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