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Improved algorithm and user input based initial guess for calibration #22

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merged 5 commits into from
Apr 16, 2024
Merged

Improved algorithm and user input based initial guess for calibration #22

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571d0ee
RAndom
BarbourSmith Apr 16, 2024
1b89689
Use previous calibration for initial guess
BarbourSmith Apr 16, 2024
55be7b3
Uses initial guess based on user inputs
BarbourSmith Apr 16, 2024
e5389ad
Set initial guess values directly
BarbourSmith Apr 16, 2024
1ca4dca
clean up
BarbourSmith Apr 16, 2024
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157 changes: 79 additions & 78 deletions www/js/calculatesCalibrationStuff.js
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Original file line number Diff line number Diff line change
@@ -1,19 +1,19 @@
//This is the inital guess for how big the machine is. These numbers are wrong intensionally
const initialWidth = 3048 + 12
const initialHeight = 2200 - 14

var tlX = 0;
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var tlY = 2000;
var trX = 3000;
var trY = 2000;
var brX = 3000;

//Establish initial guesses for the corners
var initialGuess = {
tl: { x: 0, y: initialHeight },
tr: { x: initialWidth, y: initialHeight },
tl: { x: 0, y: tlY },
tr: { x: trX, y: trY },
bl: { x: 0, y: 0 },
br: { x: initialWidth, y: 0 },
br: { x: brX, y: 0 },
fitness: 100000000,
}

const centerX = initialWidth / 2
const centerY = initialHeight / 2

let result

/**------------------------------------Intro------------------------------------
Expand Down Expand Up @@ -495,79 +495,80 @@ function findMaxFitness(measurements) {
let stagnantCounter = 0;
let totalCounter = 0;
var bestGuess = JSON.parse(JSON.stringify(initialGuess));

var messagesBox = document.querySelector('#messages');

function loop() {
//Clear the canvass
clearCanvas();

currentGuess = computeLinesFitness(measurements, currentGuess);

if (1/currentGuess.fitness > 1/bestGuess.fitness) {
bestGuess = JSON.parse(JSON.stringify(currentGuess));
stagnantCounter = 0;
} else {
stagnantCounter++;
}
totalCounter++;

if(totalCounter % 100 == 0) {
messagesBox.value += '\nFitness: ' + 1/bestGuess.fitness.toFixed(7) + ' in ' + totalCounter;
messagesBox.scrollTop
messagesBox.scrollTop = messagesBox.scrollHeight;
}

if (stagnantCounter < 100 && totalCounter < 200000) {
requestAnimationFrame(loop);
} else {

if(1/bestGuess.fitness < 0.5){
messagesBox.value += '\nWARNING FITNESS TOO LOW. DO NOT USE THESE CALIBRATION VALUES!';
console.log("Initial Guess: " + JSON.stringify(initialGuess));
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function iterate() {
if (stagnantCounter < 300 && totalCounter < 200000) {
//Clear the canvass
clearCanvas();

currentGuess = computeLinesFitness(measurements, currentGuess);

if (1/currentGuess.fitness > 1/bestGuess.fitness) {
bestGuess = JSON.parse(JSON.stringify(currentGuess));
stagnantCounter = 0;
} else {
stagnantCounter++;
}
totalCounter++;
console.log("Total Counter: " + totalCounter);

if(totalCounter % 100 == 0){
document.getElementById('messages').value += "Fitness: " + (1/bestGuess.fitness).toFixed(7) + " in " + totalCounter + "\n";
document.getElementById('messages').value += "Guess: " + JSON.stringify(bestGuess) + "\n";
document.getElementById('messages').scrollTop = document.getElementById('messages').scrollHeight;
}

// Schedule the next iteration
setTimeout(iterate, 0);
}

messagesBox.value += '\nCalibration complete \nCalibration values:';
messagesBox.value += '\nFitness: ' + 1/bestGuess.fitness.toFixed(7);
messagesBox.value += '\nMaslow_tlX: ' + bestGuess.tl.x.toFixed(1);
messagesBox.value += '\nMaslow_tlY: ' + bestGuess.tl.y.toFixed(1);
messagesBox.value += '\nMaslow_trX: ' + bestGuess.tr.x.toFixed(1);
messagesBox.value += '\nMaslow_trY: ' + bestGuess.tr.y.toFixed(1);
messagesBox.value += '\nMaslow_blX: ' + bestGuess.bl.x.toFixed(1);
messagesBox.value += '\nMaslow_blY: ' + bestGuess.bl.y.toFixed(1);
messagesBox.value += '\nMaslow_brX: ' + bestGuess.br.x.toFixed(1);
messagesBox.value += '\nMaslow_brY: ' + bestGuess.br.y.toFixed(1);
messagesBox.scrollTop
messagesBox.scrollTop = messagesBox.scrollHeight;

if(1/bestGuess.fitness > 0.5){
sendCommand('$/Maslow_tlX=' + bestGuess.tl.x.toFixed(1));
sendCommand('$/Maslow_tlY=' + bestGuess.tl.y.toFixed(1));
sendCommand('$/Maslow_trX=' + bestGuess.tr.x.toFixed(1));
sendCommand('$/Maslow_trY=' + bestGuess.tr.y.toFixed(1));
sendCommand('$/Maslow_blX=' + bestGuess.bl.x.toFixed(1));
sendCommand('$/Maslow_blY=' + bestGuess.bl.y.toFixed(1));
sendCommand('$/Maslow_brX=' + bestGuess.br.x.toFixed(1));
sendCommand('$/Maslow_brY=' + bestGuess.br.y.toFixed(1));
refreshSettings(current_setting_filter);
saveMaslowYaml();

messagesBox.value += '\nThese values have been automatically saved for you.';
messagesBox.value += "\nYou MUST restart your machine for them to take effect...I know that is annoying, it's getting fixed ASAP. ";
messagesBox.scrollTop
messagesBox.scrollTop = messagesBox.scrollHeight;

//This restarts the esp32 to prevent you from trying to move the machine after calibration
setTimeout(function() {
sendCommand('$System/Control=RESTART');
}, 2000);
else{
var messagesBox = document.querySelector('#messages');

if(1/bestGuess.fitness < 0.5){
messagesBox.value += '\nWARNING FITNESS TOO LOW. DO NOT USE THESE CALIBRATION VALUES!';
}

messagesBox.value += '\nCalibration complete \nCalibration values:';
messagesBox.value += '\nFitness: ' + 1/bestGuess.fitness.toFixed(7);
messagesBox.value += '\nMaslow_tlX: ' + bestGuess.tl.x.toFixed(1);
messagesBox.value += '\nMaslow_tlY: ' + bestGuess.tl.y.toFixed(1);
messagesBox.value += '\nMaslow_trX: ' + bestGuess.tr.x.toFixed(1);
messagesBox.value += '\nMaslow_trY: ' + bestGuess.tr.y.toFixed(1);
messagesBox.value += '\nMaslow_blX: ' + bestGuess.bl.x.toFixed(1);
messagesBox.value += '\nMaslow_blY: ' + bestGuess.bl.y.toFixed(1);
messagesBox.value += '\nMaslow_brX: ' + bestGuess.br.x.toFixed(1);
messagesBox.value += '\nMaslow_brY: ' + bestGuess.br.y.toFixed(1);
messagesBox.scrollTop
messagesBox.scrollTop = messagesBox.scrollHeight;

if(1/bestGuess.fitness > 0.5){
sendCommand('$/Maslow_tlX=' + bestGuess.tl.x.toFixed(1));
sendCommand('$/Maslow_tlY=' + bestGuess.tl.y.toFixed(1));
sendCommand('$/Maslow_trX=' + bestGuess.tr.x.toFixed(1));
sendCommand('$/Maslow_trY=' + bestGuess.tr.y.toFixed(1));
sendCommand('$/Maslow_blX=' + bestGuess.bl.x.toFixed(1));
sendCommand('$/Maslow_blY=' + bestGuess.bl.y.toFixed(1));
sendCommand('$/Maslow_brX=' + bestGuess.br.x.toFixed(1));
sendCommand('$/Maslow_brY=' + bestGuess.br.y.toFixed(1));
refreshSettings(current_setting_filter);
saveMaslowYaml();

messagesBox.value += '\nThese values have been automatically saved for you.';
messagesBox.value += "\nYou MUST restart your machine for them to take effect...I know that is annoying, it's getting fixed ASAP. ";
messagesBox.scrollTop
messagesBox.scrollTop = messagesBox.scrollHeight;

// This restarts the esp32 to prevent you from trying to move the machine after calibration
setTimeout(function() {
sendCommand('$System/Control=RESTART');
}, 2000);
}
}


}
}

loop();
return bestGuess;
// Start the iteration
iterate();
}


Expand Down
43 changes: 43 additions & 0 deletions www/js/tablet.js
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Original file line number Diff line number Diff line change
Expand Up @@ -359,11 +359,30 @@ function tabletShowMessage(msg, collecting) {
if (msg.startsWith('$/Maslow_trX=')) {
document.getElementById('machineWidth').value = msg.substring(13, msg.length)
loadedValues['machineWidth'] = msg.substring(13, msg.length)
trX = parseFloat(msg.substring(13, msg.length))
reloadInitialGuess()
return;
}
if (msg.startsWith('$/Maslow_trY=')) {
document.getElementById('machineHeight').value = msg.substring(13, msg.length)
loadedValues['machineHeight'] = msg.substring(13, msg.length)
trY = parseFloat(msg.substring(13, msg.length))
reloadInitialGuess()
return;
}
if (msg.startsWith('$/Maslow_tlX=')) {
tlX = parseFloat(msg.substring(13, msg.length))
reloadInitialGuess()
return;
}
if (msg.startsWith('$/Maslow_tlY=')) {
tlY = parseFloat(msg.substring(13, msg.length))
reloadInitialGuess()
return;
}
if (msg.startsWith('$/Maslow_brX=')) {
brX = parseFloat(msg.substring(13, msg.length))
reloadInitialGuess()
return;
}

Expand Down Expand Up @@ -1205,6 +1224,28 @@ function loadConfigValues(){
SendPrinterCommand('$/Maslow_trY');
}

//Load all of the corner values
function loadCornerValues(){
SendPrinterCommand('$/Maslow_tlX')
SendPrinterCommand('$/Maslow_tlY')
SendPrinterCommand('$/Maslow_trX')
SendPrinterCommand('$/Maslow_trY')
SendPrinterCommand('$/Maslow_brX')
}

//Repopulate initial guess values
function reloadInitialGuess(){
console.log('Reloading initial guess')
initialGuess = {
tl: { x: 0, y: tlY },
tr: { x: trX, y: trY },
bl: { x: 0, y: 0 },
br: { x: brX, y: 0 },
fitness: 100000000,
}
console.log(JSON.stringify(initialGuess))
}

//Save the configuration values
function saveConfigValues(){
let gridWidth = document.getElementById('gridWidth').value
Expand Down Expand Up @@ -1260,6 +1301,8 @@ const onCalibrationButtonsClick = async (command, msg) => {
text = text + '\n' + "Index.html Version: " + versionNumber
msgWindow.textContent = text
msgWindow.scrollTop = msgWindow.scrollHeight
console.log("tlX: " + tlX + " tlY: " + tlY + " trX: " + trX + " trY: " + trY + " brX: " + brX)
console.log(JSON.stringify(initialGuess));
}
}

Expand Down
2 changes: 1 addition & 1 deletion www/sub/tablettab.html
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Original file line number Diff line number Diff line change
Expand Up @@ -18,7 +18,7 @@
<div class="maslow-grid-item maslow-grid-item-btn" style = "background-color: #9d88c0;" onclick="sendMove('X-')"><canvas id = "lBtn" style="width: 100%; height: 100%"></div>
<div class="maslow-grid-item maslow-grid-item-btn" style = "background-color: #f2f0e4;" onclick="moveHome()"><canvas id = "hBtn" style="width: 100%; height: 100%"></div>
<div class="maslow-grid-item maslow-grid-item-btn" style = "background-color: #9d88c0;" onclick="sendMove('X+')"><canvas id = "rBtn" style="width: 100%; height: 100%"></div>
<div class="maslow-grid-item maslow-grid-item-btn" style = "background-color: #f2f0e4; font-size: 1vw;" onclick="openModal('calibration-popup');" id = "calibrationBTN" font-size: 1vw;>Setup</div>
<div class="maslow-grid-item maslow-grid-item-btn" style = "background-color: #f2f0e4; font-size: 1vw;" onclick="loadCornerValues(); openModal('calibration-popup');" id = "calibrationBTN" font-size: 1vw;>Setup</div>
<div class="maslow-grid-item maslow-grid-item-btn" style = "background-color: #b69fcb;" onclick="sendMove('X-Y-')"><canvas id = "blBtn" style="width: 100%; height: 100%"></canvas></div>
<div class="maslow-grid-item maslow-grid-item-btn" style = "background-color: #9d88c0;" onclick="sendMove('Y-')"><canvas id = "dnBtn" style="width: 100%; height: 100%"></div>
<div class="maslow-grid-item maslow-grid-item-btn" style = "background-color: #b69fcb;" onclick="sendMove('X+Y-')"><canvas id = "brBtn" style="width: 100%; height: 100%"></canvas></div>
Expand Down