kinematic motion controller

web/js/sections/board-control.js

@@ -2,6 +2,7 @@ import BLE from '../ble.js';
 import UI from '../ui.js';
 import IK from '../kinematics.js';
 import Settings from '../settings.js';
+import Motion from '../motion.js';
 import { buildQuickSequencesHTML, initQuickSequences } from '../quick-sequences.js';
 
 let eventCleanup = [];
@@ -16,6 +17,7 @@ function syncStateFromStorage() {
   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;
+  Motion.setSteps(steps1, steps2);
 }
 
 function saveSteps() {
@@ -255,54 +257,8 @@ async function executeMove(spot) {
   }
 
   const mode = document.getElementById('mode-select').value;
-  if (mode !== 'direct') {
-    UI.log(`Mode '${mode}' not fully implemented yet! Using direct move.`, 'warn');
-  }
-
-  // Calculate IK
-  const wsCheck = IK.checkWorkspace(spot.x, spot.y);
-  if (!wsCheck.ok) {
-    UI.log(`⛔ ${wsCheck.reason}`, 'error');
-    return;
-  }
-
-  const res = IK.solve(spot.x, spot.y);
-  if (!res.reachable) {
-    UI.log(`Target ${spot.label} is unreachable geometrically.`, 'error');
-    return;
-  }
-  
-  if (IK.armsCrossed(res.theta1, res.theta2)) {
-    UI.log(`Target ${spot.label} rejected: elbows crossed!`, 'error');
-    return;
-  }
-
-  const newSteps1 = IK.radToStepsAbsolute(res.theta1, 1);
-  const newSteps2 = IK.radToStepsAbsolute(res.theta2, 2);
-  const delta1 = newSteps1 - steps1;
-  const delta2 = newSteps2 - steps2;
-
-  const cmd1 = `S1${delta1 >= 0 ? '+' : ''}${delta1}`;
-  const cmd2 = `S2${delta2 >= 0 ? '+' : ''}${delta2}`;
-
-  UI.log(`Moving to ${spot.label} (${spot.x}, ${spot.y})`, 'success');
-
-  if (BLE.isConnected()) {
-    try {
-      await BLE.write(cmd1);
-      await BLE.write(cmd2);
-    } catch (e) {
-      UI.log(`BLE error: ${e.message}`, 'error');
-    }
-  } else {
-    steps1 = newSteps1;
-    steps2 = newSteps2;
-    saveSteps();
-    updatePositionReadout();
-    const simMsg = `[sim] ${cmd1}  ${cmd2}`;
-    console.log(simMsg);
-    UI.log(simMsg, 'info');
-  }
+  UI.log(`Moving to ${spot.label} (${spot.x}, ${spot.y}) [${mode}]`, 'success');
+  await Motion.goto(spot.x, spot.y, mode);
 }
 
 export default {
@@ -369,6 +325,7 @@ export default {
       } else {
         steps1 = IK.ARM.HOME_STEPS.m1;
         steps2 = IK.ARM.HOME_STEPS.m2;
+        Motion.setSteps(steps1, steps2);
         saveSteps();
         updatePositionReadout();
         UI.log('[sim] HOMEALL', 'info');