Here is 0.69.1 which is meant to test out a pretty radically re-thought calibration system. I would love love love to hear feedback on what you think of it.
The gist of it is that it performs a series of concentric circles while recomputing the calibration at each one. The innermost 3x3 is done using the old system, and then after that it switches to using all four belts to move around.
This hopefully improves the math’s ability to find the correct answer and also reduces the chances of the belts finding their way into the drive gears.
Here’s a quick video on how it works. It didn’t work right in the video for some reason (there are still bugs), but I’ve gotten really great results with it for the most part.
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firmware.bin (1.6 MB)