mirror of https://github.com/Desuuuu/klipper.git
mathutil: Move coordinate_descent() to new file
Add a new python file (mathutil.py) and move the coordinate_descent() code to it. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
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@ -4,7 +4,7 @@
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#
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#
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# This file may be distributed under the terms of the GNU GPLv3 license.
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# This file may be distributed under the terms of the GNU GPLv3 license.
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import logging
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import logging
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import probe
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import probe, mathutil
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class BedTilt:
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class BedTilt:
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def __init__(self, config):
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def __init__(self, config):
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@ -73,7 +73,8 @@ class BedTiltCalibrate:
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for pos in positions:
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for pos in positions:
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total_error += adjusted_height(pos, params)**2
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total_error += adjusted_height(pos, params)**2
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return total_error
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return total_error
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new_params = probe.coordinate_descent(params.keys(), params, errorfunc)
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new_params = mathutil.coordinate_descent(
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params.keys(), params, errorfunc)
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logging.info("Calculated bed_tilt parameters: %s", new_params)
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logging.info("Calculated bed_tilt parameters: %s", new_params)
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for pos in positions:
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for pos in positions:
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logging.info("orig: %s new: %s", adjusted_height(pos, params),
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logging.info("orig: %s new: %s", adjusted_height(pos, params),
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@ -4,7 +4,7 @@
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#
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#
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# This file may be distributed under the terms of the GNU GPLv3 license.
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# This file may be distributed under the terms of the GNU GPLv3 license.
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import math, logging
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import math, logging
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import probe, delta
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import probe, delta, mathutil
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class DeltaCalibrate:
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class DeltaCalibrate:
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def __init__(self, config):
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def __init__(self, config):
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@ -51,7 +51,7 @@ class DeltaCalibrate:
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x, y, z = delta.get_position_from_stable(spos, params)
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x, y, z = delta.get_position_from_stable(spos, params)
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total_error += (z - self.probe_z_offset)**2
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total_error += (z - self.probe_z_offset)**2
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return total_error
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return total_error
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new_params = probe.coordinate_descent(
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new_params = mathutil.coordinate_descent(
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adj_params, params, delta_errorfunc)
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adj_params, params, delta_errorfunc)
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logging.info("Calculated delta_calibrate parameters: %s", new_params)
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logging.info("Calculated delta_calibrate parameters: %s", new_params)
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for spos in positions:
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for spos in positions:
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@ -3,7 +3,6 @@
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# Copyright (C) 2017-2018 Kevin O'Connor <kevin@koconnor.net>
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# Copyright (C) 2017-2018 Kevin O'Connor <kevin@koconnor.net>
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#
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#
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# This file may be distributed under the terms of the GNU GPLv3 license.
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# This file may be distributed under the terms of the GNU GPLv3 license.
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import logging
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import pins, homing
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import pins, homing
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class PrinterProbe:
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class PrinterProbe:
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@ -137,39 +136,5 @@ class ProbePointsHelper:
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if success:
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if success:
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self.callback.finalize(self.results)
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self.callback.finalize(self.results)
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# Helper code that implements coordinate descent
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def coordinate_descent(adj_params, params, error_func):
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# Define potential changes
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params = dict(params)
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dp = {param_name: 1. for param_name in adj_params}
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# Calculate the error
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best_err = error_func(params)
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threshold = 0.00001
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rounds = 0
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while sum(dp.values()) > threshold and rounds < 10000:
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rounds += 1
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for param_name in adj_params:
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orig = params[param_name]
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params[param_name] = orig + dp[param_name]
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err = error_func(params)
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if err < best_err:
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# There was some improvement
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best_err = err
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dp[param_name] *= 1.1
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continue
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params[param_name] = orig - dp[param_name]
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err = error_func(params)
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if err < best_err:
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# There was some improvement
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best_err = err
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dp[param_name] *= 1.1
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continue
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params[param_name] = orig
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dp[param_name] *= 0.9
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logging.info("Coordinate descent best_err: %s rounds: %d", best_err, rounds)
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return params
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def load_config(config):
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def load_config(config):
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return PrinterProbe(config)
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return PrinterProbe(config)
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@ -0,0 +1,40 @@
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# Simple math helper functions
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#
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# Copyright (C) 2018 Kevin O'Connor <kevin@koconnor.net>
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#
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# This file may be distributed under the terms of the GNU GPLv3 license.
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import logging
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# Helper code that implements coordinate descent
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def coordinate_descent(adj_params, params, error_func):
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# Define potential changes
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params = dict(params)
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dp = {param_name: 1. for param_name in adj_params}
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# Calculate the error
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best_err = error_func(params)
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threshold = 0.00001
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rounds = 0
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while sum(dp.values()) > threshold and rounds < 10000:
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rounds += 1
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for param_name in adj_params:
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orig = params[param_name]
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params[param_name] = orig + dp[param_name]
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err = error_func(params)
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if err < best_err:
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# There was some improvement
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best_err = err
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dp[param_name] *= 1.1
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continue
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params[param_name] = orig - dp[param_name]
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err = error_func(params)
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if err < best_err:
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# There was some improvement
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best_err = err
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dp[param_name] *= 1.1
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continue
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params[param_name] = orig
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dp[param_name] *= 0.9
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logging.info("Coordinate descent best_err: %s rounds: %d", best_err, rounds)
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return params
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