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Organization/Cleanup - re-run install.sh
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Anonoei authored Jan 2, 2024
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*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, y diagonal , and z axes, and measures your steppers missed steps at various accelerations/velocities.
This module automatically performs movements on the *x*, *y*, *x-diagonal*, *y-diagonal*, and *z* axes, and measures your steppers missed steps at various accelerations/velocities.
With the default configuration, this may take *awhile* (~10 minutes).
Most of the testing time is waiting for your printer to home.
On my printer with default settings (except MAX_MISSED), it takes ~3.5 minutes for acceleration, and ~5 minutes for velocity.

**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.
I run `AUTO_SPEED MAX_MISSED=10.0` to account for that variance, and occasional wildly different endstop 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.
- [Discord - DOOMCUBE User Projects](https://discord.com/channels/825469421346226226/1162192150822404106)

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.

Using Ellis' pattern (AUTO_SPEED_VALIDATE) is **NOT** a safe movement pattern. Please ensure your toolhead isn't crashing before walking away.

# Table of Contents
- [Overview](https://github.com/Anonoei/klipper_auto_speed#overview)
- [Example Usage](https://github.com/Anonoei/klipper_auto_speed#example-usage)
Expand All @@ -27,7 +29,7 @@ Your printer shouldn't have any crashes due to the movement patterns used, and r
- [Installation](https://github.com/Anonoei/klipper_auto_speed#installation)
- [Moonraker Update Manager](https://github.com/Anonoei/klipper_auto_speed#moonraker-update-manager)
- [Configuration](https://github.com/Anonoei/klipper_auto_speed#configuration)
- [Macro](https://github.com/Anonoei/klipper_auto_speed#macro)
- [Macros](https://github.com/Anonoei/klipper_auto_speed#macro)
- [AUTO_SPEED](https://github.com/Anonoei/klipper_auto_speed#auto_speed)
- [AUTO_SPEED_ACCEL](https://github.com/Anonoei/klipper_auto_speed#auto_speed_accel)
- [AUTO_SPEED_VELOCITY](https://github.com/Anonoei/klipper_auto_speed#auto_speed_velocity)
Expand All @@ -45,17 +47,22 @@ Your printer shouldn't have any crashes due to the movement patterns used, and r
- `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
- Validate your printer's current accel/velocity (Ellis' test pattern)
- `AUTO_SPEED_VALIDATE`
- Graph your printer's max accel
- Graph your printer's max velocity/accel
- `AUTO_SPEED_GRAPH`
- Graph your printer's max accel between v100 and v1000, over 9 steps
- Graph your printer's max velocity/accel between v100 and v1000, over 9 steps
- `AUTO_SPEED_GRAPH VELOCITY_MIN=100 VELOCITY_MAX=1000 VELOCITY_DIV=9`

## Roadmap
- [ ] Export printer results as a 'benchmark' to a database to see average speeds for different printers
- [ ] Make _ACCEL/_VELOCITY smarter, based on printer size
- [ ] Add support for running through moonraker
- [ ] Save validated/measured results to printer config
- [ ] Add support for running through moonraker (enables scripting different commands, arguments)
- [ ] Save validated/measured results to printer config (like SAVE_CONFIG)
- [ ] Couple ACCEL/VELOCITY similar to AUTO_SPEED_GRAPH
- [ ] Add AUTO_SPEED ACCEL=10000 - to find what velocity lets you use accel 10000
- [ ] Add AUTO_SPEED VELOC=500 - to find what accel lets you use velocity 500
- [ ] Make AUTO_SPEED measure different accels/velocity to find the best values based on printer size
- [X] Add testing Z axis
- [X] Reduce code duplication
- [X] Check kinematics to find best movement patterns
Expand All @@ -64,24 +71,25 @@ Your printer shouldn't have any crashes due to the movement patterns used, and r

## 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.
2. If your print is enclosed, heat soak it. You want to run this module in 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`
1. Prepare
1. Make sure the printer is level
2. 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 = $sqrt(travel/accel)*accel / 2.5$
1. Home, and save stepper start steps
2. Perform the movement check on the specified axis
3. Home, and save stepper stop steps
4. If difference between start/stop steps is more than `max_missed`, go to next step
3. Find maximum velocity
- Perform a binary search between `VELOCITY_MIN` and `VELOCITY_MAX`
- accel = $\frac{velocity^2}{travel} * 2.5$
1. Home, and save stepper start steps
2. Perform the movement check on the specified axis
3. Home, and save stepper stop steps
4. If difference between start/stop steps is more than `max_missed`, go to next step
4. Show results
- Print results on each axis, for both accel and velocity, and also print the recommended (derated) values

## Using Klipper Auto Speed

Expand All @@ -98,7 +106,7 @@ managed_services: klipper

### Installation
To install this module you need to clone the repository and run the `install.sh` script.
Depending on when you installed klipper, you may also need to update your klippy-env python version.
**Depending on when you installed klipper, you may also need to [update your klippy-env python version.](https://github.com/Anonoei/klipper_auto_speed#update-klippy-env)**

#### Automatic installation
```
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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`
#axis: diag_x, diag_y ; One or multiple of `x`, `y`, `diag_x`, `diag_y`, `z`
margin: 20 ; How far away from your axes to perform movements
#margin: 20 ; How far away from your axes to perform movements
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
#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
accel_min: 1000.0 ; Minimum acceleration test may try
accel_max: 50000.0 ; Maximum acceleration test may try
accel_accu: 0.05 ; Keep binary searching until the result is within this percentage
#accel_min: 1000.0 ; Minimum acceleration test may try
#accel_max: 50000.0 ; Maximum acceleration test may try
#accel_accu: 0.05 ; Keep binary searching until the result is within this percentage
velocity_min: 50.0 ; Minimum velocity test may try
velocity_max: 5000.0 ; Maximum velocity test may try
velocity_accu: 0.05 ; Keep binary searching until the result is within this percentage
#velocity_min: 50.0 ; Minimum velocity test may try
#velocity_max: 5000.0 ; Maximum velocity test may try
#velocity_accu: 0.05 ; Keep binary searching until the result is within this percentage
derate: 0.8 ; Derate discovered results by this amount
#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
#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
results_dir: ~/printer_data/config ; Destination directory for graphs
#results_dir: ~/printer_data/config ; Destination directory for graphs
```

### Macro
Expand Down Expand Up @@ -242,23 +250,47 @@ VARIANCE | 1 | Check endstop variance
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`, `z`
- The three times `after` times are first home time, movement time, end home time
- The three times after `after` are (first home time)/(movement time)/(end home time)
- `#`s before decimals are variable, `#`s after decimals are static

For acceleration tests:
### Acceleration tests
```
AUTO SPEED accel on `axis` try # (#.##s)
Moved #.##mm at a###/v### after #.##/#.##/#.##s
Missed X #.##, Y #.##
```
Example:
```
AUTO SPEED accel on diag_x try 1 (19.66s)
Moved 1.43mm at a17333/v241 after 8.92/0.30/9.93s
Missed X 0.31, Y 2.00
```

Velocity tests are the same as acceleration except a few details
### Velocity tests
```
AUTO SPEED velocity on `axis` try # (#.##s)
Moved #.##mm at a###/v### after #.##/#.##/#.##s
Missed X #.##, Y #.##
```
Example:
```
AUTO SPEED velocity on diag_y try 1 (23.91s)
Moved 13.44mm at a91456/v1700 after 8.92/0.31/13.87s
Missed X 0.06, Y 132.00
```

Acceleration results
### Acceleration results
```
AUTO SPEED found maximum acceleration after #.##s
| `AXIS 1` max: ###
| `AXIS 2` max: ###
Recommended values:
| `AXIS 1` max: ###
| `AXIS 2` max: ###
Recommended acceleration: ###
```
Example:
```
AUTO SPEED found maximum acceleration after 218.00s
| DIAG X max: 48979
Expand All @@ -270,7 +302,18 @@ Recommended values:
Recommended acceleration: 39183
```

Velocity results
### Velocity results
```
AUTO SPEED found maximum velocity after #.##s
| `AXIS 1` max: ###
| `AXIS 2` max: ###
Recommended values
| `AXIS 1` max: ###
| `AXIS 2` max: ###
Recommended velocity: ###
```
Example:
```
AUTO SPEED found maximum velocity after 307.60s
| DIAG X max: 577
Expand All @@ -282,7 +325,15 @@ Recommended values
Recommended velocity: 442
```

Recommended results
### Recommended results
```
AUTO SPEED found recommended acceleration and velocity after #.##s
| `AXIS 1` max: a### v###
| `AXIS 2`: a### v###
Recommended accel: ###
Recommended velocity: ###
```
Example:
```
AUTO SPEED found recommended acceleration and velocity after 525.61s
| DIAG X max: a39183 v462
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