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gemini.md

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PROFERIS - Mi³osz Stocki
2026-07-08 16:21:44 +02:00
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| **`armsCrossed()` guard** | Prevents IK moves that would drive an elbow into the mechanism housing from the wrong side. Tunable via `LIMITS.ELBOW_BOX_X_INNER` and `ELBOW_BOX_Y_MAX`. |
| **Linux/BlueZ stability** | `pAdv->setMaxPreferred(0x0C)` is mandatory in firmware. Without it, Linux/ChromeOS will drop the connection immediately after the handshake. |
| **No dynamic BLE imports**| `index.html` must import `ble.js` via static `import`. Dynamic cache-busters create multiple instances of the BLE singleton, isolating UI event listeners! |
| **`fivebarIKGame.js` is reference only** | The original site's game uses a different angle convention (absolute degrees, different home, with `ikElbowSigns` tracking). We use the C++ IK formula instead because it directly produces step deltas from home. `fivebarIKGame.js` is kept in the repo for reference and understanding, not imported. |
| **`fivebarIKGame.js` is reference only** | The original site's game uses a different angle convention (absolute degrees, different home, with `ikElbowSigns` tracking). We use the C++ IK formula instead because it directly produces step deltas from home. `fivebarIKGame.js` is kept in the repo for reference and understanding, not imported. It also shouldn't be IK main reference. Original github project `nerd-sniped/WijiBoard` should be. |
| **Hash-based routing** | Keeps the SPA working from `file://` and simple static servers without needing a history API setup |
| **Persistent Homing State** | The UI uses `localStorage.getItem('wiji_homed')` to track if the arm has been homed during the user's ongoing interaction. This avoids forcing the user to re-home every time they switch tabs or pages. Sending `HOMEALL` sets this to `true`. |
| **Stateless Sequence Storage** | To remain serverless, sequences are stored per-background in `web/assets/backgrounds/<bg>/sequences.json`. The Sequence Editor generates the JSON payload, which the user manually copy-pastes into the file to persist. Sequences marked `"favorite": true` appear automatically in Quick Sequences cards across the app. |