github-personal/klipper_auto_speed
1
0
Fork 0
mirror of https://github.com/outbackdingo/klipper_auto_speed.git synced 2026-01-27 10:19:30 +00:00
Code Issues Packages Projects Releases Wiki Activity
9 Commits 1 Branch 0 Tags
9602bba1b1a4e7b9d18b857f4879e23bdce7c58e
Go to file
Clone
Open with VS Code Open with VSCodium Open with Intellij IDEA
Download ZIP Download TAR.GZ Download BUNDLE
Anonoei 9602bba1b1 Add roadmap to README
2023-10-19 19:18:58 -10:00
auto_speed.py
Add AUTO_SPEED_GRAPH
2023-10-19 19:07:49 -10:00
install.sh
Add AUTO_SPEED_GRAPH
2023-10-19 19:07:49 -10:00
LICENSE
Initial working commit
2023-10-11 17:24:58 -10:00
README.md
Add roadmap to README
2023-10-19 19:18:58 -10:00

README.md

Klipper Auto Speed

Klipper module for automatically calculating your printer's maximum acceleration/velocity

With one copy/paste and one line in your configuration, automatically optimize your printer's motion

This module automatically performs movements on the x, y, x diagonal, and y diagonal axes, and measures your steppers missed steps at various accelerations/velocities. With the default configuration, this may take awhile (up to an hour). Most of the testing time is waiting for your printer to home. On my printer with default settings (except MAX_MISSED), it takes ~23 minutes for acceleration, ~20 minutes for velocity, and 5 minutes for the validation test.

Sensorless homing: If you're using sensorless homing MAX_MISSED=1.0 is probably too low. The endstop variance check will tell you how many steps you lose when homing. For instance, on my printer I lose around 0-4.2 steps each home. I run AUTO_SPEED MAX_MISSED=10.0 to account for that variance, and occasional wildly different results.

This module is under development, and has only been validated on CoreXY printers: You may run into issues or bugs, feel free to use the discord channel, or post an issue here.

Your printer shouldn't have any crashes due to the movement patterns used, and re-homing before/after each test, so it's safe to walk away and let it do it's thing.

Table of Contents

Overview

  • License: MIT

Example Usage

  • Default usage (find max accel/velocity)
    • AUTO_SPEED
  • Find maximum acceleration on y axis
    • AUTO_SPEED_ACCEL AXIS="y"
  • Find maximum acceleration on y, then x axis
    • AUTO_SPEED_VELOCITY AXIS="y,x"
  • Validate your printer's current accel/velocity
    • AUTO_SPEED_VALIDATE
  • Graph your printer's max accel between v00 and v1000
    • AUTO_SPEED_GRAPH VELOCITY_MIN=100 VELOCITY_MAX=1000
  • Graph your printer's max accel between v100 and v1000, over 10 steps
    • AUTO_SPEED_GRAPH VELOCITY_MIN=100 VELOCITY_MAX=1000 VELOCITY_DIV=10

Roadmap

  • Check kinematics to find best movement patterns
  • Update calculated accel/velocity depending on test to be more accurate
  • Update axis movement logic
  • Add support for running through moonraker
  • Add testing Z axis
  • Reduce code duplication
  • Save validated/measured results to printer config

How does it work?

  1. Home your printer
  2. If your print is enclosed, heat soak it. You want to run this module at the typical state your printer is in when you're printing.
  3. Run AUTO_SPEED
    1. Check endstop variance
      • Validate the endstops are accurate enough for MAX_MISSED
    2. Find the maximum acceleration
      • Perform a binary search between ACCEL_MIN and ACCEL_MAX
      • velocity = (math.sqrt(travel/accel)*accel) * .7
      1. Home, and save stepper start steps
      2. Perform the movement check on the specified axis
      3. Home, and save stepper stop steps
    3. Find maximum velocity
      • Perform a binary search between VELOCITY_MIN and VELOCITY_MAX
      • accel = (velocity**2/travel) * 4
      1. Home, and save stepper start steps
      2. Perform the movement check on the specified axis
      3. Home, and save stepper stop steps
    4. Show results
      • Print results on each axis, for both accel and velocity, and also print the recommended (derated) values

Using Klipper Auto Speed

Moonraker Update Manager

[update_manager klipper_auto_speed]
type: git_repo
path: ~/klipper_auto_speed
origin: https://github.com/anonoei/klipper_auto_speed.git
primary_branch: main
install_script: install.sh
managed_services: klipper

Installation

To install this module you need to clone the repository and run the install.sh script

Automatic installation

cd ~
git clone https://github.com/Anonoei/klipper_auto_speed.git
cd klipper_auto_speed
./install.sh

Manual installation

  1. Clone the repository
    1. cd ~
    2. git clone https://github.com/Anonoei/klipper_auto_speed.git
    3. cd klipper_auto_speed
  2. Link auto_speed to klipper
    1. ln -sf ~/klipper_auto_speed/auto_speed.py ~/klipper/klippy/extras/auto_speed.py
  3. Install matplotlib
    1. ~/klippy-env/bin/python -m pip install matplotlib
  4. Restart klipper
    1. sudo systemctl restart klipper

Configuration

Place this in your printer.cfg

[auto_speed]

The values listed below are the defaults Auto Speed uses. You can include them if you wish to change their values or run into issues.

[auto_speed]
axis: diag_x, diag_y  ; One or multiple of `x`, `y`, `diag_x`, `diag_y`

z: Unset              ; Z position to run Auto Speed, defaults to 10% of z axis length
margin: 20            ; How far away from your axis maximums to perform the test movement
pattern_margin: 20    ; How far from your axis centers to perform the small test movement

settling_home: True   ; Perform settling home before starting Auto Speed
max_missed: 1.0       ; Maximum full steps that can be missed
endstop_samples: 3    ; How many endstop samples to take for endstop variance

accel_min: 1000.0     ; Minimum acceleration test may try
accel_max: 50000.0    ; Maximum acceleration test may try
accel_dist: 10.0      ; Distance to move when testing, if 0, use total axis - margin
accel_ittr: 1         ; How many iterations of the test to perform
accel_accu: 500.0     ; Keep binary searching until the result is this small

velocity_min: 50.0    ; Minimum velocity test may try
velocity_max: 5000.0  ; Maximum velocity test may try
velocity_dist: 0.0    ; Distance to move when testing, if 0, use total axis - margin
velocity_ittr: 1      ; How many iterations of the test to perform
velocity_accu: 50.0   ; Keep binary searching until the result is this small

derate: 0.8           ; Derate discovered results by this amount

validate_margin: Unset      ; Margin for VALIDATE, Defaults to margin
validate_inner_margin: 20.0 ; Margin for VALIDATE inner pattern
validate_iterations: 50     ; Perform VALIDATE pattern this many times

Macro

Auto Speed is split into 5 separate macros. The default AUTO_SPEED automatically calls the other three (AUTO_SPEED_ACCEL, AUTO_SPEED_VELOCITY, AUTO_SPEED_VALIDATE). You can use any argument from those macros when you call AUTO_SPEED.

You can also use AUTO_SPEED_GRAPH to find your printers velocity-to-accel relationship.

AUTO_SPEED

AUTO_SPEED finds maximum acceleration, velocity, and validates results at the end.

Argument Default Description
AXIS Unset Perform test on these axes, defaults to diag_x, diag_y
Z 50 Z position to run Auto Speed
MARGIN 20 How far away from your axis maximums to perform the test movement
SETTLING_HOME 1 Perform settling home before starting Auto Speed
MAX_MISSED 1.0 Maximum full steps that can be missed
ENDSTOP_SAMPLES 3 How many endstop samples to take for endstop variance
TEST_ATTEMPTS 2 Re-test this many times if test fails
ACCEL_MIN 1000.0 Minimum acceleration test may try
ACCEL_MAX 50000.0 Maximum acceleration test may try
ACCEL_DIST 10.0 Distance to move when testing, if 0, use total axis - margin
ACCEL_ITTR 1 How many iterations of the test to perform
ACCEL_ACCU 500.0 Keep binary searching until the result is this small
VELOCITY_MIN 50.0 Minimum velocity test may try
VELOCITY_MAX 5000.0 Maximum velocity test may try
VELOCITY_DIST 0.0 Distance to move when testing, if 0, use total axis - margin
VELOCITY_ITTR 1 How many iterations of the test to perform
VELOCITY_ACCU 50.0 Keep binary searching until the result is this small
LEVEL 1 Level the printer if it's not leveled
VARIANCE 1 Check endstop variance

AUTO_SPEED_ACCEL

AUTO_SPEED_ACCEL find maximum acceleration

Argument Default Description
AXIS Unset Perform test on these axes, defaults to diag_x, diag_y
MARGIN 20.0 Used when DIST is 0.0, how far away from axis to perform movements
DERATE 0.8 How much to derate maximum values for the recommended max
MAX_MISSED 1.0 Maximum fulls steps that can be missed
ACCEL_MIN 1000.0 Minimum acceleration test may try
ACCEL_MAX 50000.0 Maximum acceleration test may try
ACCEL_DIST 10.0 Distance to move when testing, if 0, use (total axis - margin)
ACCEL_ITTR 1 How many iterations of the test to perform
ACCEL_ACCU 500.0 Keep binary searching until the result is this small

AUTO_SPEED_VELOCITY

AUTO_SPEED_VELOCITY finds maximum velocity

Argument Default Description
AXIS Unset Perform test on these axes, defaults to diag_x, diag_y
MARGIN 20.0 Used when DIST is 0.0, how far away from axis to perform movements
DERATE 0.8 How much to derate maximum values for the recommended max
MAX_MISSED 1.0 Maximum fulls steps that can be missed
VELOCITY_MIN 100.0 Minimum velocity test may try
VELOCITY_MAX 5000.0 Maximum velocity test may try
VELOCITY_DIST 0.0 Distance to move when testing, if 0, use (total axis - margin)
VELOCITY_ITTR 1 How many iterations of the test to perform
VELOCITY_ACCU 50.0 Keep binary searching until the result is this small

AUTO_SPEED_VALIDATE

AUTO_SPEED_VALIDATE validates a specified acceleration/velocity, using Ellis' TEST_SPEED Pattern

Argument Default Description
MAX_MISSED 1.0 Maximum fulls steps that can be missed
VALIDATE_MARGIN 20.0 Margin axes max/min pattern can move to
VALIDATE_INNER_MARGIN 20.0 Margin from axes center pattern can move to
VALIDATE_ITERATIONS 50 Repeat the pattern this many times
ACCEL Unset Defaults to current max accel
VELOCITY Unset Defaults to current max velocity

AUTO_SPEED_GRAPH

AUTO_SPEED_GRAPH graphs your printer's velocity-to-accel relationship on specified axes You must specify VELOCITY_MIN and VELOCITY_MAX. Results are saved to ~/printer_data/config

Argument Default Description
AXIS Unset Perform test on these axes, defaults to diag_x, diag_y
MARGIN 20.0 Used when DIST is 0.0, how far away from axis to perform movements
DERATE 0.8 How much to derate maximum values for the recommended max
MAX_MISSED 1.0 Maximum fulls steps that can be missed
VELOCITY_MIN Unset Minimum velocity test may try
VELOCITY_MAX Unset Maximum velocity test may try
VELOCITY_DIV 5 How many velocities to test
VELOCITY_DIST 0.0 Distance to move when testing, if 0, use (total axis - margin)
VELOCITY_ITTR 1 How many iterations of the test to perform
VELOCITY_ACCU 0.05 Keep binary searching until the result within this percent
ACCEL_MIN_A 0.23 Accel min parabola equation 'a'
ACCEL_MIN_B -300 Accel min parabola equation 'b'
ACCEL_MIN_C 85000 Accel min parabola equation 'c' - y at velocity 0
ACCEL_MAX_A 0.19 Accel max parabola equation 'a'
ACCEL_MAX_B -300 Accel max parabola equation 'b'
ACCEL_MAX_C 200000 Accel max parabola equation 'c' - y at velocity 0

Console Output

Console output is slightly different depending on whether testing acceleration/velocity, and which axis is being tested.

  • axis is one of x, y, diag_x, diag_y

For acceleration tests:

AUTO SPEED acceleration diag_x measurement 4 (47.48s)
Missed X 4898.39, Y 0.02 at a14750/v659 over 1.24s

Velocity tests are the same as acceleration except a few details

AUTO SPEED velocity diag_y measurement 5 (40.97s)
Missed X 2.11, Y 3.98 at v797/a8635 over 1.24s

Acceleration results

AUTO SPEED found maximum acceleration after 1398.34s
| X max: 49249
| Y max: 30107
| DIAG X max: 27084
| DIAG Y max: 24169

Recommended values:
| X max: 39399
| Y max: 24085
| DIAG X max: 21668
| DIAG Y max: 19335
Recommended acceleration: 19335

Velocity results

AUTO SPEED found maximum velocity after 449.66s
| DIAG X max: 797
| DIAG Y max: 797

Recommended values
| DIAG X max: 638
| DIAG Y max: 638
Recommended velocity: 638

Recommended results

AUTO SPEED found recommended acceleration and velocity after 993.64s
| DIAG X max: a11217 v638
| DIAG Y max: a10033 v638
Recommended accel: 10033
Recommended velocity: 638
Reference in New Issue View Git Blame Copy Permalink
Description
No description provided
Readme MIT 103 KiB
Languages
Python 97.3%
Shell 2.7%