public void CalibrateBottomCamera()
{
AlignBottomCamera();
_targetAngle = 0;
_mvLocatorState = MVLocatorState.NozzleCalibration;
SelectMVProfile("nozzlecalibration");
Machine.SendCommand($"G0 E0");
_averagePoints = new List <Point2D <double> >();
}
private void SetNewHome()
{
Machine.SendCommand($"G92 X{Machine.Settings.MachineFiducial.X} Y{Machine.Settings.MachineFiducial.Y}");
Machine.SendCommand(SafeHeightGCodeGCode());
var gcode = $"G1 X0 Y0 F{Machine.Settings.FastFeedRate}";
Machine.SendCommand(gcode);
ShowCircles = false;
_mvLocatorState = MVLocatorState.Default;
}
public void PerformMachineAlignment()
{
Machine.SendCommand(SafeHeightGCodeGCode());
_mvLocatorState = MVLocatorState.Idle;
Machine.ViewType = ViewTypes.Camera;
Machine.TopLightOn = true;
Machine.GotoWorkspaceHome();
SelectMVProfile("brdfiducual");
Machine.SendCommand(DwellGCode(250));
GoToFiducial(0);
ShowCircles = true;
_mvLocatorState = MVLocatorState.MachineFidicual;
}
public override void CircleLocated(Point2D <double> point, double diameter, Point2D <double> stdDeviation)
{
switch (_mvLocatorState)
{
case MVLocatorState.MachineFidicual:
JogToLocation(point);
break;
case MVLocatorState.BoardFidicual1:
JogToLocation(point);
break;
case MVLocatorState.BoardFidicual2:
JogToLocation(point);
break;
case MVLocatorState.NozzleCalibration:
Debug.WriteLine($"Found Circle: {Machine.MachinePosition.X},{Machine.MachinePosition.Y} - {stdDeviation.X},{stdDeviation.Y}");
if (_targetAngle == Convert.ToInt32(Machine.Tool2))
{
samplesAtPoint++;
if (samplesAtPoint > 50)
{
var avgX = _averagePoints.Average(pt => pt.X);
var avgY = _averagePoints.Average(pt => pt.Y);
_nozzleCalibration.Add(Convert.ToInt32(Machine.Tool2), new Point2D <double>(avgX, avgY));
_targetAngle = Convert.ToInt32(Machine.Tool2 + 15.0);
Machine.SendCommand($"G0 E{_targetAngle}");
_averagePoints.Clear();
samplesAtPoint = 0;
}
else
{
_averagePoints.Add(new Point2D <double>(point.X, point.Y));
}
if (Machine.Tool2 >= 360)
{
_mvLocatorState = MVLocatorState.Idle;
foreach (var key in _nozzleCalibration.Keys)
{
Debug.WriteLine($"{key},{_nozzleCalibration[key].X},{_nozzleCalibration[key].Y}");
}
var maxX = _nozzleCalibration.Values.Max(ca => ca.X);
var maxY = _nozzleCalibration.Values.Max(ca => ca.Y);
var minX = _nozzleCalibration.Values.Min(ca => ca.X);
var minY = _nozzleCalibration.Values.Min(ca => ca.Y);
var preCalX = Machine.MachinePosition.X;
var preCalY = Machine.MachinePosition.Y;
var top = _nozzleCalibration.First(pt => pt.Value.Y == maxY);
var topAngle = top.Key;
var offsetX = top.Value.X / 20.0;
var offsetY = top.Value.Y / 20.0;
//var offsetX = ((maxX - minX) / 60.0);
//var offsetY = ((maxY - minY) / 60.0);
Machine.SendCommand("G91");
Machine.SendCommand($"G0 X-{offsetX} Y{+offsetY}");
Machine.SendCommand("G90");
Debug.WriteLine($"MIN: {minX},{minY} MAX: {maxX},{maxY}, Adjusting to offset: {offsetX},{offsetY} - Top Angle: {topAngle}");
Machine.SendCommand($"G0 E{topAngle}");
Machine.SendCommand($"G92 E0 X{preCalX} Y{preCalY}");
}
}
break;
default:
if (PartPackManagerVM.IsLocating)
{
JogToLocation(point);
}
break;
}
}
