kinematic motion controller

web/js/sections/stepper-test.js

@@ -15,6 +15,7 @@
 import BLE from '../ble.js';
 import IK from '../kinematics.js';
 import UI from '../ui.js';
+import Motion from '../motion.js';
 
 // ── SVG viewport ──────────────────────────────────────────────────
 // We map the real workspace onto the SVG canvas.
@@ -59,6 +60,7 @@ function syncStateFromStorage() {
     steps1 = 1024;
     localStorage.setItem('wiji_steps1', 1024);
   }
+  Motion.setSteps(steps1, steps2);
 }
 
 function saveSteps() {
@@ -186,36 +188,14 @@ function showTargetMarker(sx, sy) {
 // ─────────────────────────────────────────────────────────────────
 
 async function moveToXY(targetX, targetY) {
-  // Check workspace limits first
+  // Check workspace limits first (quick check before queue)
   const wsCheck = IK.checkWorkspace(targetX, targetY);
   if (!wsCheck.ok) {
     UI.log(`⛔ ${wsCheck.reason}`, 'warn');
     return false;
   }
 
-  const { theta1, theta2 } = IK.solve(targetX, targetY);
-
-  const newSteps1 = IK.radToStepsAbsolute(theta1, 1);
-  const newSteps2 = IK.radToStepsAbsolute(theta2, 2);
-
-  const cmd = `X:${newSteps1},${newSteps2}`;
-
-  if (BLE.isConnected()) {
-    try {
-      await BLE.write(cmd);
-      // Do not update steps1/steps2 here; let the P: notify handler update the UI smoothly
-    } catch (e) {
-      UI.log(`BLE error: ${e.message}`, 'error');
-    }
-  } else {
-    steps1 = newSteps1;
-    steps2 = newSteps2;
-    renderArm(theta1, theta2);
-    const simMsg = `[sim] IK→ θ1=${IK.radToDeg(theta1).toFixed(1)}° θ2=${IK.radToDeg(theta2).toFixed(1)}° | ${cmd}`;
-    console.log(simMsg);
-    UI.log(simMsg, 'info');
-  }
-  return true;
+  return await Motion.goto(targetX, targetY);
 }
 
 // ─────────────────────────────────────────────────────────────────
@@ -229,6 +209,7 @@ async function jogMotor(motor, delta) {
   } else {
     if (motor === 1) steps1 += delta;
     else steps2 += delta;
+    Motion.setSteps(steps1, steps2);
     renderArmFromSteps();
     console.log(`[sim] ${cmd}`);
     UI.log(`[sim] ${cmd}`, 'info');
@@ -249,6 +230,7 @@ async function zeroMotor(motor) {
     } else {
       steps2 = IK.ARM.HOME_STEPS.m2;
     }
+    Motion.setSteps(steps1, steps2);
     renderArmFromSteps();
     console.log(`[sim] ${cmd}`);
     UI.log(`[sim] ${cmd}`, 'info');
@@ -752,6 +734,7 @@ const StepperTestSection = {
       } else {
         steps1 = IK.ARM.HOME_STEPS.m1;
         steps2 = IK.ARM.HOME_STEPS.m2;
+        Motion.setSteps(steps1, steps2);
         renderArmFromSteps();
         console.log(`[sim] ZEROALL`);
         UI.log(`[sim] ZEROALL (Reset Position)`, 'info');