Yes the two that were requested to run earlier:
Here is 0.68.1 which works to improve the math behind the calibration process.
It includes a re-write of the algorithm which does the computation (not 100% sure it’s actually different, but I think that the code is more clear) and a new system for making the initial guess used to begin the computation.
I believed that the initial guess was not important (in theory it shouldn’t be), but it appears to be important so now instead of using a random hard coded initial guess we are using the existin…
OK, here is phase two of this.
Now we have an initial small 2x2 calibration pattern which is done with the belts slack, and then that information is used to get a good enough sense of the frame dimensions to do a slightly larger 4x4 grid which is then again used to run a slightly larger 6x6 grid while the machine automatically keeps tension on the belts.
Basically at each of the red circles we stop and recompute the anchor point locations and improve our understanding of the world. Then we use…
The first was a bit scary the second one quickly went off the rails with similar effects at the second point with over current warnings which I’ve never seen before. I have a video of the first which is still uploading. Will post again when its finished.
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