From 0ac12e85c417732ebc11caf29b7c0303c4c5f24f Mon Sep 17 00:00:00 2001
From: 2ManyProjects <shaivkamat@gmail.com>
Date: Fri, 19 Sep 2025 01:00:15 -0500
Subject: [PATCH] better calibration (we should remove the magic #s)

---
 sketch/sketch.ino | 30 +++++++++++++++++-------------
 1 file changed, 17 insertions(+), 13 deletions(-)

diff --git a/sketch/sketch.ino b/sketch/sketch.ino
index b5a66fa..a9448d9 100644
--- a/sketch/sketch.ino
+++ b/sketch/sketch.ino
@@ -115,7 +115,7 @@ void setup() {
     // Set electromagnet relay pin as output and ensure it's off initially
     pinMode(ELECTROMAGNET_RELAY_PIN, OUTPUT);
     digitalWrite(ELECTROMAGNET_RELAY_PIN, LOW); 
-    int initSpeed = 600;
+    int initSpeed = 2000;
     stepperX.init();
     stepperX.setMaxSpeed(initSpeed);
     stepperX.setSpeed(initSpeed);
@@ -136,9 +136,7 @@ void setup() {
     stepperEnd.setMaxSpeed(initSpeed);
     stepperEnd.setSpeed(initSpeed);
     stepperEnd.setDirection(-1);
-    // stepperEnd.move(-1200);
     delay(5000);
-
     //calibrate each time
     // if (EEPROM.read(EEPROM_CALIBRATED) != 0xAA) {
         Serial.println("Calibration needed. Starting");
@@ -210,8 +208,8 @@ void calibrateAndHome() {
     Serial.println("Starting calibration");
 
 
-    // calibrateEndEffectorCarousal();
-    // delay(2500);
+    calibrateEndEffectorCarousal();
+    delay(2500);
     // moveEffectorIndex(1);
     // delay(2500);
     // moveEffectorIndex(2);
@@ -225,6 +223,9 @@ void calibrateAndHome() {
     // moveEffectorIndex(2);
     // delay(2500);
     // moveEffectorIndex(0);
+
+
+
     calibrateXaxis();
     calculateStepsPerCM(); 
     moveToXCM(X_TRAVEL_CM / 2);
@@ -232,10 +233,12 @@ void calibrateAndHome() {
     calibrateZaxis();
     calculateStepsPerCM(); 
     moveToZCM(Z_TRAVEL_CM / 2);
+    delay(2500);
 
     calibrateYaxis();
     calculateStepsPerCM(); 
     moveToYCM(Y_TRAVEL_CM / 2);
+    delay(2500);
 
     
     saveCalibrationData();
@@ -244,13 +247,13 @@ void calibrateAndHome() {
     float xCM = 0.0;
     // moveToHome();
     // Serial.println("Calibration complete");
+    getCurrentPositionCM(xCM, yCM, zCM);
     Serial.print("CurrentX ");
     Serial.print(xCM);
     Serial.print(" CurrentY ");
     Serial.print(yCM);
     Serial.print(" CurrentZ ");
     Serial.print(zCM);
-    // getCurrentPositionCM(xCM, yCM, zCM);
     // moveToCM(xCM / 2, yCM / 2, zCM / 2);
 }
 
@@ -298,14 +301,15 @@ void calibrateXaxis(){
     Serial.println("Calibrating X axis");
     while (digitalRead(X_MIN_PIN) == HIGH) {
         stepperX.runSpeed();
-        delay(1);
     }
+    // stepperX.setCurrentPos(0);
     xMinSteps = stepperX.currentPosition();
     Serial.print("X Min: "); Serial.println(xMinSteps);
+    delay(250);
+    stepperX.setDirection(-1);
 
 
     while (digitalRead(X_MAX_PIN) == HIGH) {
-        stepperX.setDirection(-1);
         stepperX.runSpeed();
     }
     stepperX.setDirection(1);
@@ -415,12 +419,12 @@ void calculateStepsPerCM() {
     // X-axis: Motor steps -> drive gear -> driven gear -> linear motion
     // Steps per driven gear rotation = motor steps per rotation * gear ratio
     float xStepsPerDrivenRotation = STEPS_PER_ROTATION * X_GEAR_RATIO;
-    xStepsPerCM = xStepsPerDrivenRotation / CM_PER_DRIVEN_ROTATION;
+    xStepsPerCM = (xStepsPerDrivenRotation / (1.0 / (THREAD_ROTATIONS_PER_CM ))) * 10;
     
     // Y and Z axis
     float yzStepsPerDrivenRotation = STEPS_PER_ROTATION * YZ_GEAR_RATIO;
-    yStepsPerCM = yzStepsPerDrivenRotation / CM_PER_DRIVEN_ROTATION;
-    zStepsPerCM = yzStepsPerDrivenRotation / CM_PER_DRIVEN_ROTATION;
+    yStepsPerCM = (yzStepsPerDrivenRotation / CM_PER_DRIVEN_ROTATION) * 6.75;
+    zStepsPerCM = (yzStepsPerDrivenRotation / CM_PER_DRIVEN_ROTATION) * 6.75;
     
     Serial.println("Steps per CM calculated:");
     Serial.print("X-axis: ");
@@ -434,7 +438,7 @@ void calculateStepsPerCM() {
     Serial.println(" steps/cm");
     
     if (xMaxSteps != 0 || xMinSteps != 0) {
-        X_TRAVEL_CM = abs(xMaxSteps - xMinSteps) / xStepsPerCM;
+        X_TRAVEL_CM = (abs(xMaxSteps - xMinSteps) / xStepsPerCM);
         Serial.print("X-axis total travel: ");
         Serial.print(X_TRAVEL_CM);
         Serial.println(" cm");
@@ -504,7 +508,7 @@ void moveToXCM(float xCM){
     stepperX.moveTo(xTarget);
 
     while (stepperX.run()) {
-        stepperX.run();
+        // delay(1);
     }
     Serial.println("Move complete");
 }