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shaper_calibrate: Choose input shapers accounting smoothing

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Improved algorithm to choose the 'optimal' shaper frequency taking
shaper smoothing into account. This may choose a frequency with
slightly more vibrations but less smoothing. Also allow users to
limit the maximum input shaper smoothing.

Signed-off-by: Dmitry Butyugin <dmbutyugin@google.com>
This commit is contained in:
Dmitry Butyugin 2020-12-19 22:53:50 +01:00 • committed by KevinOConnor
parent a637c2f110
commit 1b1a97e8bd
3 changed files with 120 additions and 83 deletions
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19
klippy/extras/resonance_tester.py
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@ -82,6 +82,7 @@ class ResonanceTester:
('y', config.get('accel_chip_y').strip())]
if self.accel_chip_names[0][1] == self.accel_chip_names[1][1]:
self.accel_chip_names = [('xy', self.accel_chip_names[0][1])]
self.max_smoothing = config.getfloat('max_smoothing', None, minval=0.05)
self.gcode = self.printer.lookup_object('gcode')
self.gcode.register_command("MEASURE_AXES_NOISE",
@ -188,6 +189,9 @@ class ResonanceTester:
else:
calibrate_axes = [axis.lower()]
max_smoothing = gcmd.get_float(
"MAX_SMOOTHING", self.max_smoothing, minval=0.05)
name_suffix = gcmd.get("NAME", time.strftime("%Y%m%d_%H%M%S"))
if not self.is_valid_name_suffix(name_suffix):
raise gcmd.error("Invalid NAME parameter")
@ -244,15 +248,16 @@ class ResonanceTester:
"Calculating the best input shaper parameters for %s axis"
% (axis,))
calibration_data[axis].normalize_to_frequencies()
shaper_name, shaper_freq, shapers_vals = helper.find_best_shaper(
calibration_data[axis], gcmd.respond_info)
best_shaper, all_shapers = helper.find_best_shaper(
calibration_data[axis], max_smoothing, gcmd.respond_info)
gcmd.respond_info(
"Recommended shaper_type_%s = %s, shaper_freq_%s = %.1f Hz"
% (axis, shaper_name, axis, shaper_freq))
helper.save_params(configfile, axis, shaper_name, shaper_freq)
% (axis, best_shaper.name, axis, best_shaper.freq))
helper.save_params(configfile, axis,
best_shaper.name, best_shaper.freq)
csv_name = self.save_calibration_data(
'calibration_data', name_suffix, helper, axis,
calibration_data[axis], shapers_vals)
calibration_data[axis], all_shapers)
gcmd.respond_info(
"Shaper calibration data written to %s file" % (csv_name,))
@ -293,10 +298,10 @@ class ResonanceTester:
return os.path.join("/tmp", name + ".csv")
def save_calibration_data(self, base_name, name_suffix, shaper_calibrate,
axis, calibration_data, shapers_vals=None):
axis, calibration_data, all_shapers=None):
output = self.get_filename(base_name, name_suffix, axis)
shaper_calibrate.save_calibration_data(output, calibration_data,
shapers_vals)
all_shapers)
return output
def load_config(config):