added homing.

2026-07-06 16:09:06 +02:00
parent a6aa6f00df
commit 2e3780cb0b
4 changed files with 115 additions and 19 deletions
@@ -39,6 +39,7 @@ const ARM = {
  l2: 110.0,  // distal  link length (mm)
  STEPS_PER_REV: 2048,
  STEP_ANGLE_DEG: 360 / 2048,  // ≈ 0.17578125 °/step
+  HOME_STEPS: { m1: 0, m2: -1024 }, // M1 at 0°, M2 at -180° (arms folded outward)
 };

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