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resonance_tester: Arbitrary AXIS in TEST_RESONANCES command 

Signed-off-by: Dmitry Butyugin <dmbutyugin@google.com>
This commit is contained in:
Dmitry Butyugin 2021-06-27 17:20:06 +02:00 committed by KevinOConnor
parent 0edcd0bb7b
commit 1128e9179b
1 changed files with 61 additions and 29 deletions
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90
klippy/extras/resonance_tester.py
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@ -15,6 +15,45 @@ def _parse_probe_points(config):
raise config.error("Unable to parse probe_points in %s" % ( raise config.error("Unable to parse probe_points in %s" % (
config.get_name())) config.get_name()))
class TestAxis:
def __init__(self, axis=None, vib_dir=None):
if axis is None:
self._name = "axis=%.3f,%.3f" % (vib_dir[0], vib_dir[1])
else:
self._name = axis
if vib_dir is None:
self._vib_dir = (1., 0.) if axis == 'x' else (0., 1.)
else:
s = math.sqrt(sum([d*d for d in vib_dir]))
self._vib_dir = [d / s for d in vib_dir]
def matches(self, chip_axis):
if self._vib_dir[0] and 'x' in chip_axis:
return True
if self._vib_dir[1] and 'y' in chip_axis:
return True
return False
def get_name(self):
return self._name
def get_point(self, l):
return (self._vib_dir[0] * l, self._vib_dir[1] * l)
def _parse_axis(gcmd, raw_axis):
if raw_axis is None:
return None
raw_axis = raw_axis.lower()
if raw_axis in ['x', 'y']:
return TestAxis(axis=raw_axis)
dirs = raw_axis.split(',')
if len(dirs) != 2:
raise gcmd.error("Invalid format of axis '%s'" % (raw_axis,))
try:
dir_x = float(dirs[0].strip())
dir_y = float(dirs[1].strip())
except:
raise gcmd.error(
"Unable to parse axis direction '%s'" % (raw_axis,))
return TestAxis(vib_dir=(dir_x, dir_y))
class VibrationPulseTest: class VibrationPulseTest:
def __init__(self, config): def __init__(self, config):
self.printer = config.get_printer() self.printer = config.get_printer()
@ -28,8 +67,6 @@ class VibrationPulseTest:
minval=0.1, maxval=2.) minval=0.1, maxval=2.)
self.probe_points = _parse_probe_points(config) self.probe_points = _parse_probe_points(config)
def get_supported_axes(self):
return ['x', 'y']
def get_start_test_points(self): def get_start_test_points(self):
return self.probe_points return self.probe_points
def prepare_test(self, gcmd): def prepare_test(self, gcmd):
@ -41,9 +78,6 @@ class VibrationPulseTest:
def run_test(self, axis, gcmd): def run_test(self, axis, gcmd):
toolhead = self.printer.lookup_object('toolhead') toolhead = self.printer.lookup_object('toolhead')
X, Y, Z, E = toolhead.get_position() X, Y, Z, E = toolhead.get_position()
if axis not in self.get_supported_axes():
raise gcmd.error("Test axis '%s' is not supported", axis)
vib_dir = (1, 0) if axis == 'x' else (0., 1.)
sign = 1. sign = 1.
freq = self.freq_start freq = self.freq_start
# Override maximum acceleration and acceleration to # Override maximum acceleration and acceleration to
@ -70,8 +104,9 @@ class VibrationPulseTest:
toolhead.cmd_M204(self.gcode.create_gcode_command( toolhead.cmd_M204(self.gcode.create_gcode_command(
"M204", "M204", {"S": accel})) "M204", "M204", {"S": accel}))
L = .5 * accel * t_seg**2 L = .5 * accel * t_seg**2
nX = X + sign * vib_dir[0] * L dX, dY = axis.get_point(L)
nY = Y + sign * vib_dir[1] * L nX = X + sign * dX
nY = Y + sign * dY
toolhead.move([nX, nY, Z, E], max_v) toolhead.move([nX, nY, Z, E], max_v)
toolhead.move([X, Y, Z, E], max_v) toolhead.move([X, Y, Z, E], max_v)
sign = -sign sign = -sign
@ -117,8 +152,8 @@ class ResonanceTester:
def connect(self): def connect(self):
self.accel_chips = [ self.accel_chips = [
(axis, self.printer.lookup_object(chip_name)) (chip_axis, self.printer.lookup_object(chip_name))
for axis, chip_name in self.accel_chip_names] for chip_axis, chip_name in self.accel_chip_names]
def _run_test(self, gcmd, axes, helper, raw_name_suffix=None): def _run_test(self, gcmd, axes, helper, raw_name_suffix=None):
toolhead = self.printer.lookup_object('toolhead') toolhead = self.printer.lookup_object('toolhead')
@ -135,16 +170,16 @@ class ResonanceTester:
toolhead.wait_moves() toolhead.wait_moves()
toolhead.dwell(0.500) toolhead.dwell(0.500)
if len(axes) > 1: if len(axes) > 1:
gcmd.respond_info("Testing axis %s" % axis.upper()) gcmd.respond_info("Testing axis %s" % axis.get_name())
for chip_axis, chip in self.accel_chips: for chip_axis, chip in self.accel_chips:
if axis in chip_axis or chip_axis in axis: if axis.matches(chip_axis):
chip.start_measurements() chip.start_measurements()
# Generate moves # Generate moves
self.test.run_test(axis, gcmd) self.test.run_test(axis, gcmd)
raw_values = [] raw_values = []
for chip_axis, chip in self.accel_chips: for chip_axis, chip in self.accel_chips:
if axis in chip_axis or chip_axis in axis: if axis.matches(chip_axis):
results = chip.finish_measurements() results = chip.finish_measurements()
if raw_name_suffix is not None: if raw_name_suffix is not None:
raw_name = self.get_filename( raw_name = self.get_filename(
@ -173,12 +208,7 @@ class ResonanceTester:
cmd_TEST_RESONANCES_help = ("Runs the resonance test for a specifed axis") cmd_TEST_RESONANCES_help = ("Runs the resonance test for a specifed axis")
def cmd_TEST_RESONANCES(self, gcmd): def cmd_TEST_RESONANCES(self, gcmd):
# Parse parameters # Parse parameters
if len(self.test.get_supported_axes()) > 1: axis = _parse_axis(gcmd, gcmd.get("AXIS").lower())
axis = gcmd.get("AXIS").lower()
else:
axis = gcmd.get("AXIS", self.test.get_supported_axes()[0]).lower()
if axis not in self.test.get_supported_axes():
raise gcmd.error("Unsupported axis '%s'" % (axis,))
outputs = gcmd.get("OUTPUT", "resonances").lower().split(',') outputs = gcmd.get("OUTPUT", "resonances").lower().split(',')
for output in outputs: for output in outputs:
@ -214,11 +244,11 @@ class ResonanceTester:
# Parse parameters # Parse parameters
axis = gcmd.get("AXIS", None) axis = gcmd.get("AXIS", None)
if not axis: if not axis:
calibrate_axes = self.test.get_supported_axes() calibrate_axes = [TestAxis('x'), TestAxis('y')]
elif axis.lower() not in self.test.get_supported_axes(): elif axis.lower() not in 'xy':
raise gcmd.error("Unsupported axis '%s'" % (axis,)) raise gcmd.error("Unsupported axis '%s'" % (axis,))
else: else:
calibrate_axes = [axis.lower()] calibrate_axes = [TestAxis(axis.lower())]
max_smoothing = gcmd.get_float( max_smoothing = gcmd.get_float(
"MAX_SMOOTHING", self.max_smoothing, minval=0.05) "MAX_SMOOTHING", self.max_smoothing, minval=0.05)
@ -234,16 +264,18 @@ class ResonanceTester:
configfile = self.printer.lookup_object('configfile') configfile = self.printer.lookup_object('configfile')
for axis in calibrate_axes: for axis in calibrate_axes:
axis_name = axis.get_name()
gcmd.respond_info( gcmd.respond_info(
"Calculating the best input shaper parameters for %s axis" "Calculating the best input shaper parameters for %s axis"
% (axis,)) % (axis_name,))
calibration_data[axis].normalize_to_frequencies() calibration_data[axis].normalize_to_frequencies()
best_shaper, all_shapers = helper.find_best_shaper( best_shaper, all_shapers = helper.find_best_shaper(
calibration_data[axis], max_smoothing, gcmd.respond_info) calibration_data[axis], max_smoothing, gcmd.respond_info)
gcmd.respond_info( gcmd.respond_info(
"Recommended shaper_type_%s = %s, shaper_freq_%s = %.1f Hz" "Recommended shaper_type_%s = %s, shaper_freq_%s = %.1f Hz"
% (axis, best_shaper.name, axis, best_shaper.freq)) % (axis_name, best_shaper.name,
helper.save_params(configfile, axis, axis_name, best_shaper.freq))
helper.save_params(configfile, axis_name,
best_shaper.name, best_shaper.freq) best_shaper.name, best_shaper.freq)
csv_name = self.save_calibration_data( csv_name = self.save_calibration_data(
'calibration_data', name_suffix, helper, axis, 'calibration_data', name_suffix, helper, axis,
@ -260,17 +292,17 @@ class ResonanceTester:
for _, chip in self.accel_chips: for _, chip in self.accel_chips:
chip.start_measurements() chip.start_measurements()
self.printer.lookup_object('toolhead').dwell(meas_time) self.printer.lookup_object('toolhead').dwell(meas_time)
raw_values = [(axis, chip.finish_measurements()) raw_values = [(chip_axis, chip.finish_measurements())
for axis, chip in self.accel_chips] for chip_axis, chip in self.accel_chips]
helper = shaper_calibrate.ShaperCalibrate(self.printer) helper = shaper_calibrate.ShaperCalibrate(self.printer)
for axis, raw_data in raw_values: for chip_axis, raw_data in raw_values:
data = helper.process_accelerometer_data(raw_data) data = helper.process_accelerometer_data(raw_data)
vx = data.psd_x.mean() vx = data.psd_x.mean()
vy = data.psd_y.mean() vy = data.psd_y.mean()
vz = data.psd_z.mean() vz = data.psd_z.mean()
gcmd.respond_info("Axes noise for %s-axis accelerometer: " gcmd.respond_info("Axes noise for %s-axis accelerometer: "
"%.6f (x), %.6f (y), %.6f (z)" % ( "%.6f (x), %.6f (y), %.6f (z)" % (
axis, vx, vy, vz)) chip_axis, vx, vy, vz))
def is_valid_name_suffix(self, name_suffix): def is_valid_name_suffix(self, name_suffix):
return name_suffix.replace('-', '').replace('_', '').isalnum() return name_suffix.replace('-', '').replace('_', '').isalnum()
@ -278,7 +310,7 @@ class ResonanceTester:
def get_filename(self, base, name_suffix, axis=None, point=None): def get_filename(self, base, name_suffix, axis=None, point=None):
name = base name = base
if axis: if axis:
name += '_' + axis name += '_' + axis.get_name()
if point: if point:
name += "_%.3f_%.3f_%.3f" % (point[0], point[1], point[2]) name += "_%.3f_%.3f_%.3f" % (point[0], point[1], point[2])
name += '_' + name_suffix name += '_' + name_suffix