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>
This commit is contained in:
Dmitry Butyugin 2020-07-06 02:54:38 +02:00 committed by GitHub
parent 09a3d018a8
commit 4bdc11a8b3
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5 changed files with 626 additions and 2 deletions

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@ -522,6 +522,40 @@
# Directly sets the default prefix. If present, this value will override # Directly sets the default prefix. If present, this value will override
# the "default_type". # 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 # Config file helpers

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@ -596,3 +596,18 @@ been enabled:
delay duration for the identified [delayed_gcode] and starts the timer delay duration for the identified [delayed_gcode] and starts the timer
for gcode execution. A value of 0 will cancel a pending delayed gcode for gcode execution. A value of 0 will cancel a pending delayed gcode
from executing. from executing.
## Resonance compensation
The following command is enabled if an [input_shaper] config section has
been enabled:
- `SET_INPUT_SHAPER [SHAPER_FREQ_X=<shaper_freq_x>]
[SHAPER_FREQ_Y=<shaper_freq_y>] [DAMPING_RATIO_X=<damping_ratio_x>]
[DAMPING_RATIO_Y=<damping_ratio_y>] [SHAPER_TYPE=<shaper>]
[SHAPER_TYPE_X=<shaper_type_x>] [SHAPER_TYPE_Y=<shaper_type_y>]`: Modify
input shaper parameters. Note that SHAPER_TYPE parameter resets input shaper
for both X and Y axes even if different shaper types have been configured
in [input_shaper] section. SHAPER_TYPE cannot be used together with either
of SHAPER_TYPE_X and SHAPER_TYPE_Y parameters. See
[example-extras.cfg](https://github.com/KevinOConnor/klipper/tree/master/config/example-extras.cfg)
for more details on each of these parameters.

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@ -17,7 +17,7 @@ COMPILE_CMD = ("gcc -Wall -g -O2 -shared -fPIC"
SOURCE_FILES = [ SOURCE_FILES = [
'pyhelper.c', 'serialqueue.c', 'stepcompress.c', 'itersolve.c', 'trapq.c', 'pyhelper.c', 'serialqueue.c', 'stepcompress.c', 'itersolve.c', 'trapq.c',
'kin_cartesian.c', 'kin_corexy.c', 'kin_delta.c', 'kin_polar.c', 'kin_cartesian.c', 'kin_corexy.c', 'kin_delta.c', 'kin_polar.c',
'kin_rotary_delta.c', 'kin_winch.c', 'kin_extruder.c', 'kin_rotary_delta.c', 'kin_winch.c', 'kin_extruder.c', 'kin_shaper.c',
] ]
DEST_LIB = "c_helper.so" DEST_LIB = "c_helper.so"
OTHER_FILES = [ OTHER_FILES = [
@ -104,6 +104,27 @@ defs_kin_extruder = """
, double smooth_time); , double smooth_time);
""" """
defs_kin_shaper = """
enum INPUT_SHAPER_TYPE {
INPUT_SHAPER_ZV = 0,
INPUT_SHAPER_ZVD = 1,
INPUT_SHAPER_MZV = 2,
INPUT_SHAPER_EI = 3,
INPUT_SHAPER_2HUMP_EI = 4,
INPUT_SHAPER_3HUMP_EI = 5,
};
double input_shaper_get_step_generation_window(int shaper_type
, double shaper_freq, double damping_ratio);
int input_shaper_set_shaper_params(struct stepper_kinematics *sk
, int shaper_type_x, int shaper_type_y
, double shaper_freq_x, double shaper_freq_y
, double damping_ratio_x, double damping_ratio_y);
int input_shaper_set_sk(struct stepper_kinematics *sk
, struct stepper_kinematics *orig_sk);
struct stepper_kinematics * input_shaper_alloc(void);
"""
defs_serialqueue = """ defs_serialqueue = """
#define MESSAGE_MAX 64 #define MESSAGE_MAX 64
struct pull_queue_message { struct pull_queue_message {
@ -147,7 +168,8 @@ defs_all = [
defs_pyhelper, defs_serialqueue, defs_std, defs_pyhelper, defs_serialqueue, defs_std,
defs_stepcompress, defs_itersolve, defs_trapq, defs_stepcompress, defs_itersolve, defs_trapq,
defs_kin_cartesian, defs_kin_corexy, defs_kin_delta, defs_kin_polar, defs_kin_cartesian, defs_kin_corexy, defs_kin_delta, defs_kin_polar,
defs_kin_rotary_delta, defs_kin_winch, defs_kin_extruder defs_kin_rotary_delta, defs_kin_winch, defs_kin_extruder,
defs_kin_shaper,
] ]
# Return the list of file modification times # Return the list of file modification times

421
klippy/chelper/kin_shaper.c Normal file
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@ -0,0 +1,421 @@
// Kinematic input shapers to minimize motion vibrations in XY plane
//
// Copyright (C) 2019-2020 Kevin O'Connor <kevin@koconnor.net>
// Copyright (C) 2020 Dmitry Butyugin <dmbutyugin@google.com>
//
// This file may be distributed under the terms of the GNU GPLv3 license.
#include <math.h> // sqrt, exp
#include <stddef.h> // offsetof
#include <stdlib.h> // malloc
#include <string.h> // memset
#include "compiler.h" // __visible
#include "itersolve.h" // struct stepper_kinematics
#include "trapq.h" // struct move
/****************************************************************
* Generic position calculation via shaper convolution
****************************************************************/
static inline double
get_axis_position(struct move *m, int axis, double move_time)
{
double axis_r = m->axes_r.axis[axis - 'x'];
double start_pos = m->start_pos.axis[axis - 'x'];
double move_dist = move_get_distance(m, move_time);
return start_pos + axis_r * move_dist;
}
static inline double
get_axis_position_across_moves(struct move *m, int axis, double time)
{
while (likely(time < 0.)) {
m = list_prev_entry(m, node);
time += m->move_t;
}
while (likely(time > m->move_t)) {
time -= m->move_t;
m = list_next_entry(m, node);
}
return get_axis_position(m, axis, time);
}
struct shaper_pulse {
double t, a;
};
// Calculate the position from the convolution of the shaper with input signal
static inline double
calc_position(struct move *m, int axis, double move_time
, struct shaper_pulse *pulses, int n)
{
double res = 0.;
for (int i = 0; i < n; ++i)
res += pulses[i].a * get_axis_position_across_moves(
m, axis, move_time + pulses[i].t);
return res;
}
/****************************************************************
* Shaper-specific initialization
****************************************************************/
#define EI_SHAPER_VIB_TOL 0.05
enum INPUT_SHAPER_TYPE {
INPUT_SHAPER_ZV = 0,
INPUT_SHAPER_ZVD = 1,
INPUT_SHAPER_MZV = 2,
INPUT_SHAPER_EI = 3,
INPUT_SHAPER_2HUMP_EI = 4,
INPUT_SHAPER_3HUMP_EI = 5,
};
struct input_shaper {
struct stepper_kinematics sk;
struct stepper_kinematics *orig_sk;
struct move m;
struct shaper_pulse *x_pulses, *y_pulses;
int x_n, y_n;
};
typedef void (*is_init_shaper_callback)(double shaper_freq
, double damping_ratio
, struct shaper_pulse **pulses, int *n);
static inline double
calc_ZV_K(double damping_ratio)
{
if (likely(!damping_ratio))
return 1.;
return exp(-damping_ratio * M_PI / sqrt(1. - damping_ratio*damping_ratio));
}
static inline double
calc_half_period(double shaper_freq, double damping_ratio)
{
return .5 / (shaper_freq * sqrt(1. - damping_ratio*damping_ratio));
}
static void
init_shaper_zv(double shaper_freq, double damping_ratio
, struct shaper_pulse **pulses, int *n)
{
*n = 2;
*pulses = malloc(*n * sizeof(struct shaper_pulse));
double half_period = calc_half_period(shaper_freq, damping_ratio);
double K = calc_ZV_K(damping_ratio);
double inv_D = 1. / (1. + K);
(*pulses)[0].t = -half_period;
(*pulses)[1].t = 0.;
(*pulses)[0].a = K * inv_D;
(*pulses)[1].a = inv_D;
}
static void
init_shaper_zvd(double shaper_freq, double damping_ratio
, struct shaper_pulse **pulses, int *n)
{
*n = 3;
*pulses = malloc(*n * sizeof(struct shaper_pulse));
double half_period = calc_half_period(shaper_freq, damping_ratio);
double K = calc_ZV_K(damping_ratio);
double K2 = K * K;
double inv_D = 1. / (K2 + 2. * K + 1.);
(*pulses)[0].t = -2. * half_period;
(*pulses)[1].t = -half_period;
(*pulses)[2].t = 0.;
(*pulses)[0].a = K2 * inv_D;
(*pulses)[1].a = 2. * K * inv_D;
(*pulses)[2].a = inv_D;
}
static void
init_shaper_mzv(double shaper_freq, double damping_ratio
, struct shaper_pulse **pulses, int *n)
{
*n = 3;
*pulses = malloc(*n * sizeof(struct shaper_pulse));
double half_period = calc_half_period(shaper_freq, damping_ratio);
double K = exp(-.75 * damping_ratio * M_PI
/ sqrt(1. - damping_ratio*damping_ratio));
double a1 = 1. - 1. / sqrt(2.);
double a2 = (sqrt(2.) - 1.) * K;
double a3 = a1 * K * K;
double inv_D = 1. / (a1 + a2 + a3);
(*pulses)[0].t = -1.5 * half_period;
(*pulses)[1].t = -.75 * half_period;
(*pulses)[2].t = 0.;
(*pulses)[0].a = a3 * inv_D;
(*pulses)[1].a = a2 * inv_D;
(*pulses)[2].a = a1 * inv_D;
}
static void
init_shaper_ei(double shaper_freq, double damping_ratio
, struct shaper_pulse **pulses, int *n)
{
*n = 3;
*pulses = malloc(*n * sizeof(struct shaper_pulse));
double half_period = calc_half_period(shaper_freq, damping_ratio);
double K = calc_ZV_K(damping_ratio);
double a1 = .25 * (1. + EI_SHAPER_VIB_TOL);
double a2 = .5 * (1. - EI_SHAPER_VIB_TOL) * K;
double a3 = a1 * K * K;
double inv_D = 1. / (a1 + a2 + a3);
(*pulses)[0].t = -2. * half_period;
(*pulses)[1].t = -half_period;
(*pulses)[2].t = 0.;
(*pulses)[0].a = a3 * inv_D;
(*pulses)[1].a = a2 * inv_D;
(*pulses)[2].a = a1 * inv_D;
}
static void
init_shaper_2hump_ei(double shaper_freq, double damping_ratio
, struct shaper_pulse **pulses, int *n)
{
*n = 4;
*pulses = malloc(*n * sizeof(struct shaper_pulse));
double half_period = calc_half_period(shaper_freq, damping_ratio);
double K = calc_ZV_K(damping_ratio);
double V2 = EI_SHAPER_VIB_TOL * EI_SHAPER_VIB_TOL;
double X = pow(V2 * (sqrt(1. - V2) + 1.), 1./3.);
double a1 = (3.*X*X + 2.*X + 3.*V2) / (16.*X);
double a2 = (.5 - a1) * K;
double a3 = a2 * K;
double a4 = a1 * K * K * K;
double inv_D = 1. / (a1 + a2 + a3 + a4);
(*pulses)[0].t = -3. * half_period;
(*pulses)[1].t = -2. * half_period;
(*pulses)[2].t = -half_period;
(*pulses)[3].t = 0.;
(*pulses)[0].a = a4 * inv_D;
(*pulses)[1].a = a3 * inv_D;
(*pulses)[2].a = a2 * inv_D;
(*pulses)[3].a = a1 * inv_D;
}
static void
init_shaper_3hump_ei(double shaper_freq, double damping_ratio
, struct shaper_pulse **pulses, int *n)
{
*n = 5;
*pulses = malloc(*n * sizeof(struct shaper_pulse));
double half_period = calc_half_period(shaper_freq, damping_ratio);
double K = calc_ZV_K(damping_ratio);
double K2 = K * K;
double a1 = 0.0625 * (1. + 3. * EI_SHAPER_VIB_TOL
+ 2. * sqrt(2. * (EI_SHAPER_VIB_TOL + 1.) * EI_SHAPER_VIB_TOL));
double a2 = 0.25 * (1. - EI_SHAPER_VIB_TOL) * K;
double a3 = (0.5 * (1. + EI_SHAPER_VIB_TOL) - 2. * a1) * K2;
double a4 = a2 * K2;
double a5 = a1 * K2 * K2;
double inv_D = 1. / (a1 + a2 + a3 + a4 + a5);
(*pulses)[0].t = -4. * half_period;
(*pulses)[1].t = -3. * half_period;
(*pulses)[2].t = -2. * half_period;
(*pulses)[3].t = -half_period;
(*pulses)[4].t = 0.;
(*pulses)[0].a = a5 * inv_D;
(*pulses)[1].a = a4 * inv_D;
(*pulses)[2].a = a3 * inv_D;
(*pulses)[3].a = a2 * inv_D;
(*pulses)[4].a = a1 * inv_D;
}
// Shift pulses around 'mid-point' t=0 so that the input shaper is an identity
// transformation for constant-speed motion (i.e. input_shaper(v * T) = v * T)
static void
shift_pulses(int n, struct shaper_pulse *pulses)
{
int i;
double ts = 0.;
for (i = 0; i < n; ++i)
ts += pulses[i].a * pulses[i].t;
for (i = 0; i < n; ++i)
pulses[i].t -= ts;
}
/****************************************************************
* Kinematics-related shaper code
****************************************************************/
#define DUMMY_T 500.0
// Optimized calc_position when only x axis is needed
static double
shaper_x_calc_position(struct stepper_kinematics *sk, struct move *m
, double move_time)
{
struct input_shaper *is = container_of(sk, struct input_shaper, sk);
if (!is->x_n)
return is->orig_sk->calc_position_cb(is->orig_sk, m, move_time);
is->m.start_pos.x = calc_position(m, 'x', move_time, is->x_pulses, is->x_n);
return is->orig_sk->calc_position_cb(is->orig_sk, &is->m, DUMMY_T);
}
// Optimized calc_position when only y axis is needed
static double
shaper_y_calc_position(struct stepper_kinematics *sk, struct move *m
, double move_time)
{
struct input_shaper *is = container_of(sk, struct input_shaper, sk);
if (!is->y_n)
return is->orig_sk->calc_position_cb(is->orig_sk, m, move_time);
is->m.start_pos.y = calc_position(m, 'y', move_time, is->y_pulses, is->y_n);
return is->orig_sk->calc_position_cb(is->orig_sk, &is->m, DUMMY_T);
}
// General calc_position for both x and y axes
static double
shaper_xy_calc_position(struct stepper_kinematics *sk, struct move *m
, double move_time)
{
struct input_shaper *is = container_of(sk, struct input_shaper, sk);
if (!is->x_n && !is->y_n)
return is->orig_sk->calc_position_cb(is->orig_sk, m, move_time);
is->m.start_pos = move_get_coord(m, move_time);
if (is->x_n)
is->m.start_pos.x = calc_position(m, 'x', move_time
, is->x_pulses, is->x_n);
if (is->y_n)
is->m.start_pos.y = calc_position(m, 'y', move_time
, is->y_pulses, is->y_n);
return is->orig_sk->calc_position_cb(is->orig_sk, &is->m, DUMMY_T);
}
static void
shaper_note_generation_time(struct input_shaper *is)
{
double pre_active = 0., post_active = 0.;
if ((is->sk.active_flags & AF_X) && is->x_n) {
pre_active = is->x_pulses[is->x_n-1].t;
post_active = -is->x_pulses[0].t;
}
if ((is->sk.active_flags & AF_Y) && is->y_n) {
pre_active = is->y_pulses[is->y_n-1].t > pre_active
? is->y_pulses[is->y_n-1].t : pre_active;
post_active = -is->y_pulses[0].t > post_active
? -is->y_pulses[0].t : post_active;
}
is->sk.gen_steps_pre_active = pre_active;
is->sk.gen_steps_post_active = post_active;
}
int __visible
input_shaper_set_sk(struct stepper_kinematics *sk
, struct stepper_kinematics *orig_sk)
{
struct input_shaper *is = container_of(sk, struct input_shaper, sk);
int af = orig_sk->active_flags & (AF_X | AF_Y);
if (af == (AF_X | AF_Y))
is->sk.calc_position_cb = shaper_xy_calc_position;
else if (af & AF_X)
is->sk.calc_position_cb = shaper_x_calc_position;
else if (af & AF_Y)
is->sk.calc_position_cb = shaper_y_calc_position;
else
return -1;
is->sk.active_flags = orig_sk->active_flags;
is->orig_sk = orig_sk;
return 0;
}
static is_init_shaper_callback init_shaper_callbacks[] = {
[INPUT_SHAPER_ZV] = &init_shaper_zv,
[INPUT_SHAPER_ZVD] = &init_shaper_zvd,
[INPUT_SHAPER_MZV] = &init_shaper_mzv,
[INPUT_SHAPER_EI] = &init_shaper_ei,
[INPUT_SHAPER_2HUMP_EI] = &init_shaper_2hump_ei,
[INPUT_SHAPER_3HUMP_EI] = &init_shaper_3hump_ei,
};
int __visible
input_shaper_set_shaper_params(struct stepper_kinematics *sk
, int shaper_type_x
, int shaper_type_y
, double shaper_freq_x
, double shaper_freq_y
, double damping_ratio_x
, double damping_ratio_y)
{
struct input_shaper *is = container_of(sk, struct input_shaper, sk);
if (shaper_type_x >= ARRAY_SIZE(init_shaper_callbacks) || shaper_type_x < 0)
return -1;
if (shaper_type_y >= ARRAY_SIZE(init_shaper_callbacks) || shaper_type_y < 0)
return -1;
int af = is->orig_sk->active_flags & (AF_X | AF_Y);
free(is->x_pulses);
if ((af & AF_X) && shaper_freq_x > 0.) {
init_shaper_callbacks[shaper_type_x](
shaper_freq_x, damping_ratio_x, &is->x_pulses, &is->x_n);
shift_pulses(is->x_n, is->x_pulses);
} else {
is->x_pulses = NULL;
is->x_n = 0;
}
free(is->y_pulses);
if ((af & AF_Y) && shaper_freq_y > 0.) {
init_shaper_callbacks[shaper_type_y](
shaper_freq_y, damping_ratio_y, &is->y_pulses, &is->y_n);
shift_pulses(is->y_n, is->y_pulses);
} else {
is->y_pulses = NULL;
is->y_n = 0;
}
shaper_note_generation_time(is);
return 0;
}
double __visible
input_shaper_get_step_generation_window(int shaper_type, double shaper_freq
, double damping_ratio)
{
if (shaper_freq <= 0.)
return 0.;
if (shaper_type >= ARRAY_SIZE(init_shaper_callbacks) || shaper_type < 0)
return 0.;
is_init_shaper_callback init_shaper_cb = init_shaper_callbacks[shaper_type];
int n;
struct shaper_pulse *pulses;
init_shaper_cb(shaper_freq, damping_ratio, &pulses, &n);
shift_pulses(n, pulses);
double window = -pulses[0].t;
if (pulses[n-1].t > window)
window = pulses[n-1].t;
free(pulses);
return window;
}
struct stepper_kinematics * __visible
input_shaper_alloc(void)
{
struct input_shaper *is = malloc(sizeof(*is));
memset(is, 0, sizeof(*is));
is->m.move_t = 2. * DUMMY_T;
return &is->sk;
}

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@ -0,0 +1,132 @@
# Kinematic input shaper to minimize motion vibrations in XY plane
#
# Copyright (C) 2019-2020 Kevin O'Connor <kevin@koconnor.net>
# Copyright (C) 2020 Dmitry Butyugin <dmbutyugin@google.com>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import chelper
class InputShaper:
def __init__(self, config):
self.printer = config.get_printer()
self.printer.register_event_handler("klippy:connect", self.connect)
self.toolhead = None
self.damping_ratio_x = config.getfloat(
'damping_ratio_x', 0.1, minval=0., maxval=1.)
self.damping_ratio_y = config.getfloat(
'damping_ratio_y', 0.1, minval=0., maxval=1.)
self.shaper_freq_x = config.getfloat('shaper_freq_x', 0., minval=0.)
self.shaper_freq_y = config.getfloat('shaper_freq_y', 0., minval=0.)
ffi_main, ffi_lib = chelper.get_ffi()
self.shapers = {None: None
, 'zv': ffi_lib.INPUT_SHAPER_ZV
, 'zvd': ffi_lib.INPUT_SHAPER_ZVD
, 'mzv': ffi_lib.INPUT_SHAPER_MZV
, 'ei': ffi_lib.INPUT_SHAPER_EI
, '2hump_ei': ffi_lib.INPUT_SHAPER_2HUMP_EI
, '3hump_ei': ffi_lib.INPUT_SHAPER_3HUMP_EI}
shaper_type = config.getchoice('shaper_type', self.shapers, None)
if shaper_type is None:
self.shaper_type_x = config.getchoice(
'shaper_type_x', self.shapers, 'mzv')
self.shaper_type_y = config.getchoice(
'shaper_type_y', self.shapers, 'mzv')
else:
self.shaper_type_x = self.shaper_type_y = shaper_type
self.stepper_kinematics = []
self.orig_stepper_kinematics = []
# Register gcode commands
gcode = self.printer.lookup_object('gcode')
gcode.register_command("SET_INPUT_SHAPER",
self.cmd_SET_INPUT_SHAPER,
desc=self.cmd_SET_INPUT_SHAPER_help)
def connect(self):
self.toolhead = self.printer.lookup_object("toolhead")
kin = self.toolhead.get_kinematics()
# Lookup stepper kinematics
ffi_main, ffi_lib = chelper.get_ffi()
steppers = kin.get_steppers()
for s in steppers:
sk = ffi_main.gc(ffi_lib.input_shaper_alloc(), ffi_lib.free)
orig_sk = s.set_stepper_kinematics(sk)
res = ffi_lib.input_shaper_set_sk(sk, orig_sk)
if res < 0:
s.set_stepper_kinematics(orig_sk)
continue
self.stepper_kinematics.append(sk)
self.orig_stepper_kinematics.append(orig_sk)
# Configure initial values
self.old_delay = 0.
self._set_input_shaper(self.shaper_type_x, self.shaper_type_y,
self.shaper_freq_x, self.shaper_freq_y,
self.damping_ratio_x, self.damping_ratio_y)
def _set_input_shaper(self, shaper_type_x, shaper_type_y
, shaper_freq_x, shaper_freq_y
, damping_ratio_x, damping_ratio_y):
if (shaper_type_x != self.shaper_type_x
or shaper_type_y != self.shaper_type_y):
self.toolhead.flush_step_generation()
ffi_main, ffi_lib = chelper.get_ffi()
new_delay = max(
ffi_lib.input_shaper_get_step_generation_window(
shaper_type_x, shaper_freq_x, damping_ratio_x),
ffi_lib.input_shaper_get_step_generation_window(
shaper_type_y, shaper_freq_y, damping_ratio_y))
self.toolhead.note_step_generation_scan_time(new_delay,
old_delay=self.old_delay)
self.old_delay = new_delay
self.shaper_type_x = shaper_type_x
self.shaper_type_y = shaper_type_y
self.shaper_freq_x = shaper_freq_x
self.shaper_freq_y = shaper_freq_y
self.damping_ratio_x = damping_ratio_x
self.damping_ratio_y = damping_ratio_y
for sk in self.stepper_kinematics:
ffi_lib.input_shaper_set_shaper_params(sk
, shaper_type_x, shaper_type_y
, shaper_freq_x, shaper_freq_y
, damping_ratio_x, damping_ratio_y)
cmd_SET_INPUT_SHAPER_help = "Set cartesian parameters for input shaper"
def cmd_SET_INPUT_SHAPER(self, gcmd):
damping_ratio_x = gcmd.get_float(
'DAMPING_RATIO_X', self.damping_ratio_x, minval=0., maxval=1.)
damping_ratio_y = gcmd.get_float(
'DAMPING_RATIO_Y', self.damping_ratio_y, minval=0., maxval=1.)
shaper_freq_x = gcmd.get_float(
'SHAPER_FREQ_X', self.shaper_freq_x, minval=0.)
shaper_freq_y = gcmd.get_float(
'SHAPER_FREQ_Y', self.shaper_freq_y, minval=0.)
def parse_shaper(shaper_type_str):
shaper_type_str = shaper_type_str.lower()
if shaper_type_str not in self.shapers:
raise gcmd.error(
"Requested shaper type '%s' is not supported" % (
shaper_type_str))
return self.shapers[shaper_type_str]
shaper_type = gcmd.get('SHAPER_TYPE', None, parser=parse_shaper)
if shaper_type is None:
shaper_type_x = gcmd.get('SHAPER_TYPE_X', self.shaper_type_x,
parser=parse_shaper)
shaper_type_y = gcmd.get('SHAPER_TYPE_Y', self.shaper_type_y,
parser=parse_shaper)
else:
shaper_type_x = shaper_type_y = shaper_type
self._set_input_shaper(shaper_type_x, shaper_type_y,
shaper_freq_x, shaper_freq_y,
damping_ratio_x, damping_ratio_y)
gcmd.respond_info("shaper_type_x:%s shaper_type_y:%s "
"shaper_freq_x:%.3f shaper_freq_y:%.3f "
"damping_ratio_x:%.6f damping_ratio_y:%.6f" % (
self.shapers.keys()[
self.shapers.values().index(shaper_type_x)]
, self.shapers.keys()[
self.shapers.values().index(shaper_type_x)]
, shaper_freq_x, shaper_freq_y
, damping_ratio_x, damping_ratio_y))
def load_config(config):
return InputShaper(config)