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resonance_tester: Added a new sweeping_vibrations resonance test method (#6723)

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This adds a new resonance test method that can help if a user has some mechanical problems with the printer.

Signed-off-by: Dmitry Butyugin <dmbutyugin@google.com>
This commit is contained in:
Dmitry Butyugin
2024-12-06 11:54:26 +09:00
committed by GitHub
parent 7f89668d6c
commit 16b4b6b302
6 changed files with 171 additions and 51 deletions
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13
klippy/toolhead.py
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@@ -47,6 +47,7 @@ class Move:
self.delta_v2 = 2.0 * move_d * self.accel
self.max_smoothed_v2 = 0.
self.smooth_delta_v2 = 2.0 * move_d * toolhead.max_accel_to_decel
self.next_junction_v2 = 999999999.9
def limit_speed(self, speed, accel):
speed2 = speed**2
if speed2 < self.max_cruise_v2:
@@ -55,6 +56,8 @@ class Move:
self.accel = min(self.accel, accel)
self.delta_v2 = 2.0 * self.move_d * self.accel
self.smooth_delta_v2 = min(self.smooth_delta_v2, self.delta_v2)
def limit_next_junction_speed(self, speed):
self.next_junction_v2 = min(self.next_junction_v2, speed**2)
def move_error(self, msg="Move out of range"):
ep = self.end_pos
m = "%s: %.3f %.3f %.3f [%.3f]" % (msg, ep[0], ep[1], ep[2], ep[3])
@@ -64,9 +67,9 @@ class Move:
return
# Allow extruder to calculate its maximum junction
extruder_v2 = self.toolhead.extruder.calc_junction(prev_move, self)
max_start_v2 = min(
extruder_v2, self.max_cruise_v2, prev_move.max_cruise_v2,
prev_move.max_start_v2 + prev_move.delta_v2)
max_start_v2 = min(extruder_v2, self.max_cruise_v2,
prev_move.max_cruise_v2, prev_move.next_junction_v2,
prev_move.max_start_v2 + prev_move.delta_v2)
# Find max velocity using "approximated centripetal velocity"
axes_r = self.axes_r
prev_axes_r = prev_move.axes_r
@@ -462,6 +465,10 @@ class ToolHead:
self.commanded_pos[:] = newpos
self.kin.set_position(newpos, homing_axes)
self.printer.send_event("toolhead:set_position")
def limit_next_junction_speed(self, speed):
last_move = self.lookahead.get_last()
if last_move is not None:
last_move.limit_next_junction_speed(speed)
def move(self, newpos, speed):
move = Move(self, self.commanded_pos, newpos, speed)
if not move.move_d: