kinematic motion controller

web/js/sequence-runner.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';
 
 let isRunning = false;
 
@@ -52,41 +53,21 @@ export default {
         continue;
       }
 
-      const wsCheck = IK.checkWorkspace(targetX, targetY);
-      if (!wsCheck.ok) {
-        UI.log(`⛔ ${wsCheck.reason} [${label}]`, 'error');
-        continue; // or break? let's continue
-      }
-
-      const res = IK.solve(targetX, targetY);
-      if (!res.reachable || IK.armsCrossed(res.theta1, res.theta2)) {
-        UI.log(`Target ${label} is unreachable or crosses arms.`, 'error');
-        continue;
-      }
-
-      const newSteps1 = IK.radToStepsAbsolute(res.theta1, 1);
-      const newSteps2 = IK.radToStepsAbsolute(res.theta2, 2);
-
-      const cmd = `X:${newSteps1},${newSteps2}`;
-
       UI.log(`Seq step: ${label}`, 'info');
 
-      if (BLE.isConnected()) {
-        try {
-          await BLE.write(cmd);
-        } catch (e) {
-          UI.log(`BLE error: ${e.message}`, 'error');
-          isRunning = false;
-          return false;
-        }
-      } else {
-        steps1 = newSteps1;
-        steps2 = newSteps2;
+      const success = await Motion.goto(targetX, targetY, step.mode || 'direct');
+      if (!success) {
+         isRunning = false;
+         return false;
+      }
 
+      if (!BLE.isConnected()) {
+        const st = Motion.getSteps();
+        steps1 = st.steps1;
+        steps2 = st.steps2;
         if (onStepComplete) {
           onStepComplete(steps1, steps2);
         }
-        console.log(`[sim] ${cmd}`);
       }
 
       // Wait for delay