resonance_tester: Made the new test a default

This also removed the option to specify the test method directly,
and reworked the handling of the test parameters from GCode a bit.

Signed-off-by: Dmitry Butyugin <[email protected]>

docs/Config_Changes.md

@@ -8,6 +8,14 @@ All dates in this document are approximate.
 
 ## Changes
 
+20241115: The resonance test has been changed to include slow sweeping
+moves. This change requires that testing point(s) have some clearance
+in X/Y plane (+/- 30 mm from the test point should suffice when using
+the default settings). The new test should generally produce more
+accurate and reliable test results. However, if required, the previous
+test behavior can be restored by adding options `sweeping_period: 0` and
+`accel_per_hz: 75` to the `[resonance_tester]` config section.
+
 20241112: Option `CHIPS=<chip_name>` in `TEST_RESONANCES` and
 `SHAPER_CALIBRATE` requires specifying the full name(s) of the accel
 chip(s). For example, `adxl345 rpi` instead of short name - `rpi`.

docs/Config_Reference.md

@@ -1785,15 +1785,6 @@ section of the measuring resonances guide for more information on
 #   and on the toolhead (for X axis). These parameters have the same
 #   format as 'accel_chip' parameter. Only 'accel_chip' or these two
 #   parameters must be provided.
-#method: vibrations
-#   A test method to use for resonance testing. Valid choices are
-#   vibrations, sweeping_vibrations. The vibrations method tests
-#   different vibration frequencies at the designated test point.
-#   The sweeping_vibrations method tests different vibration frequencies
-#   while also moving the toolhead slowly around the test point, and
-#   thus may help, for example, if stiction of the toolhead (a force that
-#   must be be overcome to start toolhead motion) is too high.
-#   The default is vibrations, which is generally a recommended choice.
 #max_smoothing:
 #   Maximum input shaper smoothing to allow for each axis during shaper
 #   auto-calibration (with 'SHAPER_CALIBRATE' command). By default no
@@ -1806,7 +1797,7 @@ section of the measuring resonances guide for more information on
 #   Minimum frequency to test for resonances. The default is 5 Hz.
 #max_freq: 133.33
 #   Maximum frequency to test for resonances. The default is 133.33 Hz.
-#accel_per_hz: 75
+#accel_per_hz: 60
 #   This parameter is used to determine which acceleration to use to
 #   test a specific frequency: accel = accel_per_hz * freq. Higher the
 #   value, the higher is the energy of the oscillations. Can be set to
@@ -1821,13 +1812,12 @@ section of the measuring resonances guide for more information on
 #   will decrease the precision of the test. The default value is 1.0
 #   (Hz/sec == sec^-2).
 #sweeping_accel: 400
-#   An acceleration of slow sweeping moves. Available only for
-#   sweeping_vibrations test method. The default is 400 mm/sec^2.
+#   An acceleration of slow sweeping moves. The default is 400 mm/sec^2.
 #sweeping_period: 1.2
-#   A period of slow sweeping moves. Must not be set to a too small
-#   value in order to not poison the measurements. Available only for
-#   sweeping_vibrations test method. The default is 1.2 sec which is
-#   a good all-round choice.
+#   A period of slow sweeping moves. Setting this parameter to 0
+#   disables slow sweeping moves. Avoid setting it to a too small
+#   non-zero value in order to not poison the measurements.
+#   The default is 1.2 sec which is a good all-round choice.
 ```
 
 ## Config file helpers

docs/Measuring_Resonances.md

@@ -705,23 +705,9 @@ of the printer itself and not the carriage, and some people get better
 results by mounting the accelerometer on the nozzle itself). As for
 mechanical problems, the user should inspect if there is any fault that
 can be fixed with a moving axis (e.g. linear guide rails cleaned up and
-lubricated and V-slot wheels tension adjusted correctly). However, if
-the axis has too high stiction (a force that must be be overcome to start
-toolhead motion over that axis) and thus binds, or if the user gets
-recommended shapers that do not eliminate the echo well on the prints
-and troubleshooting did not help, the user may try to use a different
-resonance test method that can be activated by adding
-```
-[resonance_tester]
-method: sweeping_vibrations
-```
-option to the Klipper config, restarting Klipper, and reruning the resonance
-test again. Note that this test moves the toolhead slowly around the test
-point, thus requiring some clearance around the test point over the tested
-axis. Since this method may produce higher amplitude vibrations compared to
-the default method, it is avised to monitor the printer closely during the
-test, and if the vibrations get too strong, the user may need to reduce
-`accel_per_hz` value in `[resonance_tester]` section from its default value.
+lubricated and V-slot wheels tension adjusted correctly). If none of that
+helps, a user may try the other shapers from the produced list besides the
+one recommended by default.
 
 ### Testing custom axes
 

klippy/extras/resonance_tester.py

@@ -48,42 +48,34 @@ def _parse_axis(gcmd, raw_axis):
 class VibrationPulseTestGenerator:
     def __init__(self, config):
         self.min_freq = config.getfloat('min_freq', 5., minval=1.)
-        # Defaults are such that max_freq * accel_per_hz == 10000 (max_accel)
-        self.max_freq = config.getfloat('max_freq', 10000. / 75.,
+        self.max_freq = config.getfloat('max_freq', 135.,
                                         minval=self.min_freq, maxval=300.)
-        self.accel_per_hz = config.getfloat('accel_per_hz', 75., above=0.)
+        self.accel_per_hz = config.getfloat('accel_per_hz', 60., above=0.)
         self.hz_per_sec = config.getfloat('hz_per_sec', 1.,
                                           minval=0.1, maxval=2.)
     def prepare_test(self, gcmd):
         self.freq_start = gcmd.get_float("FREQ_START", self.min_freq, minval=1.)
         self.freq_end = gcmd.get_float("FREQ_END", self.max_freq,
                                        minval=self.freq_start, maxval=300.)
-        self.accel_per_hz = gcmd.get_float("ACCEL_PER_HZ",
-                                           self.accel_per_hz, above=0.)
-        self.hz_per_sec = gcmd.get_float("HZ_PER_SEC", self.hz_per_sec,
-                                         above=0., maxval=2.)
+        self.test_accel_per_hz = gcmd.get_float("ACCEL_PER_HZ",
+                                                self.accel_per_hz, above=0.)
+        self.test_hz_per_sec = gcmd.get_float("HZ_PER_SEC", self.hz_per_sec,
+                                              above=0., maxval=2.)
     def gen_test(self):
         freq = self.freq_start
         res = []
         sign = 1.
         time = 0.
         while freq <= self.freq_end + 0.000001:
             t_seg = .25 / freq
-            accel = self.accel_per_hz * freq
+            accel = self.test_accel_per_hz * freq
             time += t_seg
             res.append((time, sign * accel))
             time += t_seg
             res.append((time, -sign * accel))
-            freq += 2. * t_seg * self.hz_per_sec
+            freq += 2. * t_seg * self.test_hz_per_sec
             sign = -sign
         return res
-    def get_params(self):
-        return {
-            'freq_start': self.freq_start,
-            'freq_end': self.freq_end,
-            'accel_per_hz': self.accel_per_hz,
-            'hz_per_sec': self.hz_per_sec,
-        }
     def get_max_freq(self):
         return self.freq_end
 
@@ -125,11 +117,6 @@ def gen_test(self):
             res.append((next_t, accel + sweeping_accel * sig))
             last_t = next_t
         return res
-    def get_params(self):
-        params = self.vibration_generator.get_params()
-        params.update({'sweeping_accel': self.sweeping_accel,
-                       'sweeping_period': self.sweeping_period})
-        return params
     def get_max_freq(self):
         return self.vibration_generator.get_max_freq()
 
@@ -210,11 +197,7 @@ class ResonanceTester:
     def __init__(self, config):
         self.printer = config.get_printer()
         self.move_speed = config.getfloat('move_speed', 50., above=0.)
-        test_methods = {
-                'vibrations': VibrationPulseTestGenerator,
-                'sweeping_vibrations': SweepingVibrationsTestGenerator}
-        test_method = config.getchoice('method', test_methods, 'vibrations')
-        self.generator = test_method(config)
+        self.generator = SweepingVibrationsTestGenerator(config)
         self.executor = ResonanceTestExecutor(config)
         if not config.get('accel_chip_x', None):
             self.accel_chip_names = [('xy', config.get('accel_chip').strip())]