more kinematics

src/main.cpp

@@ -77,6 +77,20 @@ void performHomingAll();
 void performHoming1();
 void performHoming2();
 
+// ─── Homing Routines ──────────────────────────────────────────────
+
+void runSteppersWithNotify() {
+  stepper1.run();
+  stepper2.run();
+  if (bleConnected) {
+    unsigned long now = millis();
+    if (now - lastNotify >= NOTIFY_INTERVAL_MS) {
+      lastNotify = now;
+      sendPosition();
+    }
+  }
+}
+
 // ─── BLE Server Callbacks ─────────────────────────────────────────
 class ServerCallbacks : public BLEServerCallbacks {
   void onConnect(BLEServer *) override {
@@ -247,34 +261,31 @@ void loop() {
 
 void performHomingAll() {
   // 1. Move against limits (M1 CCW, M2 CCW)
-  stepper2.moveTo(1024);
+  stepper1.moveTo(1024);
-  stepper1.moveTo(2048);
+  stepper2.moveTo(2048);
   while (stepper1.distanceToGo() != 0 || stepper2.distanceToGo() != 0) {
-    stepper1.run();
+    runSteppersWithNotify();
-    stepper2.run();
-  }
-  stepper1.setCurrentPosition(0);
-
-  // 2. Move to negative limits (CW)
-  stepper2.moveTo(-1050);
-  stepper1.move(-1300); // equivalent to moveTo(-1300) since pos is 0
-  while (stepper1.distanceToGo() != 0 || stepper2.distanceToGo() != 0) {
-    stepper1.run();
-    stepper2.run();
   }
   stepper2.setCurrentPosition(0);
 
-  // 3. Move to final home position
+  // 2. Move to negative limits (CW)
-  stepper2.moveTo(550);
+  stepper1.moveTo(-1050);
-  stepper1.moveTo(-530);
+  stepper2.move(-1300);
   while (stepper1.distanceToGo() != 0 || stepper2.distanceToGo() != 0) {
-    stepper1.run();
+    runSteppersWithNotify();
-    stepper2.run();
+  }
+  stepper1.setCurrentPosition(0);
+
+  // 3. Move to final home position
+  stepper1.moveTo(550);
+  stepper2.moveTo(-530);
+  while (stepper1.distanceToGo() != 0 || stepper2.distanceToGo() != 0) {
+    runSteppersWithNotify();
   }
 
   // 4. Set origin relative to this final position
-  stepper2.setCurrentPosition(-1024);
+  stepper1.setCurrentPosition(-1024);
-  stepper1.setCurrentPosition(0);
+  stepper2.setCurrentPosition(0);
 
   stepper1.disableOutputs();
   stepper2.disableOutputs();
@@ -282,37 +293,37 @@ void performHomingAll() {
 }
 
 void performHoming1() {
-  // M1 (Right) stalls going positive (CCW)
+  // M1 (Left) stalls going negative (CW)
-  stepper1.move(2048);
+  stepper1.move(-2048);
   while (stepper1.distanceToGo() != 0) {
-    stepper1.run();
+    runSteppersWithNotify();
   }
   stepper1.setCurrentPosition(0);
 
-  // Move to final home position (CW)
+  // Move to final home position (CCW)
-  stepper1.moveTo(-530);
+  stepper1.moveTo(550);
   while (stepper1.distanceToGo() != 0) {
-    stepper1.run();
+    runSteppersWithNotify();
   }
-  stepper1.setCurrentPosition(0);
+  stepper1.setCurrentPosition(-1024);
   stepper1.disableOutputs();
   Serial.println("[S1] Homing complete.");
 }
 
 void performHoming2() {
-  // M2 (Left) stalls going negative (CW)
+  // M2 (Right) stalls going positive (CCW)
-  stepper2.move(-2048);
+  stepper2.move(2048);
   while (stepper2.distanceToGo() != 0) {
-    stepper2.run();
+    runSteppersWithNotify();
   }
   stepper2.setCurrentPosition(0);
 
-  // Move to final home position (CCW)
+  // Move to final home position (CW)
-  stepper2.moveTo(550);
+  stepper2.moveTo(-530);
   while (stepper2.distanceToGo() != 0) {
-    stepper2.run();
+    runSteppersWithNotify();
   }
-  stepper2.setCurrentPosition(-1024);
+  stepper2.setCurrentPosition(0);
   stepper2.disableOutputs();
   Serial.println("[S2] Homing complete.");
 }

web/js/sections/board-control.js

@@ -282,11 +282,6 @@ async function executeMove(spot) {
   const delta1 = newSteps1 - steps1;
   const delta2 = newSteps2 - steps2;
 
-  steps1 = newSteps1;
-  steps2 = newSteps2;
-  saveSteps();
-  updatePositionReadout();
-
   const cmd1 = `S1${delta1 >= 0 ? '+' : ''}${delta1}`;
   const cmd2 = `S2${delta2 >= 0 ? '+' : ''}${delta2}`;
 
@@ -300,6 +295,10 @@ async function executeMove(spot) {
       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');
@@ -359,11 +358,6 @@ export default {
       isHomed = true;
       localStorage.setItem('wiji_homed', 'true');
       updateHomingUI();
-      
-      steps1 = IK.ARM.HOME_STEPS.m1;
-      steps2 = IK.ARM.HOME_STEPS.m2;
-      saveSteps();
-      updatePositionReadout();
 
       UI.log('Homing all motors...', 'info');
       if (BLE.isConnected()) {
@@ -373,6 +367,10 @@ export default {
           UI.log(e.message, 'error');
         }
       } else {
+        steps1 = IK.ARM.HOME_STEPS.m1;
+        steps2 = IK.ARM.HOME_STEPS.m2;
+        saveSteps();
+        updatePositionReadout();
         UI.log('[sim] HOMEALL', 'info');
       }
     });

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');
       }
     });

web/js/sections/sequence-editor.js

@@ -690,11 +690,6 @@ export default {
       isHomed = true;
       localStorage.setItem('wiji_homed', 'true');
       updateHomingUI();
-      
-      steps1 = IK.ARM.HOME_STEPS.m1;
-      steps2 = IK.ARM.HOME_STEPS.m2;
-      saveSteps();
-      updatePositionReadout();
 
       UI.log('Homing all motors...', 'info');
       if (BLE.isConnected()) {
@@ -704,6 +699,10 @@ export default {
           UI.log(e.message, 'error');
         }
       } else {
+        steps1 = IK.ARM.HOME_STEPS.m1;
+        steps2 = IK.ARM.HOME_STEPS.m2;
+        saveSteps();
+        updatePositionReadout();
         UI.log('[sim] HOMEALL', 'info');
       }
     });

web/js/sequence-runner.js

@@ -69,13 +69,6 @@ export default {
       const delta1 = newSteps1 - steps1;
       const delta2 = newSteps2 - steps2;
 
-      steps1 = newSteps1;
-      steps2 = newSteps2;
-
-      if (onStepComplete) {
-        onStepComplete(steps1, steps2);
-      }
-
       const cmd1 = `S1${delta1 >= 0 ? '+' : ''}${delta1}`;
       const cmd2 = `S2${delta2 >= 0 ? '+' : ''}${delta2}`;
 
@@ -91,6 +84,12 @@ export default {
           return false;
         }
       } else {
+        steps1 = newSteps1;
+        steps2 = newSteps2;
+
+        if (onStepComplete) {
+          onStepComplete(steps1, steps2);
+        }
         console.log(`[sim] ${cmd1}  ${cmd2}`);
       }