graph_extruder: wip - tests

Signed-off-by: Kevin O'Connor <[email protected]>

scripts/graph_extruder.py

@@ -7,7 +7,8 @@
 import math, optparse, datetime
 import matplotlib
 
-SEG_TIME = .000100
+#SEG_TIME = .000100
+SEG_TIME = .000025
 INV_SEG_TIME = 1. / SEG_TIME
 
 
@@ -18,8 +19,8 @@
 # List of moves: [(start_v, end_v, move_t), ...]
 Moves = [
     (0., 0., .100),
-    (0., 100., None), (100., 100., .200), (100., 60., None),
-    (60., 100., None), (100., 100., .200), (100., 0., None),
+    (0., 100., None), (100., 100., .200), (100., 5., None),
+    (5., 100., None), (100., 100., .200), (100., 0., None),
     (0., 0., .300)
 ]
 EXTRUDE_R = (.4 * .4 * .75) / (math.pi * (1.75 / 2.)**2)
@@ -113,16 +114,48 @@ def calc_weighted(positions, smooth_time):
 PRESSURE_ADVANCE = .045
 
 # Calculate raw pressure advance positions
-def calc_pa_raw(positions):
-    pa = PRESSURE_ADVANCE * INV_SEG_TIME
+def calc_pa_raw(positions, pressure_advance):
+    pa = pressure_advance * INV_SEG_TIME
     out = [0.] * len(positions)
     for i in indexes(positions):
         out[i] = positions[i] + pa * (positions[i+1] - positions[i])
     return out
 
 # Pressure advance after smoothing
-def calc_pa(positions):
-    return calc_weighted(calc_pa_raw(positions), SMOOTH_TIME)
+def calc_pa(positions, pressure_advance):
+    return calc_weighted(calc_pa_raw(positions, pressure_advance), SMOOTH_TIME)
+
+# Nozzle flow assuming nozzle follows simple pressure advance model
+def calc_nozzle_flow(positions, pressure_advance):
+    pa = pressure_advance * INV_SEG_TIME
+    last = 0.
+    out = [0.] * len(positions)
+    for i in range(1, len(positions)):
+        out[i] = last = (positions[i] - last)/pa + last
+    return out
+
+TH_POSITION_BUCKET = 0.200
+TH_OFFSET = 50
+
+# Map toolhead locations
+def calc_toolhead_positions(e_positions):
+    inv_extrude_r = 1. / EXTRUDE_R
+    th_positions = [e * inv_extrude_r for e in e_positions]
+    th_max = int(max(th_positions) / TH_POSITION_BUCKET)
+    th_index = [i * TH_POSITION_BUCKET
+                for i in range(-TH_OFFSET, th_max + TH_OFFSET)]
+    return th_index, th_positions
+
+# Determing extrusion amount at each toolhead position
+def calc_extruded(th_index, th_positions, e_velocities):
+    e_adjust = SEG_TIME / TH_POSITION_BUCKET
+    inv_extrude_r = 1. / EXTRUDE_R
+    out = [0.] * len(th_index)
+    for th_pos, e in zip(th_positions, e_velocities):
+        bucket = TH_OFFSET + int(th_pos / TH_POSITION_BUCKET)
+        if e > 0.:
+            out[bucket] += e * e_adjust
+    return out
 
 
 ######################################################################
@@ -135,28 +168,68 @@ def plot_motion():
     velocities = gen_deriv(positions)
     accels = gen_deriv(velocities)
     # Motion with pressure advance
-    pa_positions = calc_pa_raw(positions)
+    pa_positions = calc_pa_raw(positions, PRESSURE_ADVANCE)
     pa_velocities = gen_deriv(pa_positions)
     # Smoothed motion
-    sm_positions = calc_pa(positions)
+    sm_positions = calc_pa(positions, PRESSURE_ADVANCE)
     sm_velocities = gen_deriv(sm_positions)
+    # Extruded filament
+    ex_positions = calc_nozzle_flow(sm_positions, PRESSURE_ADVANCE)
+    ex_velocities = gen_deriv(ex_positions)
+    # Altered Extruded filament
+    sm2_positions = calc_pa(positions, PRESSURE_ADVANCE + 0.010)
+    sm2_velocities = gen_deriv(sm2_positions)
+    ex2_positions = calc_nozzle_flow(sm2_positions, PRESSURE_ADVANCE)
+    ex2_velocities = gen_deriv(ex2_positions)
     # Build plot
     times = [SEG_TIME * i for i in range(len(positions))]
     trim_lists(times, velocities, accels,
                pa_positions, pa_velocities,
-               sm_positions, sm_velocities)
-    fig, ax1 = matplotlib.pyplot.subplots(nrows=1, sharex=True)
-    ax1.set_title("Extruder Velocity")
+               sm_positions, sm_velocities,
+               ex_positions, ex_velocities,
+               sm2_positions, sm2_velocities,
+               ex2_positions, ex2_velocities)
+    #fig, ax1 = matplotlib.pyplot.subplots(nrows=1, sharex=True)
+    #fig, (ax1, ax2) = matplotlib.pyplot.subplots(nrows=2, sharex=True)
+    fig, (ax1, ax2) = matplotlib.pyplot.subplots(nrows=2)
+    ax1.set_title("Extruder Velocity (100mm/s to 5mm/s, 0.4 x 0.3 extrusion)")
     ax1.set_ylabel('Velocity (mm/s)')
     pa_plot, = ax1.plot(times, pa_velocities, 'r',
-                        label='Pressure Advance', alpha=0.3)
+                        label='Extruder ST=0.000 PA=0.045', alpha=0.3)
     nom_plot, = ax1.plot(times, velocities, 'black', label='Nominal')
-    sm_plot, = ax1.plot(times, sm_velocities, 'g', label='Smooth PA', alpha=0.9)
+    sm_plot, = ax1.plot(times, sm_velocities,
+                        'g', label='Extruder ST=0.040 PA=0.045', alpha=0.3)
+    ex_plot, = ax1.plot(times, ex_velocities,
+                        'y', label='Flow ST=0.040 PA=0.045')
+    sm2_plot, = ax1.plot(times, sm2_velocities,
+                         'grey', label='Extruder ST=0.040 PA=0.055', alpha=0.3)
+    ex2_plot, = ax1.plot(times, ex2_velocities,
+                         'b', label='Flow ST=0.040 PA=0.055', alpha=0.5)
     fontP = matplotlib.font_manager.FontProperties()
     fontP.set_size('x-small')
-    ax1.legend(handles=[nom_plot, pa_plot, sm_plot], loc='best', prop=fontP)
+    ax1.legend(handles=[nom_plot, pa_plot, sm_plot, ex_plot,
+                        sm2_plot, ex2_plot],
+               loc='best', prop=fontP)
     ax1.set_xlabel('Time (s)')
     ax1.grid(True)
+
+    th_index, th_positions = calc_toolhead_positions(positions)
+    ext_nom = calc_extruded(th_index, th_positions, velocities)
+    ext_ex = calc_extruded(th_index, th_positions, ex_velocities)
+    ext_ex2 = calc_extruded(th_index, th_positions, ex2_velocities)
+
+    ax2.set_title("Extrusion Amount")
+    ax2.set_ylabel('Filament extruded (mm)')
+    nom2_plot, = ax2.plot(th_index, ext_nom, 'black', label='Nominal')
+    ex2_plot, = ax2.plot(th_index, ext_ex,
+                        'y', label='Flow ST=0.040 PA=0.045', alpha=0.7)
+    ex22_plot, = ax2.plot(th_index, ext_ex2,
+                          'b', label='Flow ST=0.040 PA=0.055', alpha=0.5)
+    ax2.legend(handles=[nom2_plot, ex2_plot, ex22_plot],
+               loc='best', prop=fontP)
+    ax2.set_xlabel('Toolhead Position (mm)')
+    ax2.grid(True)
+
     fig.tight_layout()
     return fig
 
@@ -186,7 +259,7 @@ def main():
     if options.output is None:
         matplotlib.pyplot.show()
     else:
-        fig.set_size_inches(6, 2.5)
+        fig.set_size_inches(8, 6)
         fig.savefig(options.output)
 
 if __name__ == '__main__':