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Cyril 2024-03-10 21:45:05 +01:00
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files/improved-shapers/scripts/shaper_defs.py Executable file
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# Definitions of the supported input shapers
#
# Copyright (C) 2020-2021 Dmitry Butyugin <dmbutyugin@google.com>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import collections, math
SHAPER_VIBRATION_REDUCTION=20.
DEFAULT_DAMPING_RATIO = 0.1
InputShaperCfg = collections.namedtuple(
'InputShaperCfg', ('name', 'init_func', 'min_freq'))
def get_none_shaper():
return ([], [])
def get_zv_shaper(shaper_freq, damping_ratio):
df = math.sqrt(1. - damping_ratio**2)
K = math.exp(-damping_ratio * math.pi / df)
t_d = 1. / (shaper_freq * df)
A = [1., K]
T = [0., .5*t_d]
return (A, T)
def get_zvd_shaper(shaper_freq, damping_ratio):
df = math.sqrt(1. - damping_ratio**2)
K = math.exp(-damping_ratio * math.pi / df)
t_d = 1. / (shaper_freq * df)
A = [1., 2.*K, K**2]
T = [0., .5*t_d, t_d]
return (A, T)
def get_mzv_shaper(shaper_freq, damping_ratio):
df = math.sqrt(1. - damping_ratio**2)
K = math.exp(-.75 * damping_ratio * math.pi / df)
t_d = 1. / (shaper_freq * df)
a1 = 1. - 1. / math.sqrt(2.)
a2 = (math.sqrt(2.) - 1.) * K
a3 = a1 * K * K
A = [a1, a2, a3]
T = [0., .375*t_d, .75*t_d]
return (A, T)
def get_ei_shaper(shaper_freq, damping_ratio):
v_tol = 1. / SHAPER_VIBRATION_REDUCTION # vibration tolerance
df = math.sqrt(1. - damping_ratio**2)
K = math.exp(-damping_ratio * math.pi / df)
t_d = 1. / (shaper_freq * df)
a1 = .25 * (1. + v_tol)
a2 = .5 * (1. - v_tol) * K
a3 = a1 * K * K
A = [a1, a2, a3]
T = [0., .5*t_d, t_d]
return (A, T)
def get_2hump_ei_shaper(shaper_freq, damping_ratio):
v_tol = 1. / SHAPER_VIBRATION_REDUCTION # vibration tolerance
df = math.sqrt(1. - damping_ratio**2)
K = math.exp(-damping_ratio * math.pi / df)
t_d = 1. / (shaper_freq * df)
V2 = v_tol**2
X = pow(V2 * (math.sqrt(1. - V2) + 1.), 1./3.)
a1 = (3.*X*X + 2.*X + 3.*V2) / (16.*X)
a2 = (.5 - a1) * K
a3 = a2 * K
a4 = a1 * K * K * K
A = [a1, a2, a3, a4]
T = [0., .5*t_d, t_d, 1.5*t_d]
return (A, T)
def get_3hump_ei_shaper(shaper_freq, damping_ratio):
v_tol = 1. / SHAPER_VIBRATION_REDUCTION # vibration tolerance
df = math.sqrt(1. - damping_ratio**2)
K = math.exp(-damping_ratio * math.pi / df)
t_d = 1. / (shaper_freq * df)
K2 = K*K
a1 = 0.0625 * (1. + 3. * v_tol + 2. * math.sqrt(2. * (v_tol + 1.) * v_tol))
a2 = 0.25 * (1. - v_tol) * K
a3 = (0.5 * (1. + v_tol) - 2. * a1) * K2
a4 = a2 * K2
a5 = a1 * K2 * K2
A = [a1, a2, a3, a4, a5]
T = [0., .5*t_d, t_d, 1.5*t_d, 2.*t_d]
return (A, T)
# min_freq for each shaper is chosen to have projected max_accel ~= 1500
INPUT_SHAPERS = [
InputShaperCfg('zv', get_zv_shaper, min_freq=21.),
InputShaperCfg('mzv', get_mzv_shaper, min_freq=23.),
InputShaperCfg('zvd', get_zvd_shaper, min_freq=29.),
InputShaperCfg('ei', get_ei_shaper, min_freq=29.),
InputShaperCfg('2hump_ei', get_2hump_ei_shaper, min_freq=39.),
InputShaperCfg('3hump_ei', get_3hump_ei_shaper, min_freq=48.),
]