mirror of https://github.com/Desuuuu/klipper.git
resonance_tester: Refactored the testing code
Signed-off-by: Dmitry Butyugin <dmbutyugin@google.com>
This commit is contained in:
Dmitry Butyugin
KevinOConnor
parent
ed6ab6b9cc
commit
3b33d6652f
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@ -17,8 +17,8 @@ def _parse_probe_points(config):
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class VibrationPulseTest:
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def __init__(self, config):
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printer = config.get_printer()
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self.gcode = printer.lookup_object('gcode')
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self.printer = config.get_printer()
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self.gcode = self.printer.lookup_object('gcode')
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self.min_freq = config.getfloat('min_freq', 5., minval=1.)
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# Defaults are such that max_freq * accel_per_hz == 10000 (max_accel)
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self.max_freq = config.getfloat('max_freq', 10000. / 75.,
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@ -51,6 +51,12 @@ class VibrationPulseTest:
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vib_dir = (1, 0) if axis == 'x' else (0., 1.)
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sign = 1.
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freq = self.freq_start
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input_shaper = self.printer.lookup_object('input_shaper', None)
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if input_shaper is not None and not gcmd.get_int('INPUT_SHAPING', 0):
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input_shaper.disable_shaping()
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gcmd.respond_info("Disabled [input_shaper] for resonance testing")
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else:
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input_shaper = None
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gcmd.respond_info("Testing frequency %.0f Hz" % (freq,))
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_, max_accel = toolhead.get_max_velocity()
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while freq <= self.freq_end + 0.000001:
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@ -69,6 +75,10 @@ class VibrationPulseTest:
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freq += 2. * t_seg * self.hz_per_sec
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if math.floor(freq) > math.floor(old_freq):
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gcmd.respond_info("Testing frequency %.0f Hz" % (freq,))
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# Restore input shaper if it was disabled for resonance testing
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if input_shaper is not None:
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input_shaper.enable_shaping()
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gcmd.respond_info("Re-enabled [input_shaper]")
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class ResonanceTester:
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def __init__(self, config):
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@ -99,10 +109,59 @@ class ResonanceTester:
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(axis, self.printer.lookup_object(chip_name))
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for axis, chip_name in self.accel_chip_names]
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def cmd_TEST_RESONANCES(self, gcmd):
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def _run_test(self, gcmd, axes, helper, raw_name_suffix=None):
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toolhead = self.printer.lookup_object('toolhead')
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# Parse parameters
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calibration_data = {axis: None for axis in axes}
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self.test.prepare_test(toolhead, gcmd)
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test_points = self.test.get_start_test_points()
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for point in test_points:
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toolhead.manual_move(point, self.move_speed)
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if len(test_points) > 1:
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gcmd.respond_info(
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"Probing point (%.3f, %.3f, %.3f)" % tuple(point))
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for axis in axes:
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toolhead.wait_moves()
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toolhead.dwell(0.500)
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if len(axes) > 1:
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gcmd.respond_info("Testing axis %s" % axis.upper())
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for chip_axis, chip in self.accel_chips:
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if axis in chip_axis or chip_axis in axis:
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chip.start_measurements()
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# Generate moves
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self.test.run_test(toolhead, axis, gcmd)
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raw_values = []
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for chip_axis, chip in self.accel_chips:
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if axis in chip_axis or chip_axis in axis:
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results = chip.finish_measurements()
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if raw_name_suffix is not None:
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raw_name = self.get_filename(
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'raw_data', raw_name_suffix, axis,
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point if len(test_points) > 1 else None)
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results.write_to_file(raw_name)
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gcmd.respond_info(
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"Writing raw accelerometer data to "
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"%s file" % (raw_name,))
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raw_values.append((chip_axis, results))
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gcmd.respond_info("%s-axis accelerometer stats: %s" % (
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chip_axis, results.get_stats(),))
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if helper is None:
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continue
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for chip_axis, chip_values in raw_values:
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if not chip_values:
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raise gcmd.error(
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"%s-axis accelerometer measured no data" % (
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chip_axis,))
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new_data = helper.process_accelerometer_data(chip_values)
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if calibration_data[axis] is None:
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calibration_data[axis] = new_data
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else:
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calibration_data[axis].add_data(new_data)
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return calibration_data
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def cmd_TEST_RESONANCES(self, gcmd):
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# Parse parameters
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if len(self.test.get_supported_axes()) > 1:
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axis = gcmd.get("AXIS").lower()
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else:
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@ -127,75 +186,20 @@ class ResonanceTester:
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# Setup calculation of resonances
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if csv_output:
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helper = shaper_calibrate.ShaperCalibrate(self.printer)
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input_shaper = self.printer.lookup_object('input_shaper', None)
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if input_shaper is not None and not gcmd.get_int('INPUT_SHAPING', 0):
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input_shaper.disable_shaping()
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gcmd.respond_info("Disabled [input_shaper] for resonance testing")
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else:
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input_shaper = None
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helper = None
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currentPos = toolhead.get_position()
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Z = currentPos[2]
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E = currentPos[3]
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calibration_points = self.test.get_start_test_points()
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data = None
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for point in calibration_points:
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toolhead.manual_move(point, self.move_speed)
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if len(calibration_points) > 1:
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gcmd.respond_info(
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"Probing point (%.3f, %.3f, %.3f)" % tuple(point))
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toolhead.wait_moves()
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toolhead.dwell(0.500)
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gcmd.respond_info("Testing axis %s" % axis.upper())
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for chip_axis, chip in self.accel_chips:
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if axis in chip_axis or chip_axis in axis:
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chip.start_measurements()
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# Generate moves
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self.test.run_test(toolhead, axis, gcmd)
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raw_values = []
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for chip_axis, chip in self.accel_chips:
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if axis in chip_axis or chip_axis in axis:
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results = chip.finish_measurements()
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if raw_output:
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raw_name = self.get_filename(
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'raw_data', name_suffix, axis,
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point if len(calibration_points) > 1 else None)
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results.write_to_file(raw_name)
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gcmd.respond_info(
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"Writing raw accelerometer data to %s file" % (
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raw_name,))
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raw_values.append((chip_axis, results))
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if not csv_output:
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continue
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for chip_axis, chip_values in raw_values:
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gcmd.respond_info("%s-axis accelerometer stats: %s" % (
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chip_axis, chip_values.get_stats(),))
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if not chip_values:
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raise gcmd.error(
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"%s-axis accelerometer measured no data" % (
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chip_axis,))
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new_data = helper.process_accelerometer_data(chip_values)
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if data is None:
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data = new_data
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else:
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data.add_data(new_data)
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data = self._run_test(
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gcmd, [axis], helper,
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raw_name_suffix=name_suffix if raw_output else None)[axis]
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if csv_output:
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csv_name = self.save_calibration_data('resonances', name_suffix,
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helper, axis, data)
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gcmd.respond_info(
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"Resonances data written to %s file" % (csv_name,))
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if input_shaper is not None:
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input_shaper.enable_shaping()
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gcmd.respond_info(
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"Re-enabled [input_shaper] after resonance testing")
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def cmd_SHAPER_CALIBRATE(self, gcmd):
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toolhead = self.printer.lookup_object('toolhead')
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# Parse parameters
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self.test.prepare_test(toolhead, gcmd)
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axis = gcmd.get("AXIS", None)
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if not axis:
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calibrate_axes = self.test.get_supported_axes()
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@ -214,50 +218,9 @@ class ResonanceTester:
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# Setup shaper calibration
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helper = shaper_calibrate.ShaperCalibrate(self.printer)
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input_shaper = self.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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gcmd.respond_info("Disabled [input_shaper] for calibration")
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currentPos = toolhead.get_position()
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Z = currentPos[2]
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E = currentPos[3]
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calibration_data = {axis: None for axis in calibrate_axes}
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calibration_points = self.test.get_start_test_points()
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for point in calibration_points:
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toolhead.manual_move(point, self.move_speed)
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if len(calibration_points) > 1:
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gcmd.respond_info(
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"Probing point (%.3f, %.3f, %.3f)" % tuple(point))
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for axis in calibrate_axes:
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toolhead.wait_moves()
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toolhead.dwell(0.500)
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gcmd.respond_info("Testing axis %s" % axis.upper())
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for chip_axis, chip in self.accel_chips:
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if axis in chip_axis or chip_axis in axis:
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chip.start_measurements()
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# Generate moves
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self.test.run_test(toolhead, axis, gcmd)
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raw_values = [(chip_axis, chip.finish_measurements())
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for chip_axis, chip in self.accel_chips
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if axis in chip_axis or chip_axis in axis]
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for chip_axis, chip_values in raw_values:
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gcmd.respond_info("%s-axis accelerometer stats: %s" % (
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chip_axis, chip_values.get_stats(),))
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if not chip_values:
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raise gcmd.error(
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"%s-axis accelerometer measured no data" % (
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chip_axis,))
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new_data = helper.process_accelerometer_data(chip_values)
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if calibration_data[axis] is None:
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calibration_data[axis] = new_data
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else:
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calibration_data[axis].add_data(new_data)
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calibration_data = self._run_test(gcmd, calibrate_axes, helper)
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configfile = self.printer.lookup_object('configfile')
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for axis in calibrate_axes:
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gcmd.respond_info(
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"Calculating the best input shaper parameters for %s axis"
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@ -275,13 +238,9 @@ class ResonanceTester:
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calibration_data[axis], all_shapers)
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gcmd.respond_info(
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"Shaper calibration data written to %s file" % (csv_name,))
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gcmd.respond_info(
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"The SAVE_CONFIG command will update the printer config file\n"
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"with these parameters and restart the printer.")
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if input_shaper is not None:
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input_shaper.enable_shaping()
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gcmd.respond_info("Re-enabled [input_shaper] after calibration")
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def cmd_MEASURE_AXES_NOISE(self, gcmd):
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meas_time = gcmd.get_float("MEAS_TIME", 2.)
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