public static void heuristicLearning()
{
//find base heights
//find heights with each value increased by 1 - HRad, tower offset 1-3, diagonal rod
if (UserVariables.advancedCalCount == 0)
{//start
if (Connection._serialPort.IsOpen)
{
EEPROM.stepsPerMM += 1;
UserInterface.logConsole("Setting steps per millimeter to: " + (EEPROM.stepsPerMM).ToString());
}
//check heights
UserVariables.advancedCalCount++;
}
else if (UserVariables.advancedCalCount == 1)
{//get diagonal rod percentages
UserVariables.deltaTower = ((Heights.teX - Heights.X) + (Heights.teY - Heights.Y) + (Heights.teZ - Heights.Z)) / 3;
UserVariables.deltaOpp = ((Heights.teXOpp - Heights.XOpp) + (Heights.teYOpp - Heights.YOpp) + (Heights.teZOpp - Heights.ZOpp)) / 3;
if (Connection._serialPort.IsOpen)
{
EEPROM.stepsPerMM -= 1;
UserInterface.logConsole("Setting steps per millimeter to: " + (EEPROM.stepsPerMM).ToString());
//set Hrad +1
EEPROM.HRadius += 1;
UserInterface.logConsole("Setting horizontal radius to: " + (EEPROM.HRadius).ToString());
}
//check heights
UserVariables.advancedCalCount++;
}
else if (UserVariables.advancedCalCount == 2)
{//get HRad percentages
UserVariables.HRadRatio = -(Math.Abs((Heights.X - Heights.teX) + (Heights.Y - Heights.teY) + (Heights.Z - Heights.teZ) + (Heights.XOpp - Heights.teXOpp) + (Heights.YOpp - Heights.teYOpp) + (Heights.ZOpp - Heights.teZOpp))) / 6;
if (Connection._serialPort.IsOpen)
{
//reset horizontal radius
EEPROM.HRadius -= 1;
UserInterface.logConsole("Setting horizontal radius to: " + (EEPROM.HRadius).ToString());
//set X offset
EEPROM.offsetX += 80;
UserInterface.logConsole("Setting offset X to: " + (EEPROM.offsetX).ToString());
}
//check heights
UserVariables.advancedCalCount++;
}
else if (UserVariables.advancedCalCount == 3)
{//get X offset percentages
UserVariables.offsetCorrection += Math.Abs(1 / (Heights.X - Heights.teX));
UserVariables.mainOppPerc += Math.Abs((Heights.XOpp - Heights.teXOpp) / (Heights.X - Heights.teX));
UserVariables.towPerc += (Math.Abs((Heights.Y - Heights.teY) / (Heights.X - Heights.teX)) + Math.Abs((Heights.Z - Heights.teZ) / (Heights.X - Heights.teX))) / 2;
UserVariables.oppPerc += (Math.Abs((Heights.YOpp - Heights.teYOpp) / (Heights.X - Heights.teX)) + Math.Abs((Heights.ZOpp - Heights.teZOpp) / (Heights.X - Heights.teX))) / 2;
if (Connection._serialPort.IsOpen)
{
//reset X offset
EEPROM.offsetX -= 80;
UserInterface.logConsole("Setting offset X to: " + (EEPROM.offsetX).ToString());
//set Y offset
EEPROM.offsetY += 80;
UserInterface.logConsole("Setting offset Y to: " + (EEPROM.offsetY).ToString());
}
//check heights
UserVariables.advancedCalCount++;
}
else if (UserVariables.advancedCalCount == 4)
{//get Y offset percentages
UserVariables.offsetCorrection += Math.Abs(1 / (Heights.Y - Heights.teY));
UserVariables.mainOppPerc += Math.Abs((Heights.YOpp - Heights.teYOpp) / (Heights.Y - Heights.teY));
UserVariables.towPerc += (Math.Abs((Heights.X - Heights.teX) / (Heights.Y - Heights.teY)) + Math.Abs((Heights.Z - Heights.teZ) / (Heights.Y - Heights.teY))) / 2;
UserVariables.oppPerc += (Math.Abs((Heights.XOpp - Heights.teXOpp) / (Heights.Y - Heights.teY)) + Math.Abs((Heights.ZOpp - Heights.teZOpp) / (Heights.Y - Heights.teY))) / 2;
if (Connection._serialPort.IsOpen)
{
//reset Y offset
EEPROM.offsetY -= 80;
UserInterface.logConsole("Setting offset Y to: " + (EEPROM.offsetY).ToString());
//set Z offset
EEPROM.offsetZ += 80;
UserInterface.logConsole("Setting offset Z to: " + (EEPROM.offsetZ).ToString());
}
//check heights
UserVariables.advancedCalCount++;
}
else if (UserVariables.advancedCalCount == 5)
{//get Z offset percentages
UserVariables.offsetCorrection += Math.Abs(1 / (Heights.Z - Heights.teZ));
UserVariables.mainOppPerc += Math.Abs((Heights.ZOpp - Heights.teZOpp) / (Heights.Z - Heights.teZ));
UserVariables.towPerc += (Math.Abs((Heights.X - Heights.teX) / (Heights.Z - Heights.teZ)) + Math.Abs((Heights.Y - Heights.teY) / (Heights.Z - Heights.teZ))) / 2;
UserVariables.oppPerc += (Math.Abs((Heights.XOpp - Heights.teXOpp) / (Heights.Z - Heights.teZ)) + Math.Abs((Heights.YOpp - Heights.teYOpp) / (Heights.Z - Heights.teZ))) / 2;
if (Connection._serialPort.IsOpen)
{
//set Z offset
EEPROM.offsetZ -= 80;
UserInterface.logConsole("Setting offset Z to: " + (EEPROM.offsetZ).ToString());
//set alpha rotation offset perc X
EEPROM.A += 1;
UserInterface.logConsole("Setting Alpha A to: " + (EEPROM.A).ToString());
}
//check heights
UserVariables.advancedCalCount++;
}
else if (UserVariables.advancedCalCount == 6)//6
{
//get A alpha rotation
UserVariables.alphaRotationPercentage += (2 / Math.Abs((Heights.YOpp - Heights.ZOpp) - (Heights.teYOpp - Heights.teZOpp)));
if (Connection._serialPort.IsOpen)
{
//set alpha rotation offset perc X
EEPROM.A -= 1;
UserInterface.logConsole("Setting Alpha A to: " + (EEPROM.A).ToString());
//set alpha rotation offset perc Y
EEPROM.B += 1;
UserInterface.logConsole("Setting Alpha B to: " + (EEPROM.B).ToString());
}
//check heights
UserVariables.advancedCalCount++;
}
else if (UserVariables.advancedCalCount == 7) //7
{ //get B alpha rotation
UserVariables.alphaRotationPercentage += (2 / Math.Abs((Heights.ZOpp - Heights.XOpp) - (Heights.teXOpp - Heights.teXOpp)));
if (Connection._serialPort.IsOpen)
{
//set alpha rotation offset perc Y
EEPROM.B -= 1;
UserInterface.logConsole("Setting Alpha B to: " + (EEPROM.B).ToString());
//set alpha rotation offset perc Z
EEPROM.C += 1;
UserInterface.logConsole("Setting Alpha C to: " + (EEPROM.C).ToString());
}
//check heights
UserVariables.advancedCalCount++;
}
else if (UserVariables.advancedCalCount == 8) //8
{ //get C alpha rotation
UserVariables.alphaRotationPercentage += (2 / Math.Abs((Heights.XOpp - Heights.YOpp) - (Heights.teXOpp - Heights.teYOpp)));
UserVariables.alphaRotationPercentage /= 3;
if (Connection._serialPort.IsOpen)
{
//set alpha rotation offset perc Z
EEPROM.C -= 1;
UserInterface.logConsole("Setting Alpha C to: " + (EEPROM.C).ToString());
}
UserInterface.logConsole("Alpha offset percentage: " + UserVariables.alphaRotationPercentage);
UserVariables.advancedCalibration = false;
Program.mainFormTest.setButtonValues();
UserVariables.advancedCalCount = 0;
//check heights
UserInterface.setAdvancedCalVars();
}
GCode.checkHeights = true;
}