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fixed compatibility with Klipper < v0.12.0-239
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@Frix-x
Frix-x committed Dec 22, 2024
1 parent 6376c84 commit 86f5e1d
Showing 1 changed file with 35 additions and 29 deletions.
64 changes: 35 additions & 29 deletions shaketune/helpers/resonance_test.py
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Original file line number Diff line number Diff line change
Expand Up @@ -24,6 +24,7 @@


# This class is used to generate the base vibration test sequences
# Note: it's almost untouched from the original Klipper code from Dmitry Butyugin
class BaseVibrationGenerator:
def __init__(self, min_freq, max_freq, accel_per_hz, hz_per_sec):
self.min_freq = min_freq
Expand All @@ -32,18 +33,16 @@ def __init__(self, min_freq, max_freq, accel_per_hz, hz_per_sec):
self.hz_per_sec = hz_per_sec
self.freq_start = min_freq
self.freq_end = max_freq
self.test_accel_per_hz = accel_per_hz
self.test_hz_per_sec = hz_per_sec

def prepare_test(self, freq_start=None, freq_end=None, accel_per_hz=None, hz_per_sec=None):
if freq_start is not None:
self.freq_start = freq_start
if freq_end is not None:
self.freq_end = freq_end
if accel_per_hz is not None:
self.test_accel_per_hz = accel_per_hz
self.accel_per_hz = accel_per_hz
if hz_per_sec is not None:
self.test_hz_per_sec = hz_per_sec
self.hz_per_sec = hz_per_sec

def get_max_freq(self):
return self.freq_end
Expand All @@ -55,24 +54,23 @@ def gen_test(self):
time = 0.0
while freq <= self.freq_end + 0.000001:
t_seg = 0.25 / freq
accel = self.test_accel_per_hz * freq
accel = self.accel_per_hz * freq
time += t_seg
result.append((time, sign * accel, freq))
time += t_seg
result.append((time, -sign * accel, freq))
freq += 2.0 * t_seg * self.test_hz_per_sec
freq += 2.0 * t_seg * self.hz_per_sec
sign = -sign
return result


# This class is a derivative of BaseVibrationGenerator that adds slow sweeping acceleration to the test sequences (new style)
# Note: it's almost untouched from the original Klipper code from Dmitry Butyugin
class SweepingVibrationGenerator(BaseVibrationGenerator):
def __init__(self, min_freq, max_freq, accel_per_hz, hz_per_sec, sweeping_accel=400.0, sweeping_period=1.2):
super().__init__(min_freq, max_freq, accel_per_hz, hz_per_sec)
self.sweeping_accel = sweeping_accel
self.sweeping_period = sweeping_period
self.test_sweeping_accel = sweeping_accel
self.test_sweeping_period = sweeping_period

def prepare_test(
self,
Expand All @@ -85,19 +83,19 @@ def prepare_test(
):
super().prepare_test(freq_start, freq_end, accel_per_hz, hz_per_sec)
if sweeping_accel is not None:
self.test_sweeping_accel = sweeping_accel
self.sweeping_accel = sweeping_accel
if sweeping_period is not None:
self.test_sweeping_period = sweeping_period
self.sweeping_period = sweeping_period

def gen_test(self):
base_seq = super().gen_test()
if not self.test_sweeping_period:
if not self.sweeping_period:
# If sweeping_period == 0, just return base sequence (old style pulse-only test)
return base_seq

accel_fraction = math.sqrt(2.0) * 0.125
t_rem = self.test_sweeping_period * accel_fraction
sweeping_accel = self.test_sweeping_accel
t_rem = self.sweeping_period * accel_fraction
sweeping_accel = self.sweeping_accel
result = []
last_t = 0.0
sig = 1.0
Expand All @@ -109,7 +107,7 @@ def gen_test(self):
last_t += t_rem
result.append((last_t, accel + sweeping_accel * sig, freq))
t_seg -= t_rem
t_rem = self.test_sweeping_period * accel_fraction
t_rem = self.sweeping_period * accel_fraction
accel_fraction = 0.5
sig = -sig
t_rem -= t_seg
Expand All @@ -130,7 +128,7 @@ def __init__(self, freq, accel_per_hz, duration):
def gen_test(self):
freq = self.freq_start # same as self.freq_end since static
t_seg = 0.25 / freq
accel = self.test_accel_per_hz * freq
accel = self.accel_per_hz * freq
sign = 1.0
time = 0.0
result = []
Expand Down Expand Up @@ -178,8 +176,8 @@ def get_parameters(self):
self.res_tester.generator.vibration_generator.max_freq,
self.res_tester.generator.vibration_generator.accel_per_hz,
self.res_tester.generator.vibration_generator.hz_per_sec,
self.res_tester.generator.test_sweeping_period,
self.res_tester.generator.test_sweeping_accel,
self.res_tester.generator.sweeping_period,
self.res_tester.generator.sweeping_accel,
)

def vibrate_axis(self, axis_direction, min_freq=None, max_freq=None, hz_per_sec=None, accel_per_hz=None):
Expand All @@ -192,10 +190,12 @@ def vibrate_axis(self, axis_direction, min_freq=None, max_freq=None, hz_per_sec=
s_period = base_s_period
s_accel = base_s_accel

if s_period > 0:
gen = SweepingVibrationGenerator(final_min_f, final_max_f, final_aph, final_hps, s_accel, s_period)
else:
if s_period == 0 or self.is_old_klipper:
ConsoleOutput.print('Using pulse-only test')
gen = BaseVibrationGenerator(final_min_f, final_max_f, final_aph, final_hps)
else:
ConsoleOutput.print('Using pulse test with additional sweeping')
gen = SweepingVibrationGenerator(final_min_f, final_max_f, final_aph, final_hps, s_accel, s_period)

test_seq = gen.gen_test()
self._run_test_sequence(axis_direction, test_seq)
Expand All @@ -216,15 +216,19 @@ def _run_test_sequence(self, axis_direction, test_seq):
X, Y, Z, E = toolhead.get_position()

old_max_accel = toolhead_info['max_accel']
old_mcr = toolhead_info.get('minimum_cruise_ratio', 1.0)

# Set velocity limits
if test_seq:
max_accel = max(abs(a) for _, a, _ in test_seq)
else:
max_accel = old_max_accel # no moves, just default

gcode.run_script_from_command(f'SET_VELOCITY_LIMIT ACCEL={max_accel:.3f} MINIMUM_CRUISE_RATIO=0')
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}')

# Disable input shaper if present
input_shaper = self.toolhead.printer.lookup_object('input_shaper', None)
Expand All @@ -240,7 +244,7 @@ def _run_test_sequence(self, axis_direction, test_seq):

for next_t, accel, freq in test_seq:
t_seg = next_t - last_t
gcode.run_script_from_command(f'M204 S={abs(accel):.3f}')
toolhead.cmd_M204(gcode.create_gcode_command('M204', 'M204', {'S': abs(accel)}))
v = last_v + accel * t_seg
abs_v = abs(v)
if abs_v < 1e-6:
Expand All @@ -253,7 +257,8 @@ def _run_test_sequence(self, axis_direction, test_seq):
dX, dY, dZ = self._project_distance(d, normalized_direction)
nX, nY, nZ = X + dX, Y + dY, Z + dZ

toolhead.limit_next_junction_speed(abs_last_v)
if not self.is_old_klipper:
toolhead.limit_next_junction_speed(abs_last_v)

# If direction changed sign, must pass through zero velocity
if v * last_v < 0:
Expand All @@ -278,13 +283,14 @@ def _run_test_sequence(self, axis_direction, test_seq):
if last_v != 0.0:
d_decel = -0.5 * last_v2 / old_max_accel if old_max_accel != 0 else 0
ddX, ddY, ddZ = self._project_distance(d_decel, normalized_direction)
gcode.run_script_from_command(f'M204 S={old_max_accel:.3f}')
toolhead.cmd_M204(gcode.create_gcode_command('M204', 'M204', {'S': old_max_accel}))
toolhead.move([X + ddX, Y + ddY, Z + ddZ, E], abs(last_v))

# Restore original limits
gcode.run_script_from_command(
f'SET_VELOCITY_LIMIT ACCEL={old_max_accel:.3f} MINIMUM_CRUISE_RATIO={old_mcr:.3f}'
)
# 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_max_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_max_accel}')

# Re-enable input shaper if disabled
if input_shaper is not None:
Expand Down

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