add klippy tests and apply linting

rodrigo2019 · Jan 9, 2024 · 5820a19 · 5820a19
1 parent 1b5adb5
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diff --git a/README.md b/README.md
@@ -11,7 +11,6 @@ Our goal is to support features and behavior that could be "risky" if used incor
 If I want my printer to light itself on fire, I should be able to make my printer light itself on fire.
 
 ## Features merged into the master branch:
-- [heater: Dual Loop PID](https://github.com/DangerKlippers/danger-klipper/issues/58) ([klipper#5972](https://github.com/Klipper3d/klipper/pull/5972))
 
 - [core: no Python2 tests; no PRU boards](https://github.com/DangerKlippers/danger-klipper/pull/39)
 
@@ -23,6 +22,8 @@ If I want my printer to light itself on fire, I should be able to make my printe
 
 - [heater: velocity PID](https://github.com/DangerKlippers/danger-klipper/pull/47) ([klipper#6272](https://github.com/Klipper3d/klipper/pull/6272))
 
+- [heater: Dual Loop PID](https://github.com/DangerKlippers/danger-klipper/issues/58) ([klipper#5972](https://github.com/Klipper3d/klipper/pull/5972))
+
 - [gcode: jinja2.ext.do extension](https://github.com/DangerKlippers/danger-klipper/pull/26) ([klipper#5149](https://github.com/Klipper3d/klipper/pull/5149))
 
 - [gcode: gcode_shell_command](https://github.com/DangerKlippers/danger-klipper/pull/26) ([klipper#2173](https://github.com/Klipper3d/klipper/pull/2173) / [kiuah](https://github.com/dw-0/kiauh/blob/master/resources/gcode_shell_command.py) )

diff --git a/klippy/extras/pid_calibrate.py b/klippy/extras/pid_calibrate.py
@@ -21,12 +21,18 @@ def __init__(self, config):
     cmd_PID_CALIBRATE_help = "Run PID calibration test"
 
     def _calibrate(
-            self, pheaters, heater, target, tolerance, fname, gcmd,
-            calibrate_secondary
+        self,
+        pheaters,
+        heater,
+        target,
+        tolerance,
+        fname,
+        gcmd,
+        calibrate_secondary,
     ):
         if (
-                isinstance(heater.control, heaters.ControlDualLoopPID)
-                and calibrate_secondary
+            isinstance(heater.control, heaters.ControlDualLoopPID)
+            and calibrate_secondary
         ):
             sec_target = heater.control.sec_max_temp_target
             calibrate = ControlAutoTune(
@@ -37,8 +43,8 @@ def _calibrate(
                 calibrate_secondary=calibrate_secondary,
             )
         elif (
-                isinstance(heater.control, heaters.ControlDualLoopPID)
-                and not calibrate_secondary
+            isinstance(heater.control, heaters.ControlDualLoopPID)
+            and not calibrate_secondary
         ):
             calibrate = ControlAutoTune(
                 heater,
@@ -48,9 +54,7 @@ def _calibrate(
                 calibrate_secondary=calibrate_secondary,
             )
         else:
-            calibrate = ControlAutoTune(heater,
-                                        target,
-                                        tolerance)
+            calibrate = ControlAutoTune(heater, target, tolerance)
 
         old_control = heater.set_control(calibrate)
         try:
@@ -84,7 +88,13 @@ def cmd_PID_CALIBRATE(self, gcmd):
         if isinstance(heater.control, heaters.ControlDualLoopPID):
             fname = "/tmp/heattest_secondary.txt" if write_file else None
             kp_s, ki_s, kd_s, _ = self._calibrate(
-                pheaters, heater, target, tolerance, fname, gcmd, calibrate_secondary=True
+                pheaters,
+                heater,
+                target,
+                tolerance,
+                fname,
+                gcmd,
+                calibrate_secondary=True,
             )
             old_kp = heater.control.secondary_pid.Kp
             old_ki = heater.control.secondary_pid.Ki
@@ -95,7 +105,13 @@ def cmd_PID_CALIBRATE(self, gcmd):
             fname = "/tmp/heattest_primary.txt" if write_file else None
 
             kp_p, ki_p, kd_p, _ = self._calibrate(
-                pheaters, heater, target, tolerance, fname, gcmd, calibrate_secondary=False
+                pheaters,
+                heater,
+                target,
+                tolerance,
+                fname,
+                gcmd,
+                calibrate_secondary=False,
             )
 
             heater.control.secondary_pid.kp = old_kp
@@ -122,7 +138,13 @@ def cmd_PID_CALIBRATE(self, gcmd):
         else:
             fname = "/tmp/heattest.txt" if write_file else None
             Kp, Ki, Kd, old_control = self._calibrate(
-                pheaters, heater, target, tolerance, fname, gcmd, calibrate_secondary=False
+                pheaters,
+                heater,
+                target,
+                tolerance,
+                fname,
+                gcmd,
+                calibrate_secondary=False,
             )
             logging.info("Autotune: final: Kp=%f Ki=%f Kd=%f", Kp, Ki, Kd)
             gcmd.respond_info(
@@ -146,7 +168,9 @@ def cmd_PID_CALIBRATE(self, gcmd):
 
 
 class ControlAutoTune:
-    def __init__(self, heater, target, tolerance, control=None, calibrate_secondary=False):
+    def __init__(
+        self, heater, target, tolerance, control=None, calibrate_secondary=False
+    ):
         self.heater = heater
         self.heater_max_power = heater.get_max_power()
         # store the reference so we can push messages if needed
@@ -186,8 +210,9 @@ def __init__(self, heater, target, tolerance, control=None, calibrate_secondary=
         self._control = control
         self._calibrate_secondary = calibrate_secondary
 
-    def temperature_update(self, read_time, primary_temp, target_temp,
-                           secondary_temp=None):
+    def temperature_update(
+        self, read_time, primary_temp, target_temp, secondary_temp=None
+    ):
 
         if self._calibrate_secondary:
             ref_temp = secondary_temp
@@ -202,7 +227,11 @@ def temperature_update(self, read_time, primary_temp, target_temp,
             (read_time, ref_temp, self.heater.last_pwm_value, self.target)
         )
         # ensure the starting temp is low enough to run the test.
-        if not self.started and ref_temp >= self.temp_low and self._control is None:
+        if (
+            not self.started
+            and ref_temp >= self.temp_low
+            and self._control is None
+        ):
             self.errored = True
             self.finish(read_time)
             self.gcode.respond_info("temperature to high to start calibration")
@@ -254,8 +283,9 @@ def temperature_update(self, read_time, primary_temp, target_temp,
             if self._control is not None and not self._calibrate_secondary:
                 pid = self._control.secondary_pid
                 sec_target = self._control.sec_max_temp_target
-                _, bounded_co = pid.calculate_output(read_time, secondary_temp,
-                                                     sec_target)
+                _, bounded_co = pid.calculate_output(
+                    read_time, secondary_temp, sec_target
+                )
                 bounded_co = min(bounded_co, self.powers[-1])
                 self.heater.set_pwm(read_time, bounded_co)
             else:
@@ -301,7 +331,7 @@ def get_sample_tolerance(self):
         powers = len(self.powers)
         if powers < TUNE_PID_SAMPLES + 1:
             return False
-        powers = self.powers[-1 * (TUNE_PID_SAMPLES + 1):]
+        powers = self.powers[-1 * (TUNE_PID_SAMPLES + 1) :]
         return max(powers) - min(powers)
 
     def converged(self):
@@ -383,14 +413,14 @@ def calc_pid(self):
         time_diff = time_diff / float(TUNE_PID_SAMPLES)
         theta = theta / float(TUNE_PID_SAMPLES)
         amplitude = 0.5 * abs(temp_diff)
-        power = self.powers[-1 * (TUNE_PID_SAMPLES):]
+        power = self.powers[-1 * (TUNE_PID_SAMPLES) :]
         power = sum(power) / float(len(power))
         # calculate the various parameters
         Ku = 4.0 * power / (math.pi * amplitude)
         Tu = time_diff
         Wu = (2.0 * math.pi) / Tu
         tau = math.tan(math.pi - theta * Wu) / Wu
-        Km = -math.sqrt(tau ** 2 * Wu ** 2 + 1.0) / Ku
+        Km = -math.sqrt(tau**2 * Wu**2 + 1.0) / Ku
         # log the extra details
         logging.info("Ziegler-Nichols constants: Ku=%f Tu=%f", Ku, Tu)
         logging.info(

diff --git a/test/klippy/dual_loop_pid.cfg b/test/klippy/dual_loop_pid.cfg
@@ -0,0 +1,80 @@
+# Config for extruder testing
+[stepper_x]
+step_pin: PF0
+dir_pin: PF1
+enable_pin: !PD7
+microsteps: 16
+rotation_distance: 40
+endstop_pin: ^PE5
+position_endstop: 0
+position_max: 200
+homing_speed: 50
+
+[stepper_y]
+step_pin: PF6
+dir_pin: !PF7
+enable_pin: !PF2
+microsteps: 16
+rotation_distance: 40
+endstop_pin: ^PJ1
+position_endstop: 0
+position_max: 200
+homing_speed: 50
+
+[stepper_z]
+step_pin: PL3
+dir_pin: PL1
+enable_pin: !PK0
+microsteps: 16
+rotation_distance: 8
+endstop_pin: ^PD3
+position_endstop: 0.5
+position_max: 200
+
+[temperature_sensor myExtraSensor]
+sensor_type: Generic 3950
+sensor_pin: PF4
+min_temp: 0
+max_temp: 80
+
+[extruder]
+step_pin: PA4
+dir_pin: PA6
+enable_pin: !PA2
+microsteps: 16
+rotation_distance: 33.5
+nozzle_diameter: 0.500
+filament_diameter: 3.500
+heater_pin: PB4
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PK5
+min_temp: 0
+max_temp: 400
+
+secondary_sensor_name: myExtraSensor
+secondary_max_temp_target: 280
+control: dual_loop_pid
+primary_pid_kp: 22.2
+primary_pid_ki: 1.08
+primary_pid_kd: 114
+secondary_pid_kp: 22.2
+secondary_pid_ki: 1.08
+secondary_pid_kd: 114
+
+[extruder_stepper my_extra_stepper]
+extruder: extruder
+step_pin: PH5
+dir_pin: PH6
+enable_pin: !PB5
+microsteps: 16
+rotation_distance: 28.2
+
+[mcu]
+serial: /dev/ttyACM0
+
+[printer]
+kinematics: cartesian
+max_velocity: 300
+max_accel: 3000
+max_z_velocity: 5
+max_z_accel: 100
diff --git a/test/klippy/dual_loop_pid.test b/test/klippy/dual_loop_pid.test
@@ -0,0 +1,13 @@
+# Pid hot modify tests
+DICTIONARY atmega2560.dict
+CONFIG dual_loop_pid.cfg
+
+# Extrude only
+G1 E5
+G1 E-2
+G1 E7
+
+# Home and extrusion moves
+G28
+G1 X20 Y20 Z1
+G1 X25 Y25 E7.5