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machineagency / science-jubilee

Controlling Jubilees for Science!
https://science-jubilee.readthedocs.io/
MIT License
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Labware manual offset correction error #168

Closed brendenpelkie closed 1 month ago

brendenpelkie commented 2 months ago

Duet3D Firmware Version

No response

Steps to reproduce this bug

The labware manual offset correction is not correctly offsetting well locations. This method allows users to correct the calculated labware well positions with three ground-truth corner well positions and apply a rotation correction. However, something in the rotation + translation math seems to be slightly off, resulting in calculated corner well positions that do not match the actual positions

Steps:

  1. Record 3 corner well positions as described in docs
  2. Run labware.manual_offset() function
  3. inspect resulting well positions. Especially for the furthest wells from A1 (ex H12), they will likely be pretty far off.
brendenpelkie commented 1 month ago

This was an issue on my end with incorrect labware reference points. The existing offset code should work fine.

brendenpelkie commented 1 month ago

Actually there was a rotation correction bug, I'm not going crazy. Rotation only accounted for magnitude of theta, not direction. Fixed in #173