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scripts: Added shaper tuning parameters to calibrate_shaper script

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The added parameters include square_corner_velocity, shaper frequencies
to optimize, input shapers to test, input shaper damping ratio and
damping ratios to test. All these options can be useful for fine-tuning
the input shapers when the default suggestions generated by the tuning
script are not optimal.

Also the `SHAPER_CALIBRATE` command was modified to pass some of these
parameters to the shaper tuning routine. Specifically, square corner
velocity and the maximum tested frequency are used to adjust shaper
tuning and maximum acceleration recommendations.

Signed-off-by: Dmitry Butyugin <dmbutyugin@google.com>
This commit is contained in:
Dmitry Butyugin 2024-02-08 03:06:48 +01:00 • committed by KevinOConnor
parent 4f00f21991
commit 72b301a285
4 changed files with 145 additions and 25 deletions
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12
klippy/extras/resonance_tester.py
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@ -1,6 +1,6 @@
# A utility class to test resonances of the printer
#
# Copyright (C) 2020 Dmitry Butyugin <dmbutyugin@google.com>
# Copyright (C) 2020-2024 Dmitry Butyugin <dmbutyugin@google.com>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import logging, math, os, time
@ -114,6 +114,8 @@ class VibrationPulseTest:
if input_shaper is not None:
input_shaper.enable_shaping()
gcmd.respond_info("Re-enabled [input_shaper]")
def get_max_freq(self):
return self.freq_end
class ResonanceTester:
def __init__(self, config):
@ -302,8 +304,14 @@ class ResonanceTester:
"Calculating the best input shaper parameters for %s axis"
% (axis_name,))
calibration_data[axis].normalize_to_frequencies()
systime = self.printer.get_reactor().monotonic()
toolhead = self.printer.lookup_object('toolhead')
toolhead_info = toolhead.get_status(systime)
scv = toolhead_info['square_corner_velocity']
best_shaper, all_shapers = helper.find_best_shaper(
calibration_data[axis], max_smoothing, gcmd.respond_info)
calibration_data[axis], max_smoothing=max_smoothing,
scv=scv, max_freq=1.5*self.test.get_max_freq(),
logging=gcmd.respond_info)
gcmd.respond_info(
"Recommended shaper_type_%s = %s, shaper_freq_%s = %.1f Hz"
% (axis_name, best_shaper.name,