Updated Anchor Location Calculation Simulator

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1

I have been trying to better understand when and why the Levenberg–Marquardt algorithm fails to find a good solution.

As part of that effort I’ve updated the simulator to parse raw data from the machine and hopefully visualize it in a way that make it more clear what is going on.

You can try it out here: Maslow Calibration Data Parser

If anyone is having trouble getting the anchor point to locate and has the log file from a run that failed I would love to take a look at that and see if I can figure out what is happening.

4 Likes
2

I have noticed in the ones I have plotted which fail, the results are not in a rectangular format, but are generally skewed to the left on the top and to the right at the bottom.
This the data from one that failed (Not mine):
{bl:2851.01, br:2866.26, tr:2909.57, tl:2878.47},{bl:2957.89, br:2761.59, tr:2807.11, tl:2983.46},{bl:3064.55, br:2861.88, tr:2695.39, tl:2892.75},{bl:2963.76, br:2957.41, tr:2799.12, tl:2790.03},{bl:2861.7, br:3062.19, tr:2909.32, tl:2683.15},{bl:2747.48, br:2976.73, tr:3014.44, tl:2774.41},{bl:2853.77, br:2888.44, tr:2908.81, tl:2856.95},{bl:2838.6, br:2828.8, tr:2923.43, tl:2917.97},{bl:2654.73, br:3019.83, tr:3108.52, tl:2742.81},{bl:2686.17, br:3077.18, tr:3084.45, tl:2679.65},{bl:2751.59, br:3134.78, tr:3028.8, tl:2615.58},{bl:2927.1, br:2964.37, tr:2837.23, tl:2782.59},{bl:3111.94, br:2777.93, tr:2650.92, tl:2982.27},{bl:3110.27, br:2715.52, tr:2659.03, tl:3042.6},{bl:3054.41, br:2650.87, tr:2723.24, tl:3098.6},{bl:2998.09, br:2589.22, tr:2791.67, tl:3156.59},{bl:2810.84, br:2744.55, tr:2958.69, tl:3006.25},{bl:2627.82, br:2941.05, tr:3133.23, tl:2828.59},{bl:2449.91, br:3140.46, tr:3319.16, tl:2658.55},{bl:2426.02, br:3207.2, tr:3356.09, tl:2605.48},{bl:2491.73, br:3253.72, tr:3301.42, tl:2539.55},{bl:2559.49, br:3302.97, tr:3248.16, tl:2474.16},{bl:2627.78, br:3354.69, tr:3197.22, tl:2409.91},{bl:2785.31, br:3234.8, tr:3015.52, tl:2513.66},{bl:2947.51, br:3045.35, tr:2823.54, tl:2703.3},{bl:3123.71, br:2862.18, tr:2636.11, tl:2902.45},{bl:3312.85, br:2688.15, tr:2455.79, tl:3102.25},{bl:3372.4, br:2636.36, tr:2408.86, tl:3170.21},{bl:3324.78, br:2570.57, tr:2465.67, tl:3223.3},{bl:3271.82, br:2508.44, tr:2532.6, tl:3268.98},{bl:3220.4, br:2443.69, tr:2602.01, tl:3320.53},{bl:3178.44, br:2378.87, tr:2663.24, tl:3376.8},{bl:2997.97, br:2469.97, tr:2820.88, tl:3276.15},{bl:2809.16, br:2661.82, tr:2971.77, tl:3090.73},{bl:2617.43, br:2865.39, tr:3145.06, tl:2908.16},{bl:2434.59, br:3069.87, tr:3327.52, tl:2735.87},{bl:2271.93, br:3269.78, tr:3508.36, tl:2582.3},{bl:2221.92, br:3337.62, tr:3567.8, tl:2540.46},{bl:2234.09, br:3392.95, tr:3584.12, tl:2486.95},{bl:2295.49, br:3431.27, tr:3529.58, tl:2428.24},{bl:2363.42, br:3472.65, tr:3480.61, tl:2362.63},{bl:2433.45, br:3516.78, tr:3433.71, tl:2296.9},{bl:2502.09, br:3565.13, tr:3388.45, tl:2230.5},{bl:2667.62, br:3508, tr:3212.03, tl:2253.56},{bl:2797.96, br:3324.99, tr:3026.2, tl:2423.4},{bl:2948.69, br:3137.94, tr:2835.61, tl:2611.51},{bl:3115.55, br:2957.57, tr:2647.51, tl:2807.96},{bl:3296.86, br:2783.83, tr:2464.42, tl:3008.52},{bl:3483.69, br:2622.5, tr:2293.05, tl:3211.44},{bl:3545.36, br:2576.78, tr:2240.88, tl:3281.56},{bl:3595.04, br:2525.28, tr:2217.35, tl:3349.37},{bl:3556.79, br:2464.07, tr:2265.84, tl:3397.07},{bl:3507.98, br:2399.15, tr:2331.5, tl:3438.81},{bl:3460.74, br:2335.08, tr:2399.5, tl:3481.17},{bl:3415.59, br:2269.29, tr:2468.97, tl:3527.87}

1 Like
3

That’s exactly the same behavior that I was seeing!

I wonder what could be causing that?

4

This data is passing for me when I put it in the simulator

5

Also for comparison here is what a run looks like where everything goes well:

CLBM:[{bl:2703.85, br:2479.75, tr:2693.76, tl:2826.23},{bl:2845.54, br:2351.25, tr:2580.46, tl:2949.4},{bl:2940.56, br:2480.69, tr:2454.04, tl:2828.09},{bl:2793.77, br:2590.99, tr:2592.16, tl:2710.91},{bl:2667.11, br:2701.66, tr:2719.46, tl:2601.11},{bl:2577.87, br:2589.59, tr:2818.67, tl:2728.24},{bl:2742.45, br:2675.54, tr:2640.86, tl:2626.15},{bl:2706.81, br:2634.68, tr:2680.68, tl:2667.46},{bl:2501.31, br:2836.65, tr:2886.01, tl:2483.99},{bl:2538.57, br:2883, tr:2851.44, tl:2428.56},{bl:2590.96, br:2931.07, tr:2806.8, tl:2374.91},{bl:2789.88, br:2736.07, tr:2593.34, tl:2567.54},{bl:3001.32, br:2540.79, tr:2386.38, tl:2780.21},{bl:2966.55, br:2485.49, tr:2429.04, tl:2826.26},{bl:2921.82, br:2431.9, tr:2482.62, tl:2874.73},{bl:2870.45, br:2395.26, tr:2544.6, tl:2905.54},{bl:2654.68, br:2592.3, tr:2737.15, tl:2716.72},{bl:2445.2, br:2805.87, tr:2940.27, tl:2526},{bl:2246.72, br:3027.31, tr:3149.72, tl:2349.11},{bl:2289.74, br:3071.06, tr:3116.48, tl:2288.7},{bl:2345.75, br:3111.67, tr:3072.91, tl:2228.91},{bl:2401.66, br:3155.56, tr:3031.12, tl:2170.5},{bl:2462.75, br:3202.29, tr:2990.67, tl:2113.34},{bl:2642.81, br:3005.55, tr:2770.25, tl:2298.62},{bl:2839.36, br:2803.87, tr:2550.26, tl:2505.42},{bl:3042.55, br:2612.75, tr:2340.62, tl:2720.55},{bl:3251.65, br:2434.78, tr:2142.5, tl:2940.9},{bl:3220.86, br:2374.79, tr:2188.4, tl:2984.35},{bl:3177.27, br:2315.37, tr:2245.58, tl:3025.04},{bl:3135.04, br:2257.19, tr:2304.17, tl:3069.05},{bl:3094.5, br:2200.35, tr:2364.03, tl:3115.88},{bl:3056.69, br:2148.9, tr:2423.35, tl:3159.68},{bl:2835.02, br:2341.4, tr:2598.72, tl:2962.47},{bl:2608.91, br:2554.37, tr:2791.48, tl:2762.98},{bl:2393.71, br:2773.69, tr:2992.43, tl:2574.24},{bl:2188.92, br:3000.42, tr:3201.8, tl:2399.32},{bl:1997.4, br:3230.35, tr:3414.48, tl:2241.2},{bl:2044.34, br:3269.94, tr:3385.19, tl:2176.87},{bl:2102.87, br:3307.56, tr:3343.67, tl:2111.66},{bl:2162.83, br:3346.03, tr:3303.57, tl:2047.85},{bl:2226.41, br:3385.47, tr:3265.02, tl:1984.97},{bl:2287.59, br:3427.48, tr:3228, tl:1923.67},{bl:2352.06, br:3470.22, tr:3192.7, tl:1863.87},{bl:2509.57, br:3270.63, tr:2970.44, tl:2040.84},{bl:2688.59, br:3060.98, tr:2740.83, tl:2242.61},{bl:2881.31, br:2861.32, tr:2514.63, tl:2455.37},{bl:3087.07, br:2672.2, tr:2295, tl:2676.74},{bl:3295.95, br:2495.78, tr:2090.13, tl:2904.95},{bl:3511.01, br:2335.37, tr:1899.41, tl:3135.83},{bl:3483.76, br:2271.53, tr:1948.35, tl:3172.21},{bl:3442.13, br:2207.14, tr:2008.42, tl:3208.03},{bl:3401.82, br:2143.79, tr:2069.99, tl:3247.38},{bl:3362.82, br:2081.65, tr:2132.75, tl:3286.35},{bl:3325.43, br:2020.67, tr:2196.75, tl:3328.32},{bl:3289.71, br:1961.26, tr:2262, tl:3373.83},{bl:3256.75, br:1905.01, tr:2326, tl:3416.36},{bl:3031.68, br:2089.3, tr:2480.59, tl:3215.84},{bl:2797.71, br:2296.47, tr:2655.21, tl:3010.08},{bl:2566.34, br:2514.38, tr:2845.69, tl:2813.21},{bl:2346.06, br:2739.3, tr:3043.93, tl:2627.71},{bl:2136.28, br:2970.23, tr:3250.82, tl:2456.04},{bl:1938.76, br:3205.24, tr:3463.9, tl:2301.03},{bl:1758.26, br:3435.1, tr:3678.26, tl:2167.02},{bl:1809.42, br:3473.3, tr:3653.22, tl:2102.34},{bl:1871.4, br:3504.59, tr:3613.15, tl:2033.86},{bl:1936.68, br:3538.57, tr:3574.27, tl:1965.15},{bl:1999.74, br:3573.74, tr:3536.99, tl:1897.32},{bl:2067.94, br:3614.12, tr:3501.08, tl:1827.91},{bl:2136.44, br:3651.31, tr:3466.8, tl:1760.58},{bl:2204.99, br:3692.88, tr:3434.08, tl:1694.48},{bl:2274.12, br:3736.68, tr:3402.88, tl:1628.75},{bl:2398.82, br:3541.17, tr:3184.89, tl:1789.42},{bl:2543.6, br:3325.61, tr:2959.31, tl:1983.04},{bl:2711.3, br:3114.65, tr:2731.6, tl:2191.63},{bl:2906.05, br:2917.61, tr:2500.76, tl:2407.02},{bl:3119.91, br:2731.12, tr:2265.85, tl:2632.49},{bl:3341.79, br:2557.86, tr:2039.83, tl:2866.48},{bl:3555.22, br:2400.77, tr:1843.14, tl:3101.01},{bl:3773.18, br:2262.72, tr:1663.81, tl:3338.93},{bl:3749.2, br:2197.47, tr:1716.46, tl:3370.61},{bl:3708.66, br:2129.52, tr:1780.45, tl:3401.75},{bl:3669.77, br:2060.49, tr:1846.12, tl:3439.13},{bl:3632.07, br:1991.54, tr:1912.18, tl:3474.24},{bl:3595.87, br:1924.35, tr:1980.04, tl:3512.34},{bl:3561.19, br:1857.68, tr:2048.31, tl:3551.33},{bl:3527.92, br:1791.7, tr:2118.22, tl:3592.58},{bl:3496.29, br:1728.79, tr:2188.05, tl:3633.59},{bl:2565.35, br:2515.72, tr:2846.25, tl:2811.86},{bl:2733.46, br:2700.76, tr:2649.64, tl:2602.18}]

6

Do I just post my serial data? Or do you want me to input it into the calculator?

1 Like
7

Both are great! If you post it I can take a look at it, but if you put it into the simulator you can also look at it yourself if you would like to.

8

I believe that is my data Ian shared…

When the bottom left and top right final points are being measured the belts pull extremely tight and cause issues. If I let it got through the tightness, sure sometimes it passes… but something is wrong with the M4 calibration method because the belts should be that tight.

Ill run your new firmware and test when I get in at 3pm. and I’ll film it.

1 Like
9

When I plug that data into the simulator I am getting a good result, but I am seeing that it is showing that the bottom left and top right points are the weakest areas for sure.

image
image1678×1282 194 KB

10

This is mine run with your latest version.
{bl:2961.96, br:3013.11, tr:3071.43, tl:3194.55},{bl:3084.61, br:2892.61, tr:2953.37, tl:3316.06},{bl:3186.91, br:3016.96, tr:2844.2, tl:3202.69},{bl:3055.1, br:3126.12, tr:2979.17, tl:3082.71},{bl:2946.24, br:3235.92, tr:3098.21, tl:2970.39},{bl:2837.7, br:3118.36, tr:3195.5, tl:3094.43},{bl:2960.33, br:3045.96, tr:3072.47, tl:3162.02},{bl:2924.92, br:2981.58, tr:3109.07, tl:3226.83},{bl:2739.51, br:3165.35, tr:3295.68, tl:3059.84},{bl:2796.38, br:3226.47, tr:3244.82, tl:2988.93},{bl:2867.73, br:3289.17, tr:3182.65, tl:2919.87},{bl:3045.43, br:3113.85, tr:2988.78, tl:3095.57},{bl:3231.31, br:2933.02, tr:2802.21, tl:3290.69},{bl:3182.12, br:2862.2, tr:2859.35, tl:3353.65},{bl:3119.97, br:2793.04, tr:2931.47, tl:3417.13},{bl:3061.21, br:2726.98, tr:3003.75, tl:3480.36},{bl:2863.24, br:2907.77, tr:3177.43, tl:3307.73},{bl:2671.85, br:3108.52, tr:3360.21, tl:3130.34},{bl:2491.24, br:3314.59, tr:3549.77, tl:2963.27},{bl:2550.86, br:3372.92, tr:3503.7, tl:2887.71},{bl:2625.24, br:3429.51, tr:3443.28, tl:2812.56},{bl:2702, br:3487.95, tr:3384.82, tl:2739.34},{bl:2778.92, br:3547.96, tr:3328.22, tl:2667.72},{bl:2943.21, br:3369.71, tr:3123.98, tl:2839.79},{bl:3115.45, br:3183.33, tr:2924.57, tl:3032.6},{bl:3297.71, br:3006.33, tr:2733.52, tl:3233.49},{bl:3488.1, br:2840.45, tr:2552.7, tl:3438.32},{bl:3442.23, br:2764.56, tr:2612.32, tl:3497.55},{bl:3382.11, br:2689.17, tr:2686.93, tl:3553.98},{bl:3323.6, br:2615.39, tr:2763.03, tl:3612.41},{bl:3267.44, br:2543.61, tr:2841.17, tl:3673.01},{bl:3213.45, br:2474.62, tr:2919.32, tl:3735.02},{bl:3005.49, br:2652, tr:3079.43, tl:3559.07},{bl:2800.78, br:2850.38, tr:3249.22, tl:3375.92},{bl:2604.54, br:3055.49, tr:3428.76, tl:3201.49},{bl:2418.55, br:3266.06, tr:3615.58, tl:3038.07},{bl:2244.94, br:3483.67, tr:3809.9, tl:2886.9},{bl:2308, br:3535.24, tr:3766.4, tl:2806.87},{bl:2385.77, br:3585.64, tr:3707.8, tl:2726.16},{bl:2464.64, br:3638.49, tr:3651.03, tl:2646.99},{bl:2545.94, br:3693.81, tr:3595.96, tl:2569.15},{bl:2627.31, br:3750.96, tr:3543.18, tl:2493.29},{bl:2711.09, br:3810.23, tr:3492.27, tl:2418.96},{bl:2857.79, br:3628.03, tr:3279.66, tl:2585.12},{bl:3015.49, br:3436.72, tr:3068.93, tl:2774.13},{bl:3185.05, br:3253.78, tr:2865.07, tl:2972.3},{bl:3364.45, br:3080.32, tr:2669.18, tl:3177.57},{bl:3552.36, br:2917.84, tr:2482.96, tl:3387.22},{bl:3746, br:2768.74, tr:2309.12, tl:3601.05},{bl:3702.18, br:2687.94, tr:2372.61, tl:3654.42},{bl:3643.52, br:2606.92, tr:2449.23, tl:3705.92},{bl:3586.97, br:2527.06, tr:2528.29, tl:3759.1},{bl:3532.21, br:2448.76, tr:2609.22, tl:3816.46},{bl:3479.67, br:2372.37, tr:2691.07, tl:3872.86},{bl:3429.12, br:2297.6, tr:2774.35, tl:3931.78},{bl:3382.92, br:2224.9, tr:2855.29, tl:3993.18},{bl:3175.8, br:2396.5, tr:2989.54, tl:3813.89},{bl:2966.57, br:2589.94, tr:3139.26, tl:3625.78},{bl:2754.34, br:2792.49, tr:3310.44, tl:3445.79},{bl:2541.92, br:3003.62, tr:3496.46, tl:3275.11},{bl:2350.48, br:3219.28, tr:3680.31, tl:3115.19},{bl:2170.86, br:3439.58, tr:3872.83, tl:2967.48},{bl:2006.45, br:3662.26, tr:4069.73, tl:2834.55},{bl:2073.83, br:3708.83, tr:4028.78, tl:2751.21},{bl:2153.54, br:3752.9, tr:3971.52, tl:2668.79},{bl:2236.61, br:3799.74, tr:3916.09, tl:2583.65},{bl:2320.7, br:3850.24, tr:3862.34, tl:2499.59},{bl:2406.33, br:3904.03, tr:3810.59, tl:2415.17},{bl:2493.37, br:3959.59, tr:3760.78, tl:2332.64},{bl:2581.77, br:4015.3, tr:3713.18, tl:2253.35},{bl:2670.16, br:4072.43, tr:3667.62, tl:2175.82},{bl:2788.02, br:3887.52, tr:3458.96, tl:2333.98},{bl:2924.43, br:3692.59, tr:3243.9, tl:2517.69},{bl:3079.99, br:3504.6, tr:3027.6, tl:2709.69},{bl:3257.61, br:3324.95, tr:2807.18, tl:2913.7},{bl:3433.44, br:3155.02, tr:2605.63, tl:3122.63},{bl:3617.96, br:2996.35, tr:2414.07, tl:3337.7},{bl:3808.72, br:2851.15, tr:2234.37, tl:3549.22},{bl:4003.15, br:2721.32, tr:2069.49, tl:3760.97},{bl:3965.47, br:2638.86, tr:2135.95, tl:3824.54},{bl:3908.26, br:2551.88, tr:2216.89, tl:3872.1},{bl:3853.08, br:2463.59, tr:2303.46, tl:3920.91},{bl:3799.63, br:2379.07, tr:2386.12, tl:3971.89},{bl:3748.16, br:2295.97, tr:2473.18, tl:4025.1},{bl:3698.74, br:2214.47, tr:2554.73, tl:4079.39},{bl:3651.11, br:2134.28, tr:2643.11, tl:4135.95},{bl:3606.17, br:2056.29, tr:2731.3, tl:4193.02},{bl:2764.48, br:2794.27, tr:3299.91, tl:3445.33},{bl:2980.61, br:3039.75, tr:3053.21, tl:3170.6}