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Compatibility with Klipper < v0.12.0-239 (#129)
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@delisjr
delisjr authored Jun 19, 2024
1 parent 69ad228 commit 90ed7ac
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Showing 4 changed files with 44 additions and 19 deletions.
16 changes: 11 additions & 5 deletions shaketune/commands/axes_map_calibration.py
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Original file line number Diff line number Diff line change
Expand Up @@ -41,11 +41,15 @@ def axes_map_calibration(gcmd, config, st_process: ShakeTuneProcess) -> None:

toolhead_info = toolhead.get_status(systime)
old_accel = toolhead_info['max_accel']
old_mcr = toolhead_info['minimum_cruise_ratio']
old_sqv = toolhead_info['square_corner_velocity']

# set the wanted acceleration values
gcode.run_script_from_command(f'SET_VELOCITY_LIMIT ACCEL={accel} MINIMUM_CRUISE_RATIO=0 SQUARE_CORNER_VELOCITY=5.0')
if 'minimum_cruise_ratio' in toolhead_info:
old_mcr = toolhead_info['minimum_cruise_ratio'] # minimum_cruise_ratio found: Klipper >= v0.12.0-239
gcode.run_script_from_command(f'SET_VELOCITY_LIMIT ACCEL={accel} MINIMUM_CRUISE_RATIO=0 SQUARE_CORNER_VELOCITY=5.0')
else: # minimum_cruise_ratio not found: Klipper < v0.12.0-239
old_mcr = None
gcode.run_script_from_command(f'SET_VELOCITY_LIMIT ACCEL={accel} SQUARE_CORNER_VELOCITY=5.0')

# Deactivate input shaper if it is active to get raw movements
input_shaper = printer.lookup_object('input_shaper', None)
Expand Down Expand Up @@ -89,9 +93,11 @@ def axes_map_calibration(gcmd, config, st_process: ShakeTuneProcess) -> None:
input_shaper.enable_shaping()

# Restore the previous acceleration values
gcode.run_script_from_command(
f'SET_VELOCITY_LIMIT ACCEL={old_accel} MINIMUM_CRUISE_RATIO={old_mcr} SQUARE_CORNER_VELOCITY={old_sqv}'
)
if old_mcr is not None: # minimum_cruise_ratio found: Klipper >= v0.12.0-239
gcode.run_script_from_command(f'SET_VELOCITY_LIMIT ACCEL={old_accel} MINIMUM_CRUISE_RATIO={old_mcr} SQUARE_CORNER_VELOCITY={old_sqv}')
else: # minimum_cruise_ratio not found: Klipper < v0.12.0-239
gcode.run_script_from_command(f'SET_VELOCITY_LIMIT ACCEL={old_accel} SQUARE_CORNER_VELOCITY={old_sqv}')

toolhead.wait_moves()

# Run post-processing
Expand Down
15 changes: 11 additions & 4 deletions shaketune/commands/axes_shaper_calibration.py
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Original file line number Diff line number Diff line change
Expand Up @@ -76,8 +76,12 @@ def axes_shaper_calibration(gcmd, config, st_process: ShakeTuneProcess) -> None:
# set the needed acceleration values for the test
toolhead_info = toolhead.get_status(systime)
old_accel = toolhead_info['max_accel']
old_mcr = toolhead_info['minimum_cruise_ratio']
gcode.run_script_from_command(f'SET_VELOCITY_LIMIT ACCEL={max_accel} MINIMUM_CRUISE_RATIO=0')
if 'minimum_cruise_ratio' in toolhead_info: # minimum_cruise_ratio found: Klipper >= v0.12.0-239
old_mcr = toolhead_info['minimum_cruise_ratio']
gcode.run_script_from_command(f'SET_VELOCITY_LIMIT ACCEL={max_accel} MINIMUM_CRUISE_RATIO=0')
else: # minimum_cruise_ratio not found: Klipper < v0.12.0-239
old_mcr = None
gcode.run_script_from_command(f'SET_VELOCITY_LIMIT ACCEL={max_accel}')

# Deactivate input shaper if it is active to get raw movements
input_shaper = printer.lookup_object('input_shaper', None)
Expand Down Expand Up @@ -115,6 +119,9 @@ def axes_shaper_calibration(gcmd, config, st_process: ShakeTuneProcess) -> None:
# Re-enable the input shaper if it was active
if input_shaper is not None:
input_shaper.enable_shaping()

# Restore the previous acceleration values
gcode.run_script_from_command(f'SET_VELOCITY_LIMIT ACCEL={old_accel} MINIMUM_CRUISE_RATIO={old_mcr}')
if old_mcr is not None: # minimum_cruise_ratio found: Klipper >= v0.12.0-239
gcode.run_script_from_command(f'SET_VELOCITY_LIMIT ACCEL={old_accel} MINIMUM_CRUISE_RATIO={old_mcr}')
else: # minimum_cruise_ratio not found: Klipper < v0.12.0-239
gcode.run_script_from_command(f'SET_VELOCITY_LIMIT ACCEL={old_accel}')
15 changes: 11 additions & 4 deletions shaketune/commands/compare_belts_responses.py
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Original file line number Diff line number Diff line change
Expand Up @@ -88,9 +88,13 @@ def compare_belts_responses(gcmd, config, st_process: ShakeTuneProcess) -> None:

# set the needed acceleration values for the test
toolhead_info = toolhead.get_status(systime)
old_accel = toolhead_info['max_accel']
old_mcr = toolhead_info['minimum_cruise_ratio']
gcode.run_script_from_command(f'SET_VELOCITY_LIMIT ACCEL={max_accel} MINIMUM_CRUISE_RATIO=0')
old_accel = toolhead_info['max_accel']
if 'minimum_cruise_ratio' in toolhead_info: # minimum_cruise_ratio found: Klipper >= v0.12.0-239
old_mcr = toolhead_info['minimum_cruise_ratio']
gcode.run_script_from_command(f'SET_VELOCITY_LIMIT ACCEL={max_accel} MINIMUM_CRUISE_RATIO=0')
else: # minimum_cruise_ratio not found: Klipper < v0.12.0-239
old_mcr = None
gcode.run_script_from_command(f'SET_VELOCITY_LIMIT ACCEL={max_accel}')

# Deactivate input shaper if it is active to get raw movements
input_shaper = printer.lookup_object('input_shaper', None)
Expand All @@ -112,7 +116,10 @@ def compare_belts_responses(gcmd, config, st_process: ShakeTuneProcess) -> None:
input_shaper.enable_shaping()

# Restore the previous acceleration values
gcode.run_script_from_command(f'SET_VELOCITY_LIMIT ACCEL={old_accel} MINIMUM_CRUISE_RATIO={old_mcr}')
if old_mcr is not None: # minimum_cruise_ratio found: Klipper >= v0.12.0-239
gcode.run_script_from_command(f'SET_VELOCITY_LIMIT ACCEL={old_accel} MINIMUM_CRUISE_RATIO={old_mcr}')
else: # minimum_cruise_ratio not found: Klipper < v0.12.0-239
gcode.run_script_from_command(f'SET_VELOCITY_LIMIT ACCEL={old_accel}')

# Run post-processing
ConsoleOutput.print('Belts comparative frequency profile generation...')
Expand Down
17 changes: 11 additions & 6 deletions shaketune/commands/create_vibrations_profile.py
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Original file line number Diff line number Diff line change
Expand Up @@ -59,11 +59,15 @@ def create_vibrations_profile(gcmd, config, st_process: ShakeTuneProcess) -> Non

toolhead_info = toolhead.get_status(systime)
old_accel = toolhead_info['max_accel']
old_mcr = toolhead_info['minimum_cruise_ratio']
old_sqv = toolhead_info['square_corner_velocity']

# set the wanted acceleration values
gcode.run_script_from_command(f'SET_VELOCITY_LIMIT ACCEL={accel} MINIMUM_CRUISE_RATIO=0 SQUARE_CORNER_VELOCITY=5.0')
if 'minimum_cruise_ratio' in toolhead_info: # minimum_cruise_ratio found: Klipper >= v0.12.0-239
old_mcr = toolhead_info['minimum_cruise_ratio']
gcode.run_script_from_command(f'SET_VELOCITY_LIMIT ACCEL={accel} MINIMUM_CRUISE_RATIO=0 SQUARE_CORNER_VELOCITY=5.0')
else: # minimum_cruise_ratio not found: Klipper < v0.12.0-239
old_mcr = None
gcode.run_script_from_command(f'SET_VELOCITY_LIMIT ACCEL={accel} SQUARE_CORNER_VELOCITY=5.0')

kin_info = toolhead.kin.get_status(systime)
mid_x = (kin_info['axis_minimum'].x + kin_info['axis_maximum'].x) / 2
Expand Down Expand Up @@ -133,10 +137,11 @@ def create_vibrations_profile(gcmd, config, st_process: ShakeTuneProcess) -> Non

accelerometer.wait_for_file_writes()

# Restore the previous acceleration values
gcode.run_script_from_command(
f'SET_VELOCITY_LIMIT ACCEL={old_accel} MINIMUM_CRUISE_RATIO={old_mcr} SQUARE_CORNER_VELOCITY={old_sqv}'
)
# Restore the previous acceleration values
if old_mcr is not None: # minimum_cruise_ratio found: Klipper >= v0.12.0-239
gcode.run_script_from_command(f'SET_VELOCITY_LIMIT ACCEL={old_accel} MINIMUM_CRUISE_RATIO={old_mcr} SQUARE_CORNER_VELOCITY={old_sqv}')
else: # minimum_cruise_ratio not found: Klipper < v0.12.0-239
gcode.run_script_from_command(f'SET_VELOCITY_LIMIT ACCEL={old_accel} SQUARE_CORNER_VELOCITY={old_sqv}')
toolhead.wait_moves()

# Run post-processing
Expand Down

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