resonance_tester: Disable input shaping for resonance testing

Signed-off-by: Dmitry Butyugin <dmbutyugin@google.com>

docs/Config_Changes.md

@@ -6,6 +6,11 @@ All dates in this document are approximate.
 
 # Changes
 
+20210201: The `TEST_RESONANCES` command will now disable input shaping
+if it was previously enabled (and re-enable it after the test). In order
+to override this behavior and keep the input shaping enabled, one can
+pass an additional parameter `INPUT_SHAPING=1` to the command.
+
 20210201: The `ACCELEROMETER_MEASURE` command will now append the name
 of the accelerometer chip to the output file name if the chip was given
 a name in the corresponding adxl345 section of the printer.cfg.

docs/G-Codes.md

@@ -728,12 +728,15 @@ is enabled (also see the
   all enabled accelerometer chips.
 - `TEST_RESONANCES AXIS=<axis> OUTPUT=<resonances,raw_data>
   [NAME=<name>] [FREQ_START=<min_freq>] [FREQ_END=<max_freq>]
-  [HZ_PER_SEC=<hz_per_sec>]`: Runs the resonance test in all
+  [HZ_PER_SEC=<hz_per_sec>] [INPUT_SHAPING=[<0:1>]]`: Runs the resonance
-  configured probe points for the requested axis (X or Y) and measures
+  test in all configured probe points for the requested axis (X or Y)
-  the acceleration using the accelerometer chips configured for the
+  and measures the acceleration using the accelerometer chips configured
-  respective axis. `OUTPUT` parameter is a comma-separated list of
+  for the respective axis. If `INPUT_SHAPING=0` or not set (default),
-  which outputs will be written. If `raw_data` is requested, then the
+  disables input shaping for the resonance testing, because it is not valid
-  raw accelerometer data is written into a file or a series of files
+  to run the resonance testing with the input shaper enabled.
+  `OUTPUT` parameter is a comma-separated list of which outputs will be
+  written. If `raw_data` is requested, then the raw accelerometer data
+  is written into a file or a series of files
   `/tmp/raw_data_<axis>_[<point>_]<name>.csv` with (`<point>_` part of
   the name generated only if more than 1 probe point is configured).
   If `resonances` is specified, the frequency response is calculated

docs/Measuring_Resonances.md

@@ -130,18 +130,15 @@ max_accel: 7000
 max_accel_to_decel: 7000
 ```
 (after you are done with the measurements, revert these values to their old,
-or the newly suggested values). Also, if you have enabled input shaper already,
+or the newly suggested values).
-you will need to disable it prior to this test as follows:
-```
-SET_INPUT_SHAPER SHAPER_FREQ_X=0 SHAPER_FREQ_Y=0
-```
-as it is not valid to run the resonance testing with the input shaper enabled.
 
 Run the following command:
 ```
 TEST_RESONANCES AXIS=X
 ```
-Note that it will create vibrations on X axis.
+Note that it will create vibrations on X axis. It will also disable input
+shaping if it was enabled previously, as it is not valid to run the resonance
+testing with the input shaper enabled.
 
 **Attention!** Be sure to observe the printer for the first time, to make sure
 the vibrations do not become too violent (`M112` command can be used to abort

klippy/extras/resonance_tester.py

@@ -127,6 +127,13 @@ class ResonanceTester:
         if csv_output:
             helper = shaper_calibrate.ShaperCalibrate(self.printer)
 
+        input_shaper = self.printer.lookup_object('input_shaper', None)
+        if input_shaper is not None and not gcmd.get_int('INPUT_SHAPING', 0):
+            input_shaper.disable_shaping()
+            gcmd.respond_info("Disabled [input_shaper] for resonance testing")
+        else:
+            input_shaper = None
+
         currentPos = toolhead.get_position()
         Z = currentPos[2]
         E = currentPos[3]
@@ -176,6 +183,10 @@ class ResonanceTester:
                                                   helper, axis, data)
             gcmd.respond_info(
                     "Resonances data written to %s file" % (csv_name,))
+        if input_shaper is not None:
+            input_shaper.enable_shaping()
+            gcmd.respond_info(
+                    "Re-enabled [input_shaper] after resonance testing")
 
     def cmd_SHAPER_CALIBRATE(self, gcmd):
         toolhead = self.printer.lookup_object('toolhead')