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 that information to go a little further out.
The goal is to eliminate belts getting stuck in gears.
There are currently a couple of limitations.
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It will only work in horizontal orientation (Sorry! Working on it!)
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The grid size is hard coded right now so it will ignore your values for the grid size and always do a 500x500mm grid
If anyone would be willing to give it a test and let me know what you think I would be very grateful. Generally I’m looking for:
How did the user experience feel?
Did it seem like your belts were too tight or so lose that they were at risk of getting sucked into the gears at any point?
This is still pretty experimental so run it with one hand on the emergency stop button for sure!
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firmware.bin (1.6 MB)