recenter toolhead before each measurement

[Zeanon]

fixes #194

Summary by Sourcery

Bug Fixes:

• Fix an issue where the toolhead was not centered before each measurement, resulting in inaccurate measurements.

[sourcery-ai]

Reviewer's Guide by Sourcery

This pull request introduces a change to recenter the toolhead before each measurement in both the axes shaper calibration and compare belts responses commands. This ensures that measurements are taken from a consistent starting point, improving the accuracy and reliability of the calibration process.

Sequence diagram for toolhead recentering before measurement

sequenceDiagram
    participant C as Calibration System
    participant T as Toolhead
    participant M as Measurements Manager

loop For each axis configuration
    C->>T: manual_move(point, feedrate_travel)
    C->>T: dwell(0.5)
    C->>T: wait_moves()
    C->>M: Initialize MeasurementsManager
    Note over C,M: Continue with measurements
end

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Flow diagram for enhanced measurement process

flowchart TD
    A[Start Measurement] --> B[Filter Axis Configuration]
    B --> C[Enter Axis Loop]
    C --> D[Recenter Toolhead]
    D --> E[Wait 0.5s]
    E --> F[Wait for Moves to Complete]
    F --> G[Initialize Measurements]
    G --> H[Perform Measurements]
    H --> I{More Axes?}
    I -->|Yes| C
    I -->|No| J[End]

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File-Level Changes

Change	Details	Files
Recenter toolhead before each measurement.	Added a manual move to the starting point before each measurement. Added a dwell after the move to allow the toolhead to settle. Added a wait for moves to ensure the toolhead is in position before starting the measurement.	shaketune/commands/axes_shaper_calibration.py shaketune/commands/compare_belts_responses.py

Assessment against linked issues

Issue	Objective	Addressed	Explanation
#194	Ensure toolhead returns to a centered position before starting each belt measurement	✅
#194	Prevent toolhead position shift between A and B belt measurements	✅
#194	Maintain consistent starting point for belt measurements to ensure accurate tension comparison	✅

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[sourcery-ai]

Hey @Zeanon - I've reviewed your changes - here's some feedback:

Overall Comments:

• Consider extracting the recentering code into a shared helper function to avoid duplication, but this can be done as a separate improvement

Here's what I looked at during the review

• 🟡 General issues: 1 issue found
• 🟢 Security: all looks good
• 🟢 Testing: all looks good
• 🟢 Complexity: all looks good
• 🟢 Documentation: all looks good

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[sourcery-ai]

suggestion: Consider extracting these toolhead operations into a shared utility function

This exact sequence appears in multiple files. To improve maintainability and reduce duplication, consider moving it to a shared utility function like ensure_toolhead_position().

Suggested implementation:

        a for a in AXIS_CONFIG if a['axis'] == axis_input or (axis_input == 'all' and a['axis'] in ('x', 'y'))
    ]

def ensure_toolhead_position(toolhead, point, feedrate):
    """Moves toolhead to specified position and ensures movement is complete.

    Args:
        toolhead: The toolhead object to control
        point: The target position to move to
        feedrate: The feedrate for the movement
    """
    toolhead.manual_move(point, feedrate)
    toolhead.dwell(0.5)
    toolhead.wait_moves()

    for config in filtered_config:
        ensure_toolhead_position(toolhead, point, feedrate_travel)
        measurements_manager = MeasurementsManager(st_process.get_st_config().chunk_size)

Since this sequence appears in multiple files, you may want to:

1. Move the ensure_toolhead_position function to a shared utilities module (e.g., shaketune/utils/toolhead.py)
2. Import and use it from all the files where this sequence is needed
3. Update all other occurrences of this sequence to use the new utility function