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Update LimitXYAccelJerk.py

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Changes made per Rburema requests.
This commit is contained in:
GregValiant 2023-08-29 07:51:58 -04:00
parent ae33d03eb2
commit 8f0fb5ef12
1 changed files with 60 additions and 114 deletions
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172
plugins/PostProcessingPlugin/scripts/LimitXYAccelJerk.py
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@ -5,42 +5,26 @@
# The existing M201 Max Accel will be changed to limit the Y (and/or X) accel at the printer. If you have Accel enabled in Cura and the XY Accel is set to 3000 then setting the Y limit to 1000 will result in the printer limiting the Y to 1000. This can keep tall skinny prints from breaking loose of the bed and failing. The script was not tested with Junction Deviation. # The existing M201 Max Accel will be changed to limit the Y (and/or X) accel at the printer. If you have Accel enabled in Cura and the XY Accel is set to 3000 then setting the Y limit to 1000 will result in the printer limiting the Y to 1000. This can keep tall skinny prints from breaking loose of the bed and failing. The script was not tested with Junction Deviation.
# If enabled - the Jerk setting is changed line-by-line within the gcode as there is no "limit" on Jerk. # If enabled - the Jerk setting is changed line-by-line within the gcode as there is no "limit" on Jerk.
# if 'Gradual ACCEL change' is enabled then the Accel is changed gradually from the Start to the End layer and that will be the final Accel setting in the file. If 'Gradual' is enabled then the Jerk settings will continue to be changed to the end of the file (rather than ending at the End layer). # if 'Gradual ACCEL change' is enabled then the Accel is changed gradually from the Start to the End layer and that will be the final Accel setting in the file. If 'Gradual' is enabled then the Jerk settings will continue to be changed to the end of the file (rather than ending at the End layer).
# This post is intended for printers with moving beds (bed slingers) so UltiMaker printers are excluded.
# When setting an accel limit on multi-extruder printers ALL extruders are effected.
# This post does not distinguish between Print Accel and Travel Accel. The limit is the limit for all regardless. Example: Skin Accel = 1000 and Outer Wall accel = 500. If the limit is set to 300 then both Skin and Outer Wall will be Accel = 300.
from ..Script import Script from ..Script import Script
from cura.CuraApplication import CuraApplication from cura.CuraApplication import CuraApplication
import re import re
<<<<<<< Updated upstream
=======
from UM.Message import Message from UM.Message import Message
>>>>>>> Stashed changes
class LimitXYAccelJerk(Script): class LimitXYAccelJerk(Script):
def __init__(self):
super().__init__()
def initialize(self) -> None: def initialize(self) -> None:
super().initialize() super().initialize()
<<<<<<< Updated upstream
# Get the Accel and Jerk and set the values in the setting boxes---------------------------------------------
=======
# Get the Accel and Jerk and set the values in the setting boxes-- # Get the Accel and Jerk and set the values in the setting boxes--
>>>>>>> Stashed changes
mycura = CuraApplication.getInstance().getGlobalContainerStack() mycura = CuraApplication.getInstance().getGlobalContainerStack()
extruder = mycura.extruderList extruder = mycura.extruderList
accel_print = extruder[0].getProperty("acceleration_print", "value") accel_print = extruder[0].getProperty("acceleration_print", "value")
accel_travel = extruder[0].getProperty("acceleration_travel", "value") accel_travel = extruder[0].getProperty("acceleration_travel", "value")
jerk_print_old = extruder[0].getProperty("jerk_print", "value") jerk_print_old = extruder[0].getProperty("jerk_print", "value")
jerk_travel_old = extruder[0].getProperty("jerk_travel", "value") jerk_travel_old = extruder[0].getProperty("jerk_travel", "value")
<<<<<<< Updated upstream
self._instance.setProperty("X_accel_limit", "value", round(accel_print))
self._instance.setProperty("Y_accel_limit", "value", round(accel_print))
self._instance.setProperty("X_jerk", "value", jerk_print_old)
self._instance.setProperty("Y_jerk", "value", jerk_print_old)
def getSettingDataString(self):
return """{
"name": "Limit the X-Y Accel/Jerk",
=======
self._instance.setProperty("x_accel_limit", "value", round(accel_print)) self._instance.setProperty("x_accel_limit", "value", round(accel_print))
self._instance.setProperty("y_accel_limit", "value", round(accel_print)) self._instance.setProperty("y_accel_limit", "value", round(accel_print))
self._instance.setProperty("x_jerk", "value", jerk_print_old) self._instance.setProperty("x_jerk", "value", jerk_print_old)
@ -50,26 +34,31 @@ class LimitXYAccelJerk(Script):
# Warn the user if the printer is an Ultimaker------------------------- # Warn the user if the printer is an Ultimaker-------------------------
if "Ultimaker" in machine_name: if "Ultimaker" in machine_name:
Message(text = "<NOTICE> [Limit the X-Y Accel/Jerk] WILL NOT RUN because Ultimaker printers have fixed beds (it is intended for 'bed slinger' printers only.").show() Message(text = "<NOTICE> [Limit the X-Y Accel/Jerk] DID NOT RUN because Ultimaker printers don't have sliding beds.").show()
# Warn the user if the printer is multi-extruder------------------ # Warn the user if the printer is multi-extruder------------------
if ext_count > 1: if ext_count > 1:
Message(text = "<NOTICE> 'Limit the X-Y Accel/Jerk': The post processor treats all extruders the same. If you have multiple extruders they will all be subject to the same Accel and Jerk limits imposed. If you have different Travel and Print Accel they will be subject to the same limit. If that is not acceptable then you should not use this Post Processor.").show() Message(text = "<NOTICE> 'Limit the X-Y Accel/Jerk': The post processor treats all extruders the same. If you have multiple extruders they will all be subject to the same Accel and Jerk limits imposed. If you have different Travel and Print Accel they will also be subject to the same limits. If that is not acceptable then you should not use this Post Processor.").show()
def getSettingDataString(self): def getSettingDataString(self):
return """{ return """{
"name": "Limit the X-Y Accel/Jerk (all extruders equal)", "name": "Limit the X-Y Accel/Jerk (all extruders equal)",
>>>>>>> Stashed changes
"key": "LimitXYAccelJerk", "key": "LimitXYAccelJerk",
"metadata": {}, "metadata": {},
"version": 2, "version": 2,
"settings": "settings":
{ {
<<<<<<< Updated upstream "type_of_change":
"X_accel_limit": {
======= "label": "Immediate or Gradual change",
"description": "An 'Immediate' change will insert the new numbers immediately at the Start Layer. A 'Gradual' change will transition from the starting Accel to the new Accel limit across a range of layers.",
"type": "enum",
"options": {
"immediate_change": "Immediate",
"gradual_change": "Gradual"},
"default_value": "immediate_change"
},
"x_accel_limit": "x_accel_limit":
>>>>>>> Stashed changes
{ {
"label": "X MAX Acceleration", "label": "X MAX Acceleration",
"description": "If this number is lower than the 'X Print Accel' in Cura then this will limit the Accel on the X axis. Enter the Maximum Acceleration value for the X axis. This will affect both Print and Travel Accel. If you enable an End Layer then at the end of that layer the Accel Limit will be reset (unless you choose 'Gradual' in which case the new limit goes to the top layer).", "description": "If this number is lower than the 'X Print Accel' in Cura then this will limit the Accel on the X axis. Enter the Maximum Acceleration value for the X axis. This will affect both Print and Travel Accel. If you enable an End Layer then at the end of that layer the Accel Limit will be reset (unless you choose 'Gradual' in which case the new limit goes to the top layer).",
@ -79,11 +68,7 @@ class LimitXYAccelJerk(Script):
"unit": "mm/sec² ", "unit": "mm/sec² ",
"default_value": 500 "default_value": 500
}, },
<<<<<<< Updated upstream
"Y_accel_limit":
=======
"y_accel_limit": "y_accel_limit":
>>>>>>> Stashed changes
{ {
"label": "Y MAX Acceleration", "label": "Y MAX Acceleration",
"description": "If this number is lower than the Y accel in Cura then this will limit the Accel on the Y axis. Enter the Maximum Acceleration value for the Y axis. This will affect both Print and Travel Accel. If you enable an End Layer then at the end of that layer the Accel Limit will be reset (unless you choose 'Gradual' in which case the new limit goes to the top layer).", "description": "If this number is lower than the Y accel in Cura then this will limit the Accel on the Y axis. Enter the Maximum Acceleration value for the Y axis. This will affect both Print and Travel Accel. If you enable an End Layer then at the end of that layer the Accel Limit will be reset (unless you choose 'Gradual' in which case the new limit goes to the top layer).",
@ -101,11 +86,7 @@ class LimitXYAccelJerk(Script):
"enabled": true, "enabled": true,
"default_value": false "default_value": false
}, },
<<<<<<< Updated upstream
"X_jerk":
=======
"x_jerk": "x_jerk":
>>>>>>> Stashed changes
{ {
"label": " X jerk", "label": " X jerk",
"description": "Enter the Jerk value for the X axis. Enter '0' to use the existing X Jerk. This setting will affect both the Print and Travel jerk.", "description": "Enter the Jerk value for the X axis. Enter '0' to use the existing X Jerk. This setting will affect both the Print and Travel jerk.",
@ -114,11 +95,7 @@ class LimitXYAccelJerk(Script):
"unit": "mm/sec ", "unit": "mm/sec ",
"default_value": 8 "default_value": 8
}, },
<<<<<<< Updated upstream
"Y_jerk":
=======
"y_jerk": "y_jerk":
>>>>>>> Stashed changes
{ {
"label": " Y jerk", "label": " Y jerk",
"description": "Enter the Jerk value for the Y axis. Enter '0' to use the existing Y Jerk. This setting will affect both the Print and Travel jerk.", "description": "Enter the Jerk value for the Y axis. Enter '0' to use the existing Y Jerk. This setting will affect both the Print and Travel jerk.",
@ -135,7 +112,7 @@ class LimitXYAccelJerk(Script):
"default_value": 1, "default_value": 1,
"minimum_value": 1, "minimum_value": 1,
"unit": "Lay# ", "unit": "Lay# ",
"enabled": "not gradient_change" "enabled": "type_of_change == 'immediate_change'"
}, },
"end_layer": "end_layer":
{ {
@ -145,15 +122,7 @@ class LimitXYAccelJerk(Script):
"default_value": -1, "default_value": -1,
"minimum_value": -1, "minimum_value": -1,
"unit": "Lay# ", "unit": "Lay# ",
"enabled": "not gradient_change" "enabled": "type_of_change == 'immediate_change'"
},
"gradient_change":
{
"label": "Gradual ACCEL Change",
"description": "Gradually change the Accel numbers 'From layer' - 'To Layer'. If Jerk is enabled the Jerk changes are not 'Gradual' because there is no Max Jerk setting. Unlike Constant change - using 'Gradual' the Accel and Jerk change continues from the End Layer to the end of the file.",
"type": "bool",
"default_value": false,
"enabled": true
}, },
"gradient_start_layer": "gradient_start_layer":
{ {
@ -163,7 +132,7 @@ class LimitXYAccelJerk(Script):
"default_value": 1, "default_value": 1,
"minimum_value": 1, "minimum_value": 1,
"unit": "Lay# ", "unit": "Lay# ",
"enabled": "gradient_change" "enabled": "type_of_change == 'gradual_change'"
}, },
"gradient_end_layer": "gradient_end_layer":
{ {
@ -173,7 +142,7 @@ class LimitXYAccelJerk(Script):
"default_value": -1, "default_value": -1,
"minimum_value": -1, "minimum_value": -1,
"unit": "Lay# ", "unit": "Lay# ",
"enabled": "gradient_change" "enabled": "type_of_change == 'gradual_change'"
} }
} }
}""" }"""
@ -181,18 +150,22 @@ class LimitXYAccelJerk(Script):
def execute(self, data): def execute(self, data):
mycura = CuraApplication.getInstance().getGlobalContainerStack() mycura = CuraApplication.getInstance().getGlobalContainerStack()
extruder = mycura.extruderList extruder = mycura.extruderList
<<<<<<< Updated upstream
=======
machine_name = str(mycura.getProperty("machine_name", "value")) machine_name = str(mycura.getProperty("machine_name", "value"))
print_sequence = str(mycura.getProperty("print_sequence", "value"))
# Exit if 'one_at_a_time' is enabled-------------------------
if print_sequence == "one_at_a_time":
Message(text = "<NOTICE> [Limit the X-Y Accel/Jerk] DID NOT RUN. This post processor is not compatible with 'One-at-a-Time' mode.").show()
data[0] += "; [LimitXYAccelJerk] DID NOT RUN because Cura is set to 'One-at-a-Time' mode.\n"
return data
# Exit if the printer is an Ultimaker------------------------- # Exit if the printer is an Ultimaker-------------------------
if "Ultimaker" in machine_name: if "Ultimaker" in machine_name:
Message(text = "<NOTICE> [Limit the X-Y Accel/Jerk] DID NOT RUN. This post processor is not intended for fixed printers (for 'bed slinger' printers only.").show() Message(text = "<NOTICE> [Limit the X-Y Accel/Jerk] DID NOT RUN. This post processor is for bed slinger printers only.").show()
data[0] += "; [LimitXYAccelJerk] DID NOT RUN because the printer doesn't have a sliding bed.\n" data[0] += "; [LimitXYAccelJerk] DID NOT RUN because the printer doesn't have a sliding bed.\n"
return data return data
>>>>>>> Stashed changes type_of_change = str(self.getSettingValueByKey("type_of_change"))
constant_change = not bool(self.getSettingValueByKey("gradient_change"))
accel_print_enabled = bool(extruder[0].getProperty("acceleration_enabled", "value")) accel_print_enabled = bool(extruder[0].getProperty("acceleration_enabled", "value"))
accel_travel_enabled = bool(extruder[0].getProperty("acceleration_travel_enabled", "value")) accel_travel_enabled = bool(extruder[0].getProperty("acceleration_travel_enabled", "value"))
accel_print = extruder[0].getProperty("acceleration_print", "value") accel_print = extruder[0].getProperty("acceleration_print", "value")
@ -201,10 +174,7 @@ class LimitXYAccelJerk(Script):
jerk_travel_enabled = str(extruder[0].getProperty("jerk_travel_enabled", "value")) jerk_travel_enabled = str(extruder[0].getProperty("jerk_travel_enabled", "value"))
jerk_print_old = extruder[0].getProperty("jerk_print", "value") jerk_print_old = extruder[0].getProperty("jerk_print", "value")
jerk_travel_old = extruder[0].getProperty("jerk_travel", "value") jerk_travel_old = extruder[0].getProperty("jerk_travel", "value")
<<<<<<< Updated upstream
=======
>>>>>>> Stashed changes
if int(accel_print) >= int(accel_travel): if int(accel_print) >= int(accel_travel):
accel_old = accel_print accel_old = accel_print
else: else:
@ -215,34 +185,29 @@ class LimitXYAccelJerk(Script):
else: else:
jerk_old = jerk_travel_old jerk_old = jerk_travel_old
#Set the new Accel values--------------------------------------------------------------------------------- #Set the new Accel values----------------------------------------------------------
<<<<<<< Updated upstream
x_accel = str(self.getSettingValueByKey("X_accel_limit"))
y_accel = str(self.getSettingValueByKey("Y_accel_limit"))
x_jerk = int(self.getSettingValueByKey("X_jerk"))
y_jerk = int(self.getSettingValueByKey("Y_jerk"))
=======
x_accel = str(self.getSettingValueByKey("x_accel_limit")) x_accel = str(self.getSettingValueByKey("x_accel_limit"))
y_accel = str(self.getSettingValueByKey("y_accel_limit")) y_accel = str(self.getSettingValueByKey("y_accel_limit"))
x_jerk = int(self.getSettingValueByKey("x_jerk")) x_jerk = int(self.getSettingValueByKey("x_jerk"))
y_jerk = int(self.getSettingValueByKey("y_jerk")) y_jerk = int(self.getSettingValueByKey("y_jerk"))
>>>>>>> Stashed changes
# Put the strings together # Put the strings together-------------------------------------------
M201_limit_new = "M201 X" + x_accel + " Y" + y_accel m201_limit_new = "M201 X" + x_accel + " Y" + y_accel
M201_limit_old = "M201 X" + str(round(accel_old)) + " Y" + str(round(accel_old)) m201_limit_old = "M201 X" + str(round(accel_old)) + " Y" + str(round(accel_old))
if x_jerk == 0: if x_jerk == 0:
M205_jerk_pattern = "Y(\d*)" m205_jerk_pattern = "Y(\d*)"
M205_jerk_new = "Y" + str(y_jerk) m205_jerk_new = "Y" + str(y_jerk)
if y_jerk == 0: if y_jerk == 0:
M205_jerk_pattern = "X(\d*)" m205_jerk_pattern = "X(\d*)"
M205_jerk_new = "X" + str(x_jerk) m205_jerk_new = "X" + str(x_jerk)
if x_jerk != 0 and y_jerk != 0: if x_jerk != 0 and y_jerk != 0:
M205_jerk_pattern = "M205 X(\d*) Y(\d*)" m205_jerk_pattern = "M205 X(\d*) Y(\d*)"
M205_jerk_new = "M205 X" + str(x_jerk) + " Y" + str(y_jerk) m205_jerk_new = "M205 X" + str(x_jerk) + " Y" + str(y_jerk)
M205_jerk_old = "M205 X" + str(jerk_old) + " Y" + str(jerk_old) m205_jerk_old = "M205 X" + str(jerk_old) + " Y" + str(jerk_old)
type_of_change = self.getSettingValueByKey("type_of_change")
#Get the indexes of the start and end layers---------------------------------------- #Get the indexes of the start and end layers----------------------------------------
if constant_change: if type_of_change == 'immediate_change':
start_layer = int(self.getSettingValueByKey("start_layer"))-1 start_layer = int(self.getSettingValueByKey("start_layer"))-1
end_layer = int(self.getSettingValueByKey("end_layer")) end_layer = int(self.getSettingValueByKey("end_layer"))
else: else:
@ -264,14 +229,14 @@ class LimitXYAccelJerk(Script):
end_index = len(data)-2 end_index = len(data)-2
#Add Accel limit and new Jerk at start layer----------------------------------------------------- #Add Accel limit and new Jerk at start layer-----------------------------------------------------
if constant_change: if type_of_change == "immediate_change":
layer = data[start_index] layer = data[start_index]
lines = layer.split("\n") lines = layer.split("\n")
for index, line in enumerate(lines): for index, line in enumerate(lines):
if lines[index].startswith(";LAYER:"): if lines[index].startswith(";LAYER:"):
lines.insert(index+1,M201_limit_new) lines.insert(index+1,m201_limit_new)
if self.getSettingValueByKey("jerk_enable"): if self.getSettingValueByKey("jerk_enable"):
lines.insert(index+2,M205_jerk_new) lines.insert(index+2,m205_jerk_new)
data[start_index] = "\n".join(lines) data[start_index] = "\n".join(lines)
break break
@ -281,33 +246,22 @@ class LimitXYAccelJerk(Script):
lines = layer.split("\n") lines = layer.split("\n")
for index, line in enumerate(lines): for index, line in enumerate(lines):
if line.startswith("M205"): if line.startswith("M205"):
lines[index] = re.sub(M205_jerk_pattern, M205_jerk_new, line) lines[index] = re.sub(m205_jerk_pattern, m205_jerk_new, line)
data[num] = "\n".join(lines) data[num] = "\n".join(lines)
if end_layer != -1: if end_layer != -1:
try: try:
layer = data[end_index-1] layer = data[end_index-1]
lines = layer.split("\n") lines = layer.split("\n")
lines.insert(len(lines)-2,M201_limit_old) lines.insert(len(lines)-2,m201_limit_old)
lines.insert(len(lines)-2,M205_jerk_old) lines.insert(len(lines)-2,m205_jerk_old)
data[end_index-1] = "\n".join(lines) data[end_index-1] = "\n".join(lines)
except: except:
all all
else: else:
data[len(data)-1] = M201_limit_old + "\n" + M205_jerk_old + "\n" + data[len(data)-1] data[len(data)-1] = m201_limit_old + "\n" + m205_jerk_old + "\n" + data[len(data)-1]
<<<<<<< Updated upstream
return data return data
elif type_of_change == "gradual_change":
elif not constant_change:
layer_spread = end_index - start_index
x_accel_hyst = round((accel_old - int(x_accel)) / layer_spread)
y_accel_hyst = round((accel_old - int(y_accel)) / layer_spread)
x_accel_start = round(round((accel_old - x_accel_hyst)/50)*50)
y_accel_start = round(round((accel_old - y_accel_hyst)/50)*50)
=======
return data
elif not constant_change:
layer_spread = end_index - start_index layer_spread = end_index - start_index
if accel_old >= int(x_accel): if accel_old >= int(x_accel):
x_accel_hyst = round((accel_old - int(x_accel)) / layer_spread) x_accel_hyst = round((accel_old - int(x_accel)) / layer_spread)
@ -326,28 +280,20 @@ class LimitXYAccelJerk(Script):
y_accel_start = round(round((accel_old - y_accel_hyst)/25)*25) y_accel_start = round(round((accel_old - y_accel_hyst)/25)*25)
else: else:
y_accel_start = round(round((y_accel_hyst + accel_old)/25)*25) y_accel_start = round(round((y_accel_hyst + accel_old)/25)*25)
>>>>>>> Stashed changes m201_limit_new = "M201 X" + str(x_accel_start) + " Y" + str(y_accel_start)
M201_limit_new = "M201 X" + str(x_accel_start) + " Y" + str(y_accel_start)
#Add Accel limit and new Jerk at start layer------------------------------------------------------------- #Add Accel limit and new Jerk at start layer-------------------------------------------------------------
layer = data[start_index] layer = data[start_index]
lines = layer.split("\n") lines = layer.split("\n")
for index, line in enumerate(lines): for index, line in enumerate(lines):
if lines[index].startswith(";LAYER:"): if lines[index].startswith(";LAYER:"):
lines.insert(index+1,M201_limit_new) lines.insert(index+1,m201_limit_new)
if self.getSettingValueByKey("jerk_enable"): if self.getSettingValueByKey("jerk_enable"):
lines.insert(index+2,M205_jerk_new) lines.insert(index+2,m205_jerk_new)
data[start_index] = "\n".join(lines) data[start_index] = "\n".join(lines)
break break
for num in range(start_index + 1, end_index,1): for num in range(start_index + 1, end_index,1):
layer = data[num] layer = data[num]
lines = layer.split("\n") lines = layer.split("\n")
<<<<<<< Updated upstream
x_accel_start -= x_accel_hyst
if x_accel_start < int(x_accel): x_accel_start = int(x_accel)
y_accel_start -= y_accel_hyst
if y_accel_start < int(y_accel): y_accel_start = int(y_accel)
M201_limit_new = "M201 X" + str(round(round(x_accel_start/50)*50)) + " Y" + str(round(round(y_accel_start/50)*50))
=======
if accel_old >= int(x_accel): if accel_old >= int(x_accel):
x_accel_start -= x_accel_hyst x_accel_start -= x_accel_hyst
if x_accel_start < int(x_accel): x_accel_start = int(x_accel) if x_accel_start < int(x_accel): x_accel_start = int(x_accel)
@ -360,21 +306,21 @@ class LimitXYAccelJerk(Script):
else: else:
y_accel_start += y_accel_hyst y_accel_start += y_accel_hyst
if y_accel_start > int(y_accel): y_accel_start = int(y_accel) if y_accel_start > int(y_accel): y_accel_start = int(y_accel)
M201_limit_new = "M201 X" + str(round(round(x_accel_start/25)*25)) + " Y" + str(round(round(y_accel_start/25)*25)) m201_limit_new = "M201 X" + str(round(round(x_accel_start/25)*25)) + " Y" + str(round(round(y_accel_start/25)*25))
>>>>>>> Stashed changes
for index, line in enumerate(lines): for index, line in enumerate(lines):
if line.startswith(";LAYER:"): if line.startswith(";LAYER:"):
lines.insert(index+1, M201_limit_new) lines.insert(index+1, m201_limit_new)
continue continue
data[num] = "\n".join(lines) data[num] = "\n".join(lines)
#Alter any existing jerk lines. Accel lines can be ignored-----------------------------------
#Alter any existing jerk lines. Accel lines can be ignored---------------
if self.getSettingValueByKey("jerk_enable"): if self.getSettingValueByKey("jerk_enable"):
for num in range(start_index,len(data)-1,1): for num in range(start_index,len(data)-1,1):
layer = data[num] layer = data[num]
lines = layer.split("\n") lines = layer.split("\n")
for index, line in enumerate(lines): for index, line in enumerate(lines):
if line.startswith("M205"): if line.startswith("M205"):
lines[index] = re.sub(M205_jerk_pattern, M205_jerk_new, line) lines[index] = re.sub(m205_jerk_pattern, m205_jerk_new, line)
data[num] = "\n".join(lines) data[num] = "\n".join(lines)
data[len(data)-1] = M201_limit_old + "\n" + M205_jerk_old + "\n" + data[len(data)-1] data[len(data)-1] = m201_limit_old + "\n" + m205_jerk_old + "\n" + data[len(data)-1]
return data return data