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			194 lines
		
	
	
		
			6.1 KiB
		
	
	
	
		
			Python
		
	
	
		
			Executable File
		
	
	
	
	
			
		
		
	
	
			194 lines
		
	
	
		
			6.1 KiB
		
	
	
	
		
			Python
		
	
	
		
			Executable File
		
	
	
	
	
| #!/usr/bin/env python
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| # Generate extruder pressure advance motion graphs
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| #
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| # Copyright (C) 2019-2021  Kevin O'Connor <kevin@koconnor.net>
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| #
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| # This file may be distributed under the terms of the GNU GPLv3 license.
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| import math, optparse, datetime
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| import matplotlib
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| 
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| SEG_TIME = .000100
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| INV_SEG_TIME = 1. / SEG_TIME
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| 
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| 
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| ######################################################################
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| # Basic trapezoid motion
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| ######################################################################
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| 
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| # List of moves: [(start_v, end_v, move_t), ...]
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| Moves = [
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|     (0., 0., .100),
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|     (0., 100., None), (100., 100., .200), (100., 60., None),
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|     (60., 100., None), (100., 100., .200), (100., 0., None),
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|     (0., 0., .300)
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| ]
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| EXTRUDE_R = (.4 * .4 * .75) / (math.pi * (1.75 / 2.)**2)
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| ACCEL = 3000. * EXTRUDE_R
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| 
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| def gen_positions():
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|     out = []
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|     start_d = start_t = t = 0.
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|     for start_v, end_v, move_t in Moves:
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|         start_v *= EXTRUDE_R
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|         end_v *= EXTRUDE_R
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|         if move_t is None:
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|             move_t = abs(end_v - start_v) / ACCEL
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|         half_accel = 0.
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|         if end_v > start_v:
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|             half_accel = .5 * ACCEL
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|         elif start_v > end_v:
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|             half_accel = -.5 * ACCEL
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|         end_t = start_t + move_t
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|         while t <= end_t:
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|             rel_t = t - start_t
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|             out.append(start_d + (start_v + half_accel * rel_t) * rel_t)
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|             t += SEG_TIME
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|         start_d += (start_v + half_accel * move_t) * move_t
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|         start_t = end_t
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|     return out
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| 
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| 
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| ######################################################################
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| # List helper functions
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| ######################################################################
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| 
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| MARGIN_TIME = 0.050
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| 
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| def time_to_index(t):
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|     return int(t * INV_SEG_TIME + .5)
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| 
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| def indexes(positions):
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|     drop = time_to_index(MARGIN_TIME)
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|     return range(drop, len(positions)-drop)
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| 
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| def trim_lists(*lists):
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|     keep = len(lists[0]) - time_to_index(2. * MARGIN_TIME)
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|     for l in lists:
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|         del l[keep:]
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| 
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| 
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| ######################################################################
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| # Common data filters
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| ######################################################################
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| 
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| # Generate estimated first order derivative
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| def gen_deriv(data):
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|     return [0.] + [(data[i+1] - data[i]) * INV_SEG_TIME
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|                    for i in range(len(data)-1)]
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| 
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| # Simple average between two points smooth_time away
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| def calc_average(positions, smooth_time):
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|     offset = time_to_index(smooth_time * .5)
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|     out = [0.] * len(positions)
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|     for i in indexes(positions):
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|         out[i] = .5 * (positions[i-offset] + positions[i+offset])
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|     return out
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| 
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| # Average (via integration) of smooth_time range
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| def calc_smooth(positions, smooth_time):
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|     offset = time_to_index(smooth_time * .5)
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|     weight = 1. / (2*offset - 1)
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|     out = [0.] * len(positions)
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|     for i in indexes(positions):
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|         out[i] = sum(positions[i-offset+1:i+offset]) * weight
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|     return out
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| 
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| # Time weighted average (via integration) of smooth_time range
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| def calc_weighted(positions, smooth_time):
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|     offset = time_to_index(smooth_time * .5)
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|     weight = 1. / offset**2
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|     out = [0.] * len(positions)
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|     for i in indexes(positions):
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|         weighted_data = [positions[j] * (offset - abs(j-i))
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|                          for j in range(i-offset, i+offset)]
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|         out[i] = sum(weighted_data) * weight
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|     return out
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| 
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| 
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| ######################################################################
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| # Pressure advance
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| ######################################################################
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| 
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| SMOOTH_TIME = .040
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| PRESSURE_ADVANCE = .045
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| 
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| # Calculate raw pressure advance positions
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| def calc_pa_raw(positions):
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|     pa = PRESSURE_ADVANCE * INV_SEG_TIME
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|     out = [0.] * len(positions)
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|     for i in indexes(positions):
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|         out[i] = positions[i] + pa * (positions[i+1] - positions[i])
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|     return out
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| 
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| # Pressure advance after smoothing
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| def calc_pa(positions):
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|     return calc_weighted(calc_pa_raw(positions), SMOOTH_TIME)
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| 
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| 
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| ######################################################################
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| # Plotting and startup
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| ######################################################################
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| 
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| def plot_motion():
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|     # Nominal motion
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|     positions = gen_positions()
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|     velocities = gen_deriv(positions)
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|     accels = gen_deriv(velocities)
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|     # Motion with pressure advance
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|     pa_positions = calc_pa_raw(positions)
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|     pa_velocities = gen_deriv(pa_positions)
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|     # Smoothed motion
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|     sm_positions = calc_pa(positions)
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|     sm_velocities = gen_deriv(sm_positions)
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|     # Build plot
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|     times = [SEG_TIME * i for i in range(len(positions))]
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|     trim_lists(times, velocities, accels,
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|                pa_positions, pa_velocities,
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|                sm_positions, sm_velocities)
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|     fig, ax1 = matplotlib.pyplot.subplots(nrows=1, sharex=True)
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|     ax1.set_title("Extruder Velocity")
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|     ax1.set_ylabel('Velocity (mm/s)')
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|     pa_plot, = ax1.plot(times, pa_velocities, 'r',
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|                         label='Pressure Advance', alpha=0.3)
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|     nom_plot, = ax1.plot(times, velocities, 'black', label='Nominal')
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|     sm_plot, = ax1.plot(times, sm_velocities, 'g', label='Smooth PA', alpha=0.9)
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|     fontP = matplotlib.font_manager.FontProperties()
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|     fontP.set_size('x-small')
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|     ax1.legend(handles=[nom_plot, pa_plot, sm_plot], loc='best', prop=fontP)
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|     ax1.set_xlabel('Time (s)')
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|     ax1.grid(True)
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|     fig.tight_layout()
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|     return fig
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| 
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| def setup_matplotlib(output_to_file):
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|     global matplotlib
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|     if output_to_file:
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|         matplotlib.rcParams.update({'figure.autolayout': True})
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|         matplotlib.use('Agg')
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|     import matplotlib.pyplot, matplotlib.dates, matplotlib.font_manager
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|     import matplotlib.ticker
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| 
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| def main():
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|     # Parse command-line arguments
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|     usage = "%prog [options]"
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|     opts = optparse.OptionParser(usage)
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|     opts.add_option("-o", "--output", type="string", dest="output",
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|                     default=None, help="filename of output graph")
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|     options, args = opts.parse_args()
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|     if len(args) != 0:
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|         opts.error("Incorrect number of arguments")
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| 
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|     # Draw graph
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|     setup_matplotlib(options.output is not None)
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|     fig = plot_motion()
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| 
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|     # Show graph
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|     if options.output is None:
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|         matplotlib.pyplot.show()
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|     else:
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|         fig.set_size_inches(6, 2.5)
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|         fig.savefig(options.output)
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| 
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| if __name__ == '__main__':
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|     main()
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