From 4fad71ec492a7221f05a02bf46401be02b810d03 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?PROFERIS=20-=20Mi=C2=B3osz=20Stocki?=
 <milosz.stocki@proferis.pl>
Date: Wed, 8 Jul 2026 14:19:39 +0200
Subject: [PATCH] more kinematics

---
 src/main.cpp                       | 28 ++++++++++++++++++++++++----
 web/js/sections/board-control.js   |  2 +-
 web/js/sections/input-text.js      |  2 +-
 web/js/sections/sequence-editor.js |  2 +-
 web/js/sections/stepper-test.js    |  4 ++--
 5 files changed, 29 insertions(+), 9 deletions(-)

diff --git a/src/main.cpp b/src/main.cpp
index 52b95d6..0bcdf9c 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -49,6 +49,8 @@
 #define STEPS_PER_REV 2048
 #define DEFAULT_SPEED 600.0f // steps/sec
 #define DEFAULT_ACCEL 100.0f // steps/sec²
+float currentMaxSpeed = DEFAULT_SPEED;
+float currentAccel = DEFAULT_ACCEL;
 
 // ─── BLE UUIDs ────────────────────────────────────────────────────
 #define SERVICE_UUID "18f3b235-9831-4c75-8ec0-210469b820a0"
@@ -147,6 +149,7 @@ void parseCommand(const String &cmd) {
   // SPD:<n>
   if (cmd.startsWith("SPD:")) {
     float spd = cmd.substring(4).toFloat();
+    currentMaxSpeed = spd;
     stepper1.setMaxSpeed(spd);
     stepper2.setMaxSpeed(spd);
     Serial.printf("[CFG] Max speed → %.0f steps/sec\n", spd);
@@ -155,6 +158,7 @@ void parseCommand(const String &cmd) {
   // ACC:<n>
   if (cmd.startsWith("ACC:")) {
     float acc = cmd.substring(4).toFloat();
+    currentAccel = acc;
     stepper1.setAcceleration(acc);
     stepper2.setAcceleration(acc);
     Serial.printf("[CFG] Acceleration → %.0f steps/sec²\n", acc);
@@ -281,6 +285,10 @@ void loop() {
     if (stepper1.distanceToGo() == 0 && stepper2.distanceToGo() == 0) {
       stepper1.disableOutputs();
       stepper2.disableOutputs();
+      stepper1.setMaxSpeed(currentMaxSpeed);
+      stepper2.setMaxSpeed(currentMaxSpeed);
+      stepper1.setAcceleration(currentAccel);
+      stepper2.setAcceleration(currentAccel);
       homingState = HOME_IDLE;
       Serial.println("[SYS] Homing all complete.");
     }
@@ -293,6 +301,8 @@ void loop() {
   } else if (homingState == HOME_1_PHASE2) {
     if (stepper1.distanceToGo() == 0) {
       stepper1.disableOutputs();
+      stepper1.setMaxSpeed(currentMaxSpeed);
+      stepper1.setAcceleration(currentAccel);
       homingState = HOME_IDLE;
     }
   } else if (homingState == HOME_2_PHASE1) {
@@ -304,6 +314,8 @@ void loop() {
   } else if (homingState == HOME_2_PHASE2) {
     if (stepper2.distanceToGo() == 0) {
       stepper2.disableOutputs();
+      stepper2.setMaxSpeed(currentMaxSpeed);
+      stepper2.setAcceleration(currentAccel);
       homingState = HOME_IDLE;
     }
   }
@@ -323,19 +335,27 @@ void loop() {
 
 void performHomingAll() {
   Serial.println("[SYS] Homing all: Phase 1 (Stall UP)");
-  stepper1.move(-2048); 
-  stepper2.move(2048);
+  stepper1.setMaxSpeed(1500);
+  stepper2.setMaxSpeed(1500);
+  stepper1.setAcceleration(1500);
+  stepper2.setAcceleration(1500);
+  stepper1.move(-1200); 
+  stepper2.move(1200);
   homingState = HOME_ALL_PHASE1;
 }
 
 void performHoming1() {
   Serial.println("[S1] Homing Motor 1: Phase 1 (Stall UP)");
-  stepper1.move(-2048);
+  stepper1.setMaxSpeed(1500);
+  stepper1.setAcceleration(1500);
+  stepper1.move(-1200);
   homingState = HOME_1_PHASE1;
 }
 
 void performHoming2() {
   Serial.println("[S2] Homing Motor 2: Phase 1 (Stall UP)");
-  stepper2.move(2048);
+  stepper2.setMaxSpeed(1500);
+  stepper2.setAcceleration(1500);
+  stepper2.move(1200);
   homingState = HOME_2_PHASE1;
 }
diff --git a/web/js/sections/board-control.js b/web/js/sections/board-control.js
index ce54c5a..a921f0c 100644
--- a/web/js/sections/board-control.js
+++ b/web/js/sections/board-control.js
@@ -123,7 +123,7 @@ function buildHTML() {
                 <label class="form-label" style="margin:0;">Accel</label>
                 <span id="accel-val" style="font-size: 0.8rem; color: var(--text-muted);">${Settings.accel}</span>
               </div>
-              <input type="range" id="bc-slider-accel" min="50" max="1000" step="50" value="${Settings.accel}" style="width:100%;">
+              <input type="range" id="bc-slider-accel" min="50" max="2000" step="50" value="${Settings.accel}" style="width:100%;">
             </div>
 
             <div class="form-group" style="margin-bottom: 12px;">
diff --git a/web/js/sections/input-text.js b/web/js/sections/input-text.js
index f2ba0eb..46594ed 100644
--- a/web/js/sections/input-text.js
+++ b/web/js/sections/input-text.js
@@ -139,7 +139,7 @@ function buildHTML() {
                 <label class="form-label" style="margin:0;">Accel</label>
                 <span id="accel-val" style="font-size: 0.8rem; color: var(--text-muted);">${Settings.accel}</span>
               </div>
-              <input type="range" id="slider-accel" min="50" max="1000" step="50" value="${Settings.accel}" style="width:100%; margin-bottom: 8px;">
+              <input type="range" id="slider-accel" min="50" max="2000" step="50" value="${Settings.accel}" style="width:100%; margin-bottom: 8px;">
 
               <div class="setting-row">
                 <label class="form-label" style="margin:0;">Global Delay (ms)</label>
diff --git a/web/js/sections/sequence-editor.js b/web/js/sections/sequence-editor.js
index 2bb8f46..8e9310b 100644
--- a/web/js/sections/sequence-editor.js
+++ b/web/js/sections/sequence-editor.js
@@ -273,7 +273,7 @@ function buildHTML() {
                 <label class="form-label" style="margin:0;">Accel</label>
                 <span id="accel-val" style="font-size: 0.8rem; color: var(--text-muted);">${Settings.accel}</span>
               </div>
-              <input type="range" id="slider-accel" min="50" max="1000" step="50" value="${Settings.accel}" style="width:100%; margin-bottom: 8px;">
+              <input type="range" id="slider-accel" min="50" max="2000" step="50" value="${Settings.accel}" style="width:100%; margin-bottom: 8px;">
 
               <div class="setting-row">
                 <label class="form-label" style="margin:0;">Global Delay (ms)</label>
diff --git a/web/js/sections/stepper-test.js b/web/js/sections/stepper-test.js
index 4c46fe7..6eea721 100644
--- a/web/js/sections/stepper-test.js
+++ b/web/js/sections/stepper-test.js
@@ -561,7 +561,7 @@ function buildHTML() {
               <label class="form-label">Speed (steps/s)</label>
               <div class="range-row">
                 <input class="form-range" type="range" id="speed-slider"
-                       min="100" max="1000" step="50" value="600"/>
+                       min="100" max="2000" step="50" value="600"/>
                 <span class="range-value" id="speed-val">600</span>
               </div>
             </div>
@@ -569,7 +569,7 @@ function buildHTML() {
               <label class="form-label">Accel (steps/s²)</label>
               <div class="range-row">
                 <input class="form-range" type="range" id="accel-slider"
-                       min="50" max="500" step="25" value="100"/>
+                       min="50" max="2000" step="25" value="100"/>
                 <span class="range-value" id="accel-val">100</span>
               </div>
             </div>