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G95 A-45 B-45 C-45 D-30 ; Set all motors in torque mode and drag exactly to origo
G92 X0 Y0 Z0 ; Assure that line lengths are re-calculated to match origo. Printer should be within ca 10 cm of origo.
G95 A0 B0 D0 ; Set ABD in position mode
G4 P2000 ; Dwell for 2000 ms
G96 A B C D ; Set sensor reference points
; Ready to collect data points
; Following thetas are what we'll get if anchors are symmetric, length 1500 with abc in z=0
;a = np.array([[0.0, -2163.0, -75.5],
; [-1841.0, 741.0, -75.5],
; [1639.0, 1404.0, -75.5],
; [0.0, 0.0, 3250.5]])
; And all positions are in 3x3 square grid with side length 600 centered around (0, 0, 300)
; ... And there are no measurement errors at all.
; A-values are to be filled in by measurement.
; Points are ordered so that points farthes away from C anchor are measured first.
; In numpy: s = s[s[:,1].argsort()]
; s = s[s[:,2].argsort(kind='mergesort')]
G97 A B C D ; Print out A:0 B:0 C:0 D:0 because autocal algorithm needs this as first data point
G95 C-3
G8 A-160.054 B-7.415 D-566.258 F2500 ; C508.811
G4 P2000 ; Dwell for 2000 ms
G95 C-50
G4 P2000
G95 A-50 B-50 D-30
G4 P2000 ; Dwell for 2000 ms
G97 A B C D
G98 A B C D
G95 A0 B0 C-3 D0
G4 P2000 ; Dwell for 2000 ms
G8 A-240.319 B-88.767 D-269.652 F2500 ; C449.059
G4 P2000
G95 C-50
G4 P2000
G95 A-50 B-50 D-30
G4 P2000 ; Dwell for 2000 ms
G97 A B C D
G98 A B C D
G95 A0 B0 C-3 D0
G4 P2000
G8 A-275.807 B-124.767 D27.571 F2500 ; C422.994
G4 P2000
G95 C-50
G4 P2000
G95 A-50 B-50 D-30
G4 P2000 ; Dwell for 2000 ms
G97 A B C D
G98 A B C D
G95 A0 B0 C-3 D0
G4 P2000
G8 A121.480 B-147.471 D-583.076 F2500 ; C327.962
G4 P2000
G95 C-50
G4 P2000
G95 A-50 B-50 D-30
G4 P2000 ; Dwell for 2000 ms
G97 A B C D
G98 A B C D
G95 A0 B0 C-3 D0
G4 P2000
G8 A-182.633 B234.227 D-583.076 F2500 ; C299.456
G4 P2000
G95 C-50
G4 P2000
G95 A-50 B-50 D-30
G4 P2000 ; Dwell for 2000 ms
G97 A B C D
G98 A B C D
G95 A0 B0 C-3 D0
G4 P2000
G8 A51.437 B-235.320 D-284.787 F2500 ; C263.755
G4 P2000
G95 C-50
G4 P2000
G95 A-50 B-50 D-30
G4 P2000 ; Dwell for 2000 ms
G97 A B C D
G98 A B C D
G95 A0 B0 C-3 D0
G4 P2000
G8 A20.692 B-274.399 D13.814 F2500 ; C235.674
G4 P2000
G95 C-50
G4 P2000
G95 A-50 B-50 D-30
G4 P2000 ; Dwell for 2000 ms
G97 A B C D
G98 A B C D
G95 A0 B0 C-3 D0
G4 P2000
G8 A-263.851 B162.047 D-284.787 F2500 ; C234.484
G4 P2000
G95 C-50
G4 P2000
G95 A-50 B-50 D-30
G4 P2000 ; Dwell for 2000 ms
G97 A B C D
G98 A B C D
G95 A0 B0 C-3 D0
G4 P2000
G8 A-299.788 B130.318 D13.814 F2500 ; C206.056
G4 P2000
G95 C-50
G4 P2000
G95 A-50 B-50 D-30
G4 P2000 ; Dwell for 2000 ms
G97 A B C D
G98 A B C D
G95 A0 B0 C-3 D0
G4 P2000
G8 A407.193 B-246.580 D-566.258 F2500 ; C171.820
G4 P2000
G95 C-50
G4 P2000
G95 A-50 B-50 D-30
G4 P2000 ; Dwell for 2000 ms
G97 A B C D
G98 A B C D
G95 A0 B0 C-3 D0
G4 P2000
G8 A-160.054 B488.677 D-566.258 F2500 ; C110.533
G4 P2000
G95 C-50
G4 P2000
G95 A-50 B-50 D-30
G4 P2000 ; Dwell for 2000 ms
G97 A B C D
G98 A B C D
G95 A0 B0 C-3 D0
G4 P2000
G8 A345.138 B-339.709 D-269.652 F2500 ; C103.186
G4 P2000
G95 C-50
G4 P2000
G95 A-50 B-50 D-30
G4 P2000 ; Dwell for 2000 ms
G97 A B C D
G98 A B C D
G95 A0 B0 C-3 D0
G4 P2000
G8 A101.707 B110.378 D-600.000 F2500 ; C101.926
G4 P2000
G95 C-50
G4 P2000
G95 A-50 B-50 D-30
G4 P2000 ; Dwell for 2000 ms
G97 A B C D
G98 A B C D
G95 A0 B0 C-3 D0
G4 P2000
G8 A318.034 B-381.328 D27.571 F2500 ; C73.087
G4 P2000
G95 C-50
G4 P2000
G95 A-50 B-50 D-30
G4 P2000 ; Dwell for 2000 ms
G97 A B C D
G98 A B C D
G95 A0 B0 C-3 D0
G4 P2000
G8 A-240.319 B424.129 D-269.652 F2500 ; C39.987
G4 P2000
G95 C-50
G4 P2000
G95 A-50 B-50 D-30
G4 P2000 ; Dwell for 2000 ms
G97 A B C D
G98 A B C D
G95 A0 B0 C-3 D0
G4 P2000
G8 A31.034 B33.776 D-300.000 F2500 ; C31.103
G4 P2000
G95 C-50
G4 P2000
G95 A-50 B-50 D-30
G4 P2000 ; Dwell for 2000 ms
G97 A B C D
G98 A B C D
G95 A0 B0 C-3 D0
G4 P2000
G8 A-275.807 B395.894 D27.571 F2500 ; C9.011
G4 P2000
G95 C-50
G4 P2000
G95 A-50 B-50 D-30
G4 P2000 ; Dwell for 2000 ms
G97 A B C D
G98 A B C D
G95 A0 B0 C-3 D0
G4 P2000
G8 A389.634 B24.024 D-583.076 F2500 ; C-71.047
G4 P2000
G95 C-50
G4 P2000
G95 A-50 B-50 D-30
G4 P2000 ; Dwell for 2000 ms
G97 A B C D
G98 A B C D
G95 A0 B0 C-3 D0
G4 P2000
G8 A121.480 B378.195 D-583.076 F2500 ; C-105.082
G4 P2000
G95 C-50
G4 P2000
G95 A-50 B-50 D-30
G4 P2000 ; Dwell for 2000 ms
G97 A B C D
G98 A B C D
G95 A0 B0 C-3 D0
G4 P2000
G8 A327.141 B-56.002 D-284.787 F2500 ; C-147.951
G4 P2000
G95 C-50
G4 P2000
G95 A-50 B-50 D-30
G4 P2000 ; Dwell for 2000 ms
G97 A B C D
G98 A B C D
G95 A0 B0 C-3 D0
G4 P2000
G8 A299.839 B-91.378 D13.814 F2500 ; C-181.869
G4 P2000
G95 C-50
G4 P2000
G95 A-50 B-50 D-30
G4 P2000 ; Dwell for 2000 ms
G97 A B C D
G98 A B C D
G95 A0 B0 C-3 D0
G4 P2000
G8 A51.437 B310.544 D-284.787 F2500 ; C-183.310
G4 P2000
G95 C-50
G4 P2000
G95 A-50 B-50 D-30
G4 P2000 ; Dwell for 2000 ms
G97 A B C D
G98 A B C D
G95 A0 B0 C-3 D0
G4 P2000
G8 A20.692 B280.895 D13.814 F2500 ; C-217.846
G4 P2000
G95 C-50
G4 P2000
G95 A-50 B-50 D-30
G4 P2000 ; Dwell for 2000 ms
G97 A B C D
G98 A B C D
G95 A0 B0 C-3 D0
G4 P2000
G8 A407.193 B301.972 D-566.258 F2500 ; C-297.186
G4 P2000
G95 C-50
G4 P2000
G95 A-50 B-50 D-30
G4 P2000 ; Dwell for 2000 ms
G97 A B C D
G98 A B C D
G95 A0 B0 C-3 D0
G4 P2000
G8 A345.138 B231.997 D-269.652 F2500 ; C-383.858
G4 P2000
G95 C-50
G4 P2000
G95 A-50 B-50 D-30
G4 P2000 ; Dwell for 2000 ms
G97 A B C D
G98 A B C D
G95 A0 B0 C-3 D0
G4 P2000
G8 A318.034 B201.283 D27.571 F2500 ; C-422.375
G4 P2000
G95 C-50
G4 P2000
G95 A-50 B-50 D-30
G4 P2000 ; Dwell for 2000 ms
G97 A B C D
G98 A B C D
G95 A0 B0 C-3 D0
G4 P2000