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resonance_tester: Resonance testing and input shaper auto-calibration (#3381)

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Signed-off-by: Dmitry Butyugin <dmbutyugin@google.com>
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Dmitry Butyugin 2020-10-15 02:08:10 +02:00 • committed by GitHub
parent fac4e53e86
commit f8c4f90c04
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15 changed files with 1583 additions and 72 deletions
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32
klippy/extras/input_shaper.py
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@ -25,14 +25,12 @@ class InputShaper:
, 'ei': ffi_lib.INPUT_SHAPER_EI
, '2hump_ei': ffi_lib.INPUT_SHAPER_2HUMP_EI
, '3hump_ei': ffi_lib.INPUT_SHAPER_3HUMP_EI}
shaper_type = config.getchoice('shaper_type', self.shapers, None)
if shaper_type is None:
self.shaper_type_x = config.getchoice(
'shaper_type_x', self.shapers, 'mzv')
self.shaper_type_y = config.getchoice(
'shaper_type_y', self.shapers, 'mzv')
else:
self.shaper_type_x = self.shaper_type_y = shaper_type
shaper_type = config.get('shaper_type', 'mzv')
self.shaper_type_x = config.getchoice(
'shaper_type_x', self.shapers, shaper_type)
self.shaper_type_y = config.getchoice(
'shaper_type_y', self.shapers, shaper_type)
self.saved_shaper_freq_x = self.saved_shaper_freq_y = 0.
self.stepper_kinematics = []
self.orig_stepper_kinematics = []
# Register gcode commands
@ -86,6 +84,24 @@ class InputShaper:
, shaper_type_x, shaper_type_y
, shaper_freq_x, shaper_freq_y
, damping_ratio_x, damping_ratio_y)
def disable_shaping(self):
if (self.saved_shaper_freq_x or self.saved_shaper_freq_y) and not (
self.shaper_freq_x or self.shaper_freq_y):
# Input shaper is already disabled
return
self.saved_shaper_freq_x = self.shaper_freq_x
self.saved_shaper_freq_y = self.shaper_freq_y
self._set_input_shaper(self.shaper_type_x, self.shaper_type_y, 0., 0.,
self.damping_ratio_x, self.damping_ratio_y)
def enable_shaping(self):
saved = self.saved_shaper_freq_x or self.saved_shaper_freq_y
if saved:
self._set_input_shaper(self.shaper_type_x, self.shaper_type_y,
self.saved_shaper_freq_x,
self.saved_shaper_freq_y,
self.damping_ratio_x, self.damping_ratio_y)
self.saved_shaper_freq_x = self.saved_shaper_freq_y = 0.
return saved
cmd_SET_INPUT_SHAPER_help = "Set cartesian parameters for input shaper"
def cmd_SET_INPUT_SHAPER(self, gcmd):
damping_ratio_x = gcmd.get_float(