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delta_calibrate: Don't error on an invalid kinematic guess 

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2020-09-17 22:41:13 -04:00
parent 6bba285f8e
commit ad0b76bd4b
1 changed files with 19 additions and 15 deletions
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34
klippy/extras/delta_calibrate.py
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@ -182,21 +182,25 @@ class DeltaCalibrate:
z_weight = len(distances) / (MEASURE_WEIGHT * len(probe_positions))
# Perform coordinate descent
def delta_errorfunc(params):
# Build new delta_params for params under test
delta_params = orig_delta_params.new_calibration(params)
# Calculate z height errors
total_error = 0.
for z_offset, stable_pos in height_positions:
x, y, z = delta_params.get_position_from_stable(stable_pos)
total_error += (z - z_offset)**2
total_error *= z_weight
# Calculate distance errors
for dist, stable_pos1, stable_pos2 in distances:
x1, y1, z1 = delta_params.get_position_from_stable(stable_pos1)
x2, y2, z2 = delta_params.get_position_from_stable(stable_pos2)
d = math.sqrt((x1-x2)**2 + (y1-y2)**2 + (z1-z2)**2)
total_error += (d - dist)**2
return total_error
try:
# Build new delta_params for params under test
delta_params = orig_delta_params.new_calibration(params)
getpos = delta_params.get_position_from_stable
# Calculate z height errors
total_error = 0.
for z_offset, stable_pos in height_positions:
x, y, z = getpos(stable_pos)
total_error += (z - z_offset)**2
total_error *= z_weight
# Calculate distance errors
for dist, stable_pos1, stable_pos2 in distances:
x1, y1, z1 = getpos(stable_pos1)
x2, y2, z2 = getpos(stable_pos2)
d = math.sqrt((x1-x2)**2 + (y1-y2)**2 + (z1-z2)**2)
total_error += (d - dist)**2
return total_error
except ValueError:
return 9999999999999.9
new_params = mathutil.background_coordinate_descent(
self.printer, adj_params, params, delta_errorfunc)
# Log and report results