shaper_calibrate.ShaperCalibrate(self.printer) - input_shaper = self.printer.lookup_object('input_shaper', None) - if input_shaper is not None: - input_shaper.disable_shaping() - gcmd.respond_info("Disabled [input_shaper] for calibration") - - currentPos = toolhead.get_position() - Z = currentPos[2] - E = currentPos[3] - calibration_data = {axis: None for axis in calibrate_axes} - - calibration_points = self.test.get_start_test_points() - for point in calibration_points: - toolhead.manual_move(point, self.move_speed) - if len(calibration_points) > 1: - gcmd.respond_info( - "Probing point (%.3f, %.3f, %.3f)" % tuple(point)) - for axis in calibrate_axes: - toolhead.wait_moves() - toolhead.dwell(0.500) - gcmd.respond_info("Testing axis %s" % axis.upper()) - - for chip_axis, chip in self.accel_chips: - if axis in chip_axis or chip_axis in axis: - chip.start_measurements() - # Generate moves - self.test.run_test(toolhead, axis, gcmd) - raw_values = [(chip_axis, chip.finish_measurements()) - for chip_axis, chip in self.accel_chips - if axis in chip_axis or chip_axis in axis] - for chip_axis, chip_values in raw_values: - gcmd.respond_info("%s-axis accelerometer stats: %s" % ( - chip_axis, chip_values.get_stats(),)) - if not chip_values: - raise gcmd.error( - "%s-axis accelerometer measured no data" % ( - chip_axis,)) - new_data = helper.process_accelerometer_data(chip_values) - if calibration_data[axis] is None: - calibration_data[axis] = new_data - else: - calibration_data[axis].add_data(new_data) + calibration_data = self._run_test(gcmd, calibrate_axes, helper) configfile = self.printer.lookup_object('configfile') - for axis in calibrate_axes: gcmd.respond_info( "Calculating the best input shaper parameters for %s axis" @@ -275,13 +238,9 @@ class ResonanceTester: calibration_data[axis], all_shapers) gcmd.respond_info( "Shaper calibration data written to %s file" % (csv_name,)) - gcmd.respond_info( "The SAVE_CONFIG command will update the printer config file\n" "with these parameters and restart the printer.") - if input_shaper is not None: - input_shaper.enable_shaping() - gcmd.respond_info("Re-enabled [input_shaper] after calibration") def cmd_MEASURE_AXES_NOISE(self, gcmd): meas_time = gcmd.get_float("MEAS_TIME", 2.) |