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resonance_tester: Gracefully handle zero accelerations during the test

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Signed-off-by: Dmitry Butyugin <dmbutyugin@google.com>
This commit is contained in:
Dmitry Butyugin
2025-09-21 17:10:26 +02:00
committed by KevinOConnor
parent 599dcd176c
commit 1c76ed1dc9
1 changed files with 17 additions and 10 deletions
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27
klippy/extras/resonance_tester.py
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@@ -145,19 +145,27 @@ class ResonanceTestExecutor:
gcmd.respond_info("Disabled [input_shaper] for resonance testing")
else:
input_shaper = None
last_v = last_t = last_accel = last_freq = 0.
last_v = last_t = last_freq = 0.
for next_t, accel, freq in test_seq:
t_seg = next_t - last_t
toolhead.set_max_velocities(None, abs(accel), None, None)
v = last_v + accel * t_seg
abs_v = abs(v)
if abs_v < 0.000001:
v = abs_v = 0.
abs_last_v = abs(last_v)
v2 = v * v
last_v2 = last_v * last_v
half_inv_accel = .5 / accel
d = (v2 - last_v2) * half_inv_accel
if abs(accel) < 0.000001:
v, abs_v = last_v, abs_last_v
if abs_v < 0.000001:
toolhead.dwell(t_seg)
last_t, last_freq = next_t, freq
continue
half_inv_accel = 0.
d = v * t_seg
else:
toolhead.set_max_velocities(None, abs(accel), None, None)
v = last_v + accel * t_seg
abs_v = abs(v)
if abs_v < 0.000001:
v = abs_v = 0.
half_inv_accel = .5 / accel
d = (v * v - last_v2) * half_inv_accel
dX, dY = axis.get_point(d)
nX = X + dX
nY = Y + dY
@@ -176,7 +184,6 @@ class ResonanceTestExecutor:
X, Y = nX, nY
last_t = next_t
last_v = v
last_accel = accel
last_freq = freq
if last_v:
d_decel = -.5 * last_v2 / old_max_accel