config.py

# --- UI/Debug ---
VERBOSE = 1
USE_MINDSTORMS = True

# --- Camera Configuration ---
IP_ADDRESS = "192.168.xxx.xxx"  # Your phone's IP address
PORT = "8080"                   # The port from the IP Webcam app

# Request Timeouts (in seconds)
REQUEST_TIMEOUT = 1             # General requests like getting a frame or status
PICTURE_TIMEOUT = 2             # Downloading the full 4K image

# --- File Paths and Folders ---

# Folders to store captured images
PUZZLE_PICTURES_FOLDER = "images/puzzle"
PIECE_PICTURES_FOLDER = "images/puzzle_pieces"
RECOVERY_FOLDER = "recovery"
WARP_MATRIX_PATH = "calibration/warp_matrix.npz"
SAVE_IMAGES_FOR_DEBUG = True
SAVE_CORNERS_DEBUG = True
SAVE_SIDES_DEBUG = True
SAVE_NORMALIZED_SIDES_PLOT_DEBUG = True

# --- EV3 Configuration ---

# EV3 Bluetooth Addresses
EV3_TOP_ADDRESS = "XX:XX:XX:XX:XX:XX"
EV3_BOTTOM_ADDRESS = "XX:XX:XX:XX:XX:XX"

# EV3 Movement Speeds in percent (5 - 100)
MOTOR_SPEED_X      = 100
MOTOR_SPEED_Y      = 100
MOTOR_SPEED_Z       = 40
MOTOR_SPEED_ROTATE  = 30
MOTOR_SPEED_SUCTION = 50

# Speed multiplier for calibration movements for X, Y and Z
MOTOR_SPEED_XYZ_CALIBRATION_MULTIPLIER = 0.1

# Y-axis breaking distance for custom deceleration profile (in degrees)
BRAKING_DISTANCE_DEGREES = 400

# Motor directions (1 for forward, -1 for reverse)
MOTOR_DIRECTION_X = -1
MOTOR_DIRECTION_Y = 1
MOTOR_DIRECTION_Z = 1
MOTOR_DIRECTION_ROTATE = -1

# Conversion factors for movement in mm to motor degrees
MM_PER_MOTOR_DEGREE_X = 4/75
MM_PER_MOTOR_DEGREE_Y = 32/675

# Conversion factor for rotation in degrees to motor degrees
MOTOR_DEGREES_PER_ROTATION_DEGREE = 7/5

# Slack compensation for X and Y axes (in mm)
X_SLACK_MM = 0.0
Y_SLACK_MM = 0.0

# Suction action parameters (degrees of rotation)
SUCTION_RELEASE_ANGLE = 0
SUCTION_ENGAGE_ANGLE  = 180

# Percentage of the initial color sensor reflection reading to consider touching the bed
COLOR_SENSOR_THRESHOLD = 0.5

# Z positions in degrees
Z_UP_POSITION_DEGREES = 562
Z_SEMI_DOWN_POSITION_DEGREES = 500  # Slightly lower than up, to preven overrunning the motor when calibrating
Z_DOWN_POSITION_DEGREES = 200       # On the piece
Z_WIGGLE_POSITION_DEGREES = 400     # Low, but not quite pushing the sensor during a failed attempt to place

# Threshold for successful placement (in degrees)
# Below this target (smaller) is successful placement in case of 0 sag compensation
Z_PLACE_SUCCESS_THRESHOLD_DEGREES = 120

# X-Frame Sag Compensation
# The maximum measured sag of the X-axis, measured in Z-motor degrees (using determine_z_pos.py).
# This value is used to calculate a compensation spline.
Z_SAG_COMPENSATION_LEFT = 0
Z_SAG_COMPENSATION_CENTER = 25
Z_SAG_COMPENSATION_RIGHT = -10

# --- Scanning and Workspace Areas (Global origin is top left of the bed) ---

# Staging area location
STAGING_AREA_X_MIN_MM = 8.0
STAGING_AREA_Y_MIN_MM = 0.0
STAGING_AREA_X_MAX_MM = 280.0
STAGING_AREA_Y_MAX_MM = 352.0

# Solution area min and max positions for building the puzzle (Top left corner of the puzzle and bottom right corner of the puzzle)
SOLUTION_AREA_X_MIN_MM = 16.0
SOLUTION_AREA_Y_MIN_MM = 360.0
SOLUTION_AREA_X_MAX_MM = 272.0
SOLUTION_AREA_Y_MAX_MM = 552.0

# Reachable space of the motors in mm (min is the origin of the motors)
WORKSPACE_X_MIN_MM = 12.5
WORKSPACE_Y_MIN_MM = -54.5
WORKSPACE_X_MAX_MM = 275.5
WORKSPACE_Y_MAX_MM = 548.0

# Distance from the principal point of the camera to the bed in mm
CAMERA_DISTANCE_MM = 311.0      # (308mm from bed to phone, Principal point for my phone is an estimated 3mm deep.)

# Suction cup diameter for visualization in mm
SUCTION_CUP_DIAMETER_MM = 7.0

# --- Image Processing Parameters ---
PIECE_BRIGHTNESS_THRESHOLD = 80 # For simple black/white puzzles on contrasting background
MIN_PIECE_AREA = 30000          # Minimum pixel area to be considered a piece
EROSION_AMOUNT = 2              # Number of pixels to erode the image and dilate again to get rid of noise

# --- Side Removal Parameters ---
TANGENT_K = 10                  # The distance along the contour to look for calculating the tangent.
MAX_CORRECTION_MAGNITUDE = 16   # How many pixels inward to "shave" the corrected points.
DILATION_AMOUNT = 1             # Number of pixels to dilate the image and erode again to sharpen corners


# --- Corner Detection & Scoring ---

# Step 2: Approximate Corner Finding
APPROX_DP_EPSILON_FACTOR = 0.009

# Step 3: Idealized Corner Calculation & Filtering
# The range of points away from the corner to use for line extrapolation.
# We fit a line to the contour points between `START` and `END` points away from the approximate corner to find the "true" direction of the edge.
# Used to sharpen corners that got rounded by previous processing.
CORNER_EXTRAPOLATE_START_PTS = 6
CORNER_EXTRAPOLATE_END_PTS = 14

# The hard filter for corner angles. Any corner candidate whose angle is outside this range (in degrees) will be instantly discarded.
MIN_CORNER_ANGLE_DEG = 40.0
MAX_CORNER_ANGLE_DEG = 160.0

# Step 4: Final Corner Set Selection
CORNER_SELECTION_CANDIDATES = 14    # How many corner candidates to consider for the final selection.
TARGET_ASPECT_RATIO = 4.0 / 3.0     # The target aspect ratio for the puzzle pieces.

# Scoring Weights for the Final Corner Selection


# Main scoring
# How important it is how well the four corners' bisectors point towards the piece's global centroid.
# This score is determined by the two worst-aligned corners (the "weakest links").
BISECTOR_ALIGNMENT_WEIGHT = 22.0

# Tie breakers
# How important it is that the shape is a convex rectangle.
FIT_SCORE_WEIGHT = 3.0
# How important it is how symmetrically the four corners are placed around their own center.
# Also uses the "weakest link" principle.
SYMMETRY_WEIGHT = 9.0
# How important it is how well the rectangle's aspect ratio matches the target.
ASPECT_RATIO_WEIGHT = 3.0
# How important using sharper corners is.
SHARPNESS_SCORE_WEIGHT = 3.5

# Defines the angle (in degrees) at which the alignment score becomes zero.
ALIGNMENT_MAX_ANGLE_DEG = 90.0
# Defines the angle that must be the minimum difference between any two bisects of the 4 corners.
MIN_BISECTOR_ANGLE_DEG = 45.0

# Step 6: Side Extraction
# The maximum deviation from an ideal straight edge to be considered a straight edge.
STRAIGHT_EDGE_THRESH = 15.0
# For simplifying the splines to avoid weird spline fitting outliers.
CONTOUR_SUBSAMPLING_STEP = 4
SPLINE_SMOOTHNESS = 0.0

# Debug output options
ANGLE_DEFINITION_RADIUS = 25.0 # Length of the lines used to visualize bisectors and angles in debug output

# --- Puzzle Solver Parameters ---

# Puzzle dimensions
PUZZLE_WIDTH = 10
PUZZLE_HEIGHT = 10

# The number of best-matching candidates to store for each side.
# This defines the search space for the final solver.
MAX_CANDIDATES_PER_SIDE = 30

# The following parameters, I just set to a very high value to practically ensure I would get a solution, just slightly slower.

# Phase 1: Placing the border where uncertainty is high
EARLY_PHASE_STEPS = 36      # How many pieces to place using the wider beam.
                            # Adjust this based on puzzle size (e.g., (W+H-2)*2 for the whole border)
EARLY_BEAM_WIDTH = 2000     # A much wider beam to explore diverse border options.

# Phase 2: Filling the center where constraints are stronger
NORMAL_BEAM_WIDTH = 1000    # The standard beam width for the rest of the puzzle.