@Jay_Settle, this (holey triangular calibration that @Joshua has picked up on) is a proposed evolution of the current triangular calibration process. The current process attempts to determine three parameters (height of motors above workspace, rotational radius, and chain sag coefficient) that the controller uses to calculate how much chain to feed out for a given target coordinate. Those three parameters are sent to the controller and is saved in the eeprom. @joshua has added other parameters and forumulae to the calibration process for use with the controller and has changed how measurements are made the calibration process. The goal is to account for things like chain sag and chain stretch better than they currently are and trying to improve the accuracy of the measurement methodology so we end up with better/more accurate calibration values.
What @joshua is doing is different than what I’m working on (optical calibration) which produces an error matrix that the controller uses to change target coordinates so you achieve better accuracy… it’s a totally different approach, not an evolutionary change.