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input_shaper: Initial support of input shaping (#3032)

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Input shaping can help to reduce printer vibrations due to resonances
and eliminate or reduce ghosting in prints.

Signed-off-by: Dmitry Butyugin <dmbutyugin@google.com>
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Dmitry Butyugin 2020-07-06 02:54:38 +02:00 • committed by GitHub
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docs/G-Codes.md
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@ -596,3 +596,18 @@ been enabled:
delay duration for the identified [delayed_gcode] and starts the timer
for gcode execution. A value of 0 will cancel a pending delayed gcode
from executing.
## Resonance compensation
The following command is enabled if an [input_shaper] config section has
been enabled:
- `SET_INPUT_SHAPER [SHAPER_FREQ_X=<shaper_freq_x>]
[SHAPER_FREQ_Y=<shaper_freq_y>] [DAMPING_RATIO_X=<damping_ratio_x>]
[DAMPING_RATIO_Y=<damping_ratio_y>] [SHAPER_TYPE=<shaper>]
[SHAPER_TYPE_X=<shaper_type_x>] [SHAPER_TYPE_Y=<shaper_type_y>]`: Modify
input shaper parameters. Note that SHAPER_TYPE parameter resets input shaper
for both X and Y axes even if different shaper types have been configured
in [input_shaper] section. SHAPER_TYPE cannot be used together with either
of SHAPER_TYPE_X and SHAPER_TYPE_Y parameters. See
[example-extras.cfg](https://github.com/KevinOConnor/klipper/tree/master/config/example-extras.cfg)
for more details on each of these parameters.