added homing.

gemini.md

@@ -91,8 +91,9 @@ Name:     WijiBoard
 | `S2-<n>` | Move motor 2 CCW by n steps |
 | `SPD:<n>` | Set max speed (steps/sec) for both motors |
 | `ACC:<n>` | Set acceleration (steps/sec²) for both motors |
-| `HOME1` | Zero motor 1 step counter |
+| `HOMEALL` | Home both motors simultaneously |
-| `HOME2` | Zero motor 2 step counter |
+| `HOME1` | Home motor 1 |
+| `HOME2` | Home motor 2 |
 | `POS` | Request current positions (triggers NOTIFY) |
 
 ### Status notifications (firmware → browser)
@@ -424,10 +425,9 @@ To add a new section:
   assume a specific physical motor orientation. If the real arm moves in the wrong direction
   when clicking a target, negate the step delta for that motor in `moveToXY()`.
 
-- **Home position**: `steps1 = 0, steps2 = 0` is wherever the firmware powers up (no homing
+- **Home position**: Stall homing is fully implemented matching the original C++ routine but adjusted to align with `PositionControl.cpp` motor mappings. Homing pushes the motors against their physical limits and sets `steps1 = 0` (0°, points right) and `steps2 = -1024` (-180°, points left). This corresponds to the arms folded OUTWARDS.
-  routine implemented yet). The arm must be manually set to a known starting configuration
+  - The initial web simulation starts with these coordinates, meaning the UI assumes the arm has already been homed before the browser connects.
-  before the IK will be accurate. Suggested home: arms roughly parallel, EE near centre of
+  - Homing can be triggered individually per-motor (`HOME1`, `HOME2`) or combined (`HOMEALL`) from the web UI.
-  the working area.
 
 - **LIMITS tuning**: All values in `LIMITS` in `kinematics.js` are estimates based on the
   original project's data. They need physical verification:

src/main.cpp

@@ -12,8 +12,9 @@
  *   S2-<n>   → Step motor 2 CCW  n steps
  *   SPD:<n>  → Set max speed for both motors (steps/sec)
  *   ACC:<n>  → Set acceleration for both motors (steps/sec²)
- *   HOME1    → Zero motor 1 position
+ *   HOME1    → Home motor 1 (Right)
- *   HOME2    → Zero motor 2 position
+ *   HOME2    → Home motor 2 (Left)
+ *   HOMEALL  → Home both motors simultaneously
  *   POS      → Request current positions (triggers NOTIFY)
  *
  * BLE Status Characteristic (NOTIFY):
@@ -73,6 +74,9 @@ const unsigned long NOTIFY_INTERVAL_MS = 200;
 // ─── Forward declarations ─────────────────────────────────────────
 void parseCommand(const String& cmd);
 void sendPosition();
+void performHomingAll();
+void performHoming1();
+void performHoming2();
 
 // ─── BLE Server Callbacks ─────────────────────────────────────────
 class ServerCallbacks : public BLEServerCallbacks {
@@ -132,15 +136,22 @@ void parseCommand(const String& cmd) {
     }
     // HOME1
     if (cmd == "HOME1") {
-        stepper1.setCurrentPosition(0);
+        Serial.println("[S1] Homing Motor 1...");
-        Serial.println("[S1] Zeroed");
+        performHoming1();
         sendPosition();
         return;
     }
     // HOME2
     if (cmd == "HOME2") {
-        stepper2.setCurrentPosition(0);
+        Serial.println("[S2] Homing Motor 2...");
-        Serial.println("[S2] Zeroed");
+        performHoming2();
+        sendPosition();
+        return;
+    }
+    // HOMEALL
+    if (cmd == "HOMEALL") {
+        Serial.println("[SYS] Homing both motors...");
+        performHomingAll();
         sendPosition();
         return;
     }
@@ -233,3 +244,77 @@ void loop() {
         }
     }
 }
+
+// ─── Homing Routines ──────────────────────────────────────────────
+
+void performHomingAll() {
+    // 1. Move against limits (M1 CCW, M2 CCW)
+    stepper2.moveTo(1024);
+    stepper1.moveTo(2048);
+    while (stepper1.distanceToGo() != 0 || stepper2.distanceToGo() != 0) {
+        stepper1.run();
+        stepper2.run();
+    }
+    stepper1.setCurrentPosition(0);
+
+    // 2. Move to negative limits (CW)
+    stepper2.moveTo(-1050);
+    stepper1.move(-1300); // equivalent to moveTo(-1300) since pos is 0
+    while (stepper1.distanceToGo() != 0 || stepper2.distanceToGo() != 0) {
+        stepper1.run();
+        stepper2.run();
+    }
+    stepper2.setCurrentPosition(0);
+
+    // 3. Move to final home position
+    stepper2.moveTo(550);
+    stepper1.moveTo(-530);
+    while (stepper1.distanceToGo() != 0 || stepper2.distanceToGo() != 0) {
+        stepper1.run();
+        stepper2.run();
+    }
+    
+    // 4. Set origin relative to this final position
+    stepper2.setCurrentPosition(-1024);
+    stepper1.setCurrentPosition(0);
+
+    stepper1.disableOutputs();
+    stepper2.disableOutputs();
+    Serial.println("[SYS] Homing all complete.");
+}
+
+void performHoming1() {
+    // M1 (Right) stalls going positive (CCW)
+    stepper1.move(2048);
+    while (stepper1.distanceToGo() != 0) {
+        stepper1.run();
+    }
+    stepper1.setCurrentPosition(0);
+
+    // Move to final home position (CW)
+    stepper1.moveTo(-530);
+    while (stepper1.distanceToGo() != 0) {
+        stepper1.run();
+    }
+    stepper1.setCurrentPosition(0);
+    stepper1.disableOutputs();
+    Serial.println("[S1] Homing complete.");
+}
+
+void performHoming2() {
+    // M2 (Left) stalls going negative (CW)
+    stepper2.move(-2048);
+    while (stepper2.distanceToGo() != 0) {
+        stepper2.run();
+    }
+    stepper2.setCurrentPosition(0);
+
+    // Move to final home position (CCW)
+    stepper2.moveTo(550);
+    while (stepper2.distanceToGo() != 0) {
+        stepper2.run();
+    }
+    stepper2.setCurrentPosition(-1024);
+    stepper2.disableOutputs();
+    Serial.println("[S2] Homing complete.");
+}

web/js/kinematics.js

@@ -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)
 };
 
 // ── WORKSPACE CONSTRAINTS ─────────────────────────────────────────

web/js/sections/stepper-test.js

@@ -45,8 +45,8 @@ const PX_L2 = IK.ARM.l2 * SV.SCALE;
 const PX_D2 = IK.ARM.d2 * SV.SCALE;
 
 // ── Section state ─────────────────────────────────────────────────
-let steps1 = 0;
+let steps1 = IK.ARM.HOME_STEPS.m1;
-let steps2 = 0;
+let steps2 = IK.ARM.HOME_STEPS.m2;
 let eventCleanup = [];
 
 // ── SVG element refs ──────────────────────────────────────────────
@@ -215,10 +215,16 @@ async function jogMotor(motor, delta) {
 }
 
 async function zeroMotor(motor) {
-  if (motor === 1) steps1 = 0;
+  if (motor === 'ALL') {
-  else             steps2 = 0;
+    steps1 = IK.ARM.HOME_STEPS.m1;
+    steps2 = IK.ARM.HOME_STEPS.m2;
+  } else if (motor === 1) {
+    steps1 = IK.ARM.HOME_STEPS.m1;
+  } else {
+    steps2 = IK.ARM.HOME_STEPS.m2;
+  }
   renderArmFromSteps();
-  const cmd = `HOME${motor}`;
+  const cmd = motor === 'ALL' ? 'HOMEALL' : `HOME${motor}`;
   BLE.isConnected()
     ? await BLE.write(cmd).catch(e => UI.log(e.message, 'error'))
     : UI.log(`[sim] ${cmd}`, 'info');
@@ -568,7 +574,7 @@ function buildHTML() {
             ${[10,50,100,512].map(n=>`<button class="btn btn-ghost" data-motor="1" data-steps="${n}">+${n}</button>`).join('')}
             ${[10,50,100,512].map(n=>`<button class="btn btn-ghost" data-motor="1" data-steps="-${n}">-${n}</button>`).join('')}
           </div>
-          <button class="btn btn-danger btn-sm btn-full" id="s1-zero">Zero M1</button>
+          <button class="btn btn-danger btn-sm btn-full" id="s1-zero">Home M1</button>
         </div>
         <!-- Motor 2 -->
         <div class="jog-motor">
@@ -584,9 +590,12 @@ function buildHTML() {
             ${[10,50,100,512].map(n=>`<button class="btn btn-ghost" data-motor="2" data-steps="${n}">+${n}</button>`).join('')}
             ${[10,50,100,512].map(n=>`<button class="btn btn-ghost" data-motor="2" data-steps="-${n}">-${n}</button>`).join('')}
           </div>
-          <button class="btn btn-danger btn-sm btn-full" id="s2-zero">Zero M2</button>
+          <button class="btn btn-danger btn-sm btn-full" id="s2-zero">Home M2</button>
         </div>
       </div>
+      <div style="margin-top: 12px;">
+        <button class="btn btn-danger btn-full" id="sall-zero" style="padding: 10px; font-weight: bold; font-size: 0.9rem;">HOME BOTH MOTORS</button>
+      </div>
     </div>
 
     <!-- Event log -->
@@ -698,6 +707,7 @@ const StepperTestSection = {
     document.getElementById('s2-ccw').addEventListener('click', () => jogMotor(2, -gs(2)));
     document.getElementById('s1-zero').addEventListener('click', () => zeroMotor(1));
     document.getElementById('s2-zero').addEventListener('click', () => zeroMotor(2));
+    document.getElementById('sall-zero').addEventListener('click', () => zeroMotor('ALL'));
 
     // ── Quick-step buttons ────────────────────────────────────────
     container.querySelectorAll('[data-motor][data-steps]').forEach(btn => {