more kinematics

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;
 }