added board control

web/js/sections/stepper-test.js

@@ -45,10 +45,23 @@ const PX_L2 = IK.ARM.l2 * SV.SCALE;
 const PX_D2 = IK.ARM.d2 * SV.SCALE;
 
 // ── Section state ─────────────────────────────────────────────────
-let steps1 = IK.ARM.HOME_STEPS.m1;
-let steps2 = IK.ARM.HOME_STEPS.m2;
+let steps1 = 0;
+let steps2 = 0;
 let eventCleanup = [];
 
+function syncStateFromStorage() {
+  const isHomed = localStorage.getItem('wiji_homed') === 'true';
+  steps1 = isHomed ? parseInt(localStorage.getItem('wiji_steps1') || IK.ARM.HOME_STEPS.m1) : IK.ARM.HOME_STEPS.m1;
+  steps2 = isHomed ? parseInt(localStorage.getItem('wiji_steps2') || IK.ARM.HOME_STEPS.m2) : IK.ARM.HOME_STEPS.m2;
+}
+
+function saveSteps() {
+  if (localStorage.getItem('wiji_homed') === 'true') {
+    localStorage.setItem('wiji_steps1', steps1);
+    localStorage.setItem('wiji_steps2', steps2);
+  }
+}
+
 // ── SVG element refs ──────────────────────────────────────────────
 let svgEl;
 // Real arm elements
@@ -135,6 +148,7 @@ function updateReadouts(t1, t2, ex, ey) {
   if (elTheta2) elTheta2.textContent = IK.radToDeg(t2).toFixed(1) + '°';
   if (elSteps1) elSteps1.textContent = steps1;
   if (elSteps2) elSteps2.textContent = steps2;
+  saveSteps();
 }
 
 // ── Ghost arm show/hide ───────────────────────────────────────────
@@ -218,6 +232,7 @@ async function zeroMotor(motor) {
   if (motor === 'ALL') {
     steps1 = IK.ARM.HOME_STEPS.m1;
     steps2 = IK.ARM.HOME_STEPS.m2;
+    localStorage.setItem('wiji_homed', 'true');
   } else if (motor === 1) {
     steps1 = IK.ARM.HOME_STEPS.m1;
   } else {
@@ -616,6 +631,7 @@ function buildHTML() {
 
 const StepperTestSection = {
   mount(container) {
+    syncStateFromStorage();
     container.innerHTML = buildHTML();
 
     // ── Cache refs ──────────────────────────────────────────────