more kinematics

web/js/sections/input-text.js

@@ -280,11 +280,6 @@ async function executeMove(spot) {
   const delta1 = newSteps1 - steps1;
   const delta2 = newSteps2 - steps2;
 
-  steps1 = newSteps1;
-  steps2 = newSteps2;
-  saveSteps();
-  updatePosMarker();
-
   const cmd1 = `S1${delta1 >= 0 ? '+' : ''}${delta1}`;
   const cmd2 = `S2${delta2 >= 0 ? '+' : ''}${delta2}`;
 
@@ -299,6 +294,10 @@ async function executeMove(spot) {
       return false;
     }
   } else {
+    steps1 = newSteps1;
+    steps2 = newSteps2;
+    saveSteps();
+    updatePosMarker();
     console.log(`[sim] ${cmd1}  ${cmd2}`);
   }
   return true;
@@ -404,11 +403,6 @@ export default {
       isHomed = true;
       localStorage.setItem('wiji_homed', 'true');
       updateHomingUI();
-      
-      steps1 = IK.ARM.HOME_STEPS.m1;
-      steps2 = IK.ARM.HOME_STEPS.m2;
-      saveSteps();
-      updatePosMarker();
 
       UI.log('Homing all motors...', 'info');
       if (BLE.isConnected()) {
@@ -418,6 +412,10 @@ export default {
           UI.log(e.message, 'error');
         }
       } else {
+        steps1 = IK.ARM.HOME_STEPS.m1;
+        steps2 = IK.ARM.HOME_STEPS.m2;
+        saveSteps();
+        updatePosMarker();
         UI.log('[sim] HOMEALL', 'info');
       }
     });