Interactive, browser-based visualizations of the motion-control internals of Klipper and Kalico — pressure advance, input shaping, and resonance compensation.
Each page reproduces the actual firmware math in JavaScript, so you can drag a slider and watch how a parameter — or an algorithm choice — changes the result.
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https://hannott.github.io/KlipperVisuals/
| Page | What it shows |
|---|---|
| Pressure advance | The tanh and recipr nonlinear pressure-advance models — advance vs velocity, extruder flow rate, and acceleration demand over a test move, with the firmware's parabolic extruder smoother and a time-offset control. |
| Input shaper response | Residual-vibration curves for every input shaper (ZV, MZV, ZVD, EI, 2hump/3hump EI), plus an impulse view and a damping-ratio sweep. Highlights the 3hump_ei coefficient fix. |
| Two-mode input shaper | A prototype shaper for axes with two resonances — the convolution of a single-mode shaper tuned to each peak — vs single-mode and broadband alternatives. |
| Smoothers vs shapers | Kalico's polynomial input smoothers vs classic impulse shapers, on shared vibration-reduction axes and in the time domain. |
| Extruder smoother kernel fit | The polynomial kernel that keeps pressure advance synchronized with input shaping, fitted before vs after the extruder_smoother.py rework, per shaper. |
| Resonance test excitation | The motion TEST_RESONANCES generates — frequency sweep, per-cycle acceleration, and the optional sweeping oscillation — with the enforced accel/velocity limits derived from the real sequence vs the fixed formula. |
| Shaper estimation | How SHAPER_CALIBRATE scores a shaper: the old finite-difference of the step response vs an analytic velocity with kink-exact evaluation and a parabola-refined minimum. |
Every chart has an interactive legend — click a series to hide or show it.
- Each page is a single self-contained HTML file — no framework, no build step, no bundler. Styling adapts to light and dark mode.
- The physics and algorithms are ported directly from the firmware source
(
klippy/chelper/kin_extruder.c,klippy/extras/shaper_defs.py,extruder_smoother.py,shaper_calibrate.py,resonance_tester.py), with the exact formulas noted in each page's footer. - Charts are rendered with Chart.js loaded from a CDN, so an internet connection is required to view them.
Several pages contrast proposed fixes to the shaper pipeline against the
current upstream Kalico (bleeding-edge-v2) behaviour — for example the
3hump_ei coefficient bug and the resonance-test limit derivation. These are
labelled fixed / upstream (or equivalent) on each page. The pressure-advance
page models a custom nonlinear-PA implementation (tanh/recipr) that is not
part of mainline Klipper or upstream Kalico.
The visualizations are a faithful reproduction of the math but are not the firmware itself — treat them as an intuition-building and teaching aid, not a substitute for on-machine calibration.
The pages are static files. Clone the repo and open any .html directly, or
serve the folder:
git clone https://github.com/Hannott/KlipperVisuals.git
cd KlipperVisuals
python -m http.server 8000
# then open http://localhost:8000/Reproduces algorithms from Klipper (© Kevin O'Connor and contributors) and Kalico, both licensed under the GNU GPLv3. Input-shaper and pressure-advance math are the work of Dmitry Butyugin and the Klipper/Kalico projects.