Fix steppers connection. #13

web/js/kinematics.js

@@ -38,9 +38,9 @@ const ARM = {
   d2: 12.9,   // half separation; M1 at (-d2, 0), M2 at (+d2, 0)
   l1: 85.0,  // proximal link length (mm)
   l2: 110.0,  // distal  link length (mm)
-  STEPS_PER_REV: 2048,
-  STEP_ANGLE_DEG: 360 / 2048,  // ≈ 0.17578125 °/step
-  HOME_STEPS: { m1: 1024, m2: 0 }, // M1 (Left) at +180°, M2 (Right) at 0° (arms folded outward)
+  STEPS_PER_REV: 4096,
+  STEP_ANGLE_DEG: 360 / 4096,  // ≈ 0.087890625 °/step
+  HOME_STEPS: { m1: 2048, m2: 0 }, // M1 (Left) at +180°, M2 (Right) at 0° (arms folded outward)
 };
 
 // ── WORKSPACE CONSTRAINTS ─────────────────────────────────────────
@@ -279,13 +279,13 @@ function radToSteps(rad) {
 
 function radToStepsAbsolute(rad, motor) {
   let steps = radToSteps(rad);
-  // Motor 1 (Left) is constrained near 1536 steps (90 deg, UP)
-  // Motor 2 (Right) is constrained near -512 steps (90 deg, UP)
-  const center = motor === 1 ? 1536 : -512;
+  // Motor 1 (Left) is constrained near 3072 steps (90 deg, UP)
+  // Motor 2 (Right) is constrained near -1024 steps (90 deg, UP)
+  const center = motor === 1 ? 3072 : -1024;
   // Snap the step position to the closest equivalent angle around the center.
   // This guarantees we always take the "top" physical path and never wrap through the bottom.
-  while (steps - center > 1024) steps -= 2048;
-  while (steps - center < -1024) steps += 2048;
+  while (steps - center > 2048) steps -= 4096;
+  while (steps - center < -2048) steps += 4096;
   return steps;
 }
 function stepsToDeg(steps) {

web/js/sections/board-control.js

@@ -140,13 +140,13 @@ function buildHTML() {
                 <label class="form-label" style="margin:0;">Speed</label>
                 <span id="speed-val" style="font-size: 0.8rem; color: var(--text-muted);">${Settings.speed}</span>
               </div>
-              <input type="range" id="bc-slider-speed" min="100" max="2000" step="100" value="${Settings.speed}" style="width:100%; margin-bottom: 8px;">
+              <input type="range" id="bc-slider-speed" min="100" max="1200" step="100" value="${Settings.speed}" style="width:100%; margin-bottom: 8px;">
               
               <div style="display: flex; justify-content: space-between; margin-bottom: 4px;">
                 <label class="form-label" style="margin:0;">Accel</label>
                 <span id="accel-val" style="font-size: 0.8rem; color: var(--text-muted);">${Settings.accel}</span>
               </div>
-              <input type="range" id="bc-slider-accel" min="50" max="2000" step="50" value="${Settings.accel}" style="width:100%;">
+              <input type="range" id="bc-slider-accel" min="50" max="500" step="50" value="${Settings.accel}" style="width:100%;">
             </div>
 
             <div class="form-group" style="margin-bottom: 12px;">

web/js/sections/input-text.js

@@ -166,13 +166,14 @@ function buildHTML() {
                 <label class="form-label" style="margin:0;">Speed</label>
                 <span id="speed-val" style="font-size: 0.8rem; color: var(--text-muted);">${Settings.speed}</span>
               </div>
-              <input type="range" id="slider-speed" min="100" max="2000" step="100" value="${Settings.speed}" style="width:100%; margin-bottom: 8px;">
-              
-              <div class="setting-row">
-                <label class="form-label" style="margin:0;">Accel</label>
-                <span id="accel-val" style="font-size: 0.8rem; color: var(--text-muted);">${Settings.accel}</span>
+              <input type="range" id="slider-speed" min="100" max="1200" step="100" value="${Settings.speed}" style="width:100%; margin-bottom: 8px;">
+            </div>
+            <div class="form-group" style="margin-bottom:0;">
+              <div style="display:flex; justify-content:space-between; margin-bottom:4px;">
+                <label class="form-label" style="margin:0;">Acceleration</label>
+                <span id="val-accel" style="font-size:0.8rem; color:var(--accent-blue);">${Settings.accel}</span>
               </div>
-              <input type="range" id="slider-accel" min="50" max="2000" step="50" value="${Settings.accel}" style="width:100%; margin-bottom: 8px;">
+              <input type="range" id="slider-accel" min="50" max="500" step="50" value="${Settings.accel}" style="width:100%; margin-bottom: 8px;">
 
               <div class="setting-row">
                 <label class="form-label" style="margin:0;">Global Delay (ms)</label>

web/js/sections/sequence-editor.js

@@ -298,13 +298,13 @@ function buildHTML() {
                 <label class="form-label" style="margin:0;">Speed</label>
                 <span id="speed-val" style="font-size: 0.8rem; color: var(--text-muted);">${Settings.speed}</span>
               </div>
-              <input type="range" id="slider-speed" min="100" max="2000" step="100" value="${Settings.speed}" style="width:100%; margin-bottom: 8px;">
+              <input type="range" id="slider-speed" min="100" max="1200" step="100" value="${Settings.speed}" style="width:100%; margin-bottom: 8px;">
               
               <div class="setting-row">
                 <label class="form-label" style="margin:0;">Accel</label>
                 <span id="accel-val" style="font-size: 0.8rem; color: var(--text-muted);">${Settings.accel}</span>
               </div>
-              <input type="range" id="slider-accel" min="50" max="2000" step="50" value="${Settings.accel}" style="width:100%; margin-bottom: 8px;">
+              <input type="range" id="slider-accel" min="50" max="500" step="50" value="${Settings.accel}" style="width:100%; margin-bottom: 8px;">
 
               <div class="setting-row">
                 <label class="form-label" style="margin:0;">Global Delay (ms)</label>

web/js/sections/stepper-test.js

@@ -56,9 +56,9 @@ function syncStateFromStorage() {
   steps2 = isHomed ? parseInt(localStorage.getItem('wiji_steps2') || IK.ARM.HOME_STEPS.m2) : IK.ARM.HOME_STEPS.m2;
   
   // Auto-migrate the old buggy negative home position to the new positive one
-  if (steps1 === -1024) {
-    steps1 = 1024;
-    localStorage.setItem('wiji_steps1', 1024);
+  if (steps1 === -2048 || steps1 === -1024 || steps1 === 1024) {
+    steps1 = 2048;
+    localStorage.setItem('wiji_steps1', 2048);
   }
   Motion.setSteps(steps1, steps2);
 }
@@ -570,16 +570,16 @@ function buildHTML() {
               <label class="form-label">Speed (steps/s)</label>
               <div class="range-row">
                 <input class="form-range" type="range" id="speed-slider"
-                       min="100" max="2000" step="50" value="600"/>
-                <span class="range-value" id="speed-val">600</span>
+                       min="100" max="1200" step="50" value="800"/>
+                <span class="range-value" id="speed-val">800</span>
               </div>
             </div>
             <div class="form-group">
               <label class="form-label">Accel (steps/s²)</label>
               <div class="range-row">
                 <input class="form-range" type="range" id="accel-slider"
-                       min="50" max="2000" step="25" value="100"/>
-                <span class="range-value" id="accel-val">100</span>
+                       min="50" max="500" step="25" value="400"/>
+                <span class="range-value" id="accel-val">400</span>
               </div>
             </div>
           </div>

web/js/settings.js

@@ -6,8 +6,8 @@
  */
 
 const DEFAULTS = {
-  speed: 600,
-  accel: 100,
+  speed: 800,
+  accel: 400,
   delay: 2500
 };