From b2ba8afead895c91d27dda6a7fa5279b4f717a5a Mon Sep 17 00:00:00 2001
From: osiu97 <osiu97@gmail.com>
Date: Wed, 8 Jul 2026 18:38:25 +0200
Subject: [PATCH] drop hardcoded lookup table

---
 web/js/kinematics.js | 56 +++-----------------------------------------
 1 file changed, 3 insertions(+), 53 deletions(-)

diff --git a/web/js/kinematics.js b/web/js/kinematics.js
index 71902ef..5d4fa7c 100644
--- a/web/js/kinematics.js
+++ b/web/js/kinematics.js
@@ -73,52 +73,7 @@ const LIMITS = {
 };
 
 // ── Letter / number position lookup table ────────────────────────
-// Directly ported from PositionControl.cpp
-const LOOKUP_TABLE = {
-  'Q': { x: -66.5, y: 91.6 },
-  'W': { x: 70.8, y: 92.0 },
-  'E': { x: -41.4, y: 125.5 },
-  'R': { x: -44.0, y: 96.0 },
-  'T': { x: 1.3, y: 97.8 },
-  'Y': { x: 117.8, y: 91.7 },
-  'U': { x: 22.5, y: 98.3 },
-  'I': { x: 53.5, y: 124.5 },
-  'O': { x: -112.0, y: 82.0 },
-  'P': { x: -90.0, y: 89.0 },
-  'A': { x: -143.0, y: 99.0 },
-  'S': { x: -19.8, y: 98.0 },
-  'D': { x: -68.5, y: 121.7 },
-  'F': { x: -19.5, y: 127.0 },
-  'G': { x: 4.0, y: 128.4 },
-  'H': { x: 31.3, y: 127.3 },
-  'J': { x: 72.5, y: 121.0 },
-  'K': { x: 93.0, y: 116.8 },
-  'L': { x: 114.3, y: 110.2 },
-  'Z': { x: 130.0, y: 75.0 },
-  'X': { x: 95.9, y: 87.3 },
-  'C': { x: -94.0, y: 116.0 },
-  'V': { x: 44.5, y: 97.0 },
-  'B': { x: -119.0, y: 109.0 },
-  'N': { x: -135.4, y: 75.1 },
-  'M': { x: 132.0, y: 100.5 },
-
-  '+': { x: -110.0, y: 1.0 },
-  '-': { x: 110.0, y: 1.0 },
-  '*': { x: 110.0, y: -24.0 },
-  ',': { x: -110.0, y: -24.0 },
-
-  '0': { x: -130.4, y: 44.2 },
-  '1': { x: -101.1, y: 53.3 },
-  '2': { x: -71.5, y: 60.4 },
-  '3': { x: -41.7, y: 65.2 },
-  '4': { x: -13.0, y: 66.5 },
-  '5': { x: 16.3, y: 68.0 },
-  '6': { x: 45.8, y: 64.0 },
-  '7': { x: 75.7, y: 61.1 },
-  '8': { x: 103.6, y: 53.8 },
-  '9': { x: 132.1, y: 45.0 },
-};
-
+// (Removed: superseded by spots.json dynamic loading)
 // ── IK solver — exact port of calculateInverseKinematics() ───────
 /**
  * Compute motor angles for a given target end-effector position.
@@ -312,11 +267,6 @@ function checkWorkspace(x, y) {
   return { ok: true, reason: '' };
 }
 
-// ── Lookup ────────────────────────────────────────────────────────
-function lookup(char) {
-  return LOOKUP_TABLE[char.toUpperCase()] ?? null;
-}
-
 // ── Unit converters ───────────────────────────────────────────────
 function stepsToRad(steps) {
   // Physical motors are wired such that + steps is CW. 
@@ -346,7 +296,7 @@ function radToDeg(rad) {
 }
 
 export default {
-  ARM, LIMITS, LOOKUP_TABLE,
-  solve, forward, armsCrossed, checkWorkspace, lookup,
+  ARM, LIMITS,
+  solve, forward, armsCrossed, checkWorkspace,
   stepsToRad, radToSteps, radToStepsAbsolute, stepsToDeg, radToDeg,
 };