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resonance_tester: Disable input shaping for resonance testing 

Signed-off-by: Dmitry Butyugin <dmbutyugin@google.com>
This commit is contained in:
Dmitry Butyugin 2021-01-29 20:47:10 +01:00 committed by KevinOConnor
parent 0fb2449be0
commit a8b282d67a
4 changed files with 29 additions and 13 deletions
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5
docs/Config_Changes.md
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@ -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.

15
docs/G-Codes.md
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@ -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
configured probe points for the requested axis (X or Y) and measures
the acceleration using the accelerometer chips configured for the
respective axis. `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
[HZ_PER_SEC=<hz_per_sec>] [INPUT_SHAPING=[<0:1>]]`: Runs the resonance
test in all configured probe points for the requested axis (X or Y)
and measures the acceleration using the accelerometer chips configured
for the respective axis. If `INPUT_SHAPING=0` or not set (default),
disables input shaping for the resonance testing, because it is not valid
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

11
docs/Measuring_Resonances.md
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@ -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,
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.
or the newly suggested values).
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

11
klippy/extras/resonance_tester.py
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@ -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')