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resonance_tester: Support toolhead positions with more than 4 axes

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Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2025-04-07 19:50:56 -04:00
parent 64d6f110a9
commit 307c03e480
1 changed files with 6 additions and 5 deletions
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11
klippy/extras/resonance_tester.py
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@ -127,7 +127,8 @@ class ResonanceTestExecutor:
def run_test(self, test_seq, axis, gcmd): def run_test(self, test_seq, axis, gcmd):
reactor = self.printer.get_reactor() reactor = self.printer.get_reactor()
toolhead = self.printer.lookup_object('toolhead') toolhead = self.printer.lookup_object('toolhead')
X, Y, Z, E = toolhead.get_position() tpos = toolhead.get_position()
X, Y = thpos[:2]
# Override maximum acceleration and acceleration to # Override maximum acceleration and acceleration to
# deceleration based on the maximum test frequency # deceleration based on the maximum test frequency
systime = reactor.monotonic() systime = reactor.monotonic()
@ -166,10 +167,10 @@ class ResonanceTestExecutor:
# The move first goes to a complete stop, then changes direction # The move first goes to a complete stop, then changes direction
d_decel = -last_v2 * half_inv_accel d_decel = -last_v2 * half_inv_accel
decel_X, decel_Y = axis.get_point(d_decel) decel_X, decel_Y = axis.get_point(d_decel)
toolhead.move([X + decel_X, Y + decel_Y, Z, E], abs_last_v) toolhead.move([X + decel_X, Y + decel_Y] + tpos[2:], abs_last_v)
toolhead.move([nX, nY, Z, E], abs_v) toolhead.move([nX, nY] + tpos[2:], abs_v)
else: else:
toolhead.move([nX, nY, Z, E], max(abs_v, abs_last_v)) toolhead.move([nX, nY] + tpos[2:], max(abs_v, abs_last_v))
if math.floor(freq) > math.floor(last_freq): if math.floor(freq) > math.floor(last_freq):
gcmd.respond_info("Testing frequency %.0f Hz" % (freq,)) gcmd.respond_info("Testing frequency %.0f Hz" % (freq,))
reactor.pause(reactor.monotonic() + 0.01) reactor.pause(reactor.monotonic() + 0.01)
@ -183,7 +184,7 @@ class ResonanceTestExecutor:
decel_X, decel_Y = axis.get_point(d_decel) decel_X, decel_Y = axis.get_point(d_decel)
toolhead.cmd_M204(self.gcode.create_gcode_command( toolhead.cmd_M204(self.gcode.create_gcode_command(
"M204", "M204", {"S": old_max_accel})) "M204", "M204", {"S": old_max_accel}))
toolhead.move([X + decel_X, Y + decel_Y, Z, E], abs(last_v)) toolhead.move([X + decel_X, Y + decel_Y] + tpos[2:], abs(last_v))
# Restore the original acceleration values # Restore the original acceleration values
self.gcode.run_script_from_command( self.gcode.run_script_from_command(
"SET_VELOCITY_LIMIT ACCEL=%.3f MINIMUM_CRUISE_RATIO=%.3f" "SET_VELOCITY_LIMIT ACCEL=%.3f MINIMUM_CRUISE_RATIO=%.3f"