From c6f73a3b8d3513df5297f4e7bc9ca49442e1a350 Mon Sep 17 00:00:00 2001
From: osiu97 <osiu97@gmail.com>
Date: Wed, 8 Jul 2026 19:31:51 +0200
Subject: [PATCH] Implement proper stepper idling. Should close #3

---
 gemini.md               |  2 ++
 index.html              | 36 ++++++++++++++++++++++++++++++++++++
 src/main.cpp            | 35 ++++++++++++++++++++++++++++++-----
 web/js/ble.js           |  1 +
 web/js/sections/home.js |  2 +-
 5 files changed, 70 insertions(+), 6 deletions(-)

diff --git a/gemini.md b/gemini.md
index 4de7a10..ecf08c4 100644
--- a/gemini.md
+++ b/gemini.md
@@ -92,11 +92,13 @@ Name:     WijiBoard
 | `HOMEALL` | Home both motors simultaneously |
 | `HOME1` | Home motor 1 |
 | `HOME2` | Home motor 2 |
+| `DISABLE` | Disable steppers (un-hold) and require rehoming. Auto-triggers after 30 mins (`30 * 60 * 1000` ms) of inactivity |
 | `POS` | Request current positions (triggers NOTIFY) |
 
 ### Status notifications (firmware → browser)
 
 `P:<s1>,<s2>` — current step positions for motor 1 and 2, sent every 200 ms while moving.
+`SYS:IDLE_TIMEOUT` — Sent when motors are automatically disabled due to 30 mins of inactivity.
 
 ---
 
diff --git a/index.html b/index.html
index a60e88f..ce214b1 100644
--- a/index.html
+++ b/index.html
@@ -86,6 +86,14 @@
 
         <!-- BLE actions -->
         <div class="topbar-actions">
+          <!-- Disable steppers button (hidden by default) -->
+          <button class="btn btn-sm btn-ghost" id="btn-disable-steppers" style="display:none; margin-right:8px; padding:0 8px; color: var(--danger-color);" title="Disable Motors (Requires Rehoming)" aria-label="Disable Steppers">
+            <svg width="16" height="16" viewBox="0 0 24 24" fill="none" stroke="currentColor" stroke-width="2" stroke-linecap="round" stroke-linejoin="round">
+              <path d="M18.36 6.64a9 9 0 1 1-12.73 0"></path>
+              <line x1="12" y1="2" x2="12" y2="12"></line>
+            </svg>
+          </button>
+          
           <!-- BLE status pill -->
           <div class="ble-status" id="ble-status" aria-live="polite">
             <div class="ble-dot" id="ble-dot"></div>
@@ -202,6 +210,34 @@
       window.dispatchEvent(new Event('pwa-installable'));
     });
 
+    // ── Disable Steppers & Idle Timeout Logic ──────────────────────
+    const btnDisable = document.getElementById('btn-disable-steppers');
+    btnDisable.addEventListener('click', async () => {
+      if (BLE.isConnected()) {
+        await BLE.write('DISABLE').catch(e => UI.log(e.message, 'error'));
+        localStorage.setItem('wiji_homed', 'false');
+        UI.log('Steppers manually disabled. Rehoming required.', 'warn');
+        const warningEl = document.getElementById('home-warning');
+        if (warningEl) warningEl.style.display = 'block';
+      }
+    });
+
+    document.addEventListener('ble:status', (e) => {
+      if (e.detail === 'SYS:IDLE_TIMEOUT') {
+        localStorage.setItem('wiji_homed', 'false');
+        UI.log('Steppers disabled due to 30 mins inactivity. Rehoming required.', 'warn');
+        const warningEl = document.getElementById('home-warning');
+        if (warningEl) warningEl.style.display = 'block';
+      }
+    });
+
+    BLE.on('connected', () => {
+      btnDisable.style.display = 'inline-flex';
+    });
+    BLE.on('disconnected', () => {
+      btnDisable.style.display = 'none';
+    });
+
     // ── Check Web Bluetooth availability ──────────────────────────
     if (!navigator.bluetooth) {
       setTimeout(() => {
diff --git a/src/main.cpp b/src/main.cpp
index 34fc7cb..184677b 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -15,6 +15,7 @@
  *   HOME1    → Home motor 1 (Right)
  *   HOME2    → Home motor 2 (Left)
  *   HOMEALL  → Home both motors simultaneously
+ *   DISABLE  → Disable steppers (un-hold) and require rehoming
  *   POS      → Request current positions (triggers NOTIFY)
  *
  * BLE Status Characteristic (NOTIFY):
@@ -72,6 +73,11 @@ bool bleConnected = false;
 unsigned long lastNotify = 0;
 const unsigned long NOTIFY_INTERVAL_MS = 200;
 
+// ─── Idle timeout tracker ─────────────────────────────────────────
+unsigned long lastMotorActive = 0;
+const unsigned long IDLE_TIMEOUT_MS = 30 * 60 * 1000; // 30 minutes
+bool motorsDisabled = true; // Assume disabled at startup until moved
+
 // ─── Forward declarations ─────────────────────────────────────────
 void parseCommand(const String &cmd);
 void sendPosition();
@@ -193,6 +199,14 @@ void parseCommand(const String &cmd) {
     sendPosition();
     return;
   }
+  // DISABLE
+  if (cmd == "DISABLE") {
+    stepper1.disableOutputs();
+    stepper2.disableOutputs();
+    motorsDisabled = true;
+    Serial.println("[SYS] Steppers manually disabled.");
+    return;
+  }
   // POS – explicit position request
   if (cmd == "POS") {
     sendPosition();
@@ -280,6 +294,22 @@ void loop() {
   stepper1.run();
   stepper2.run();
 
+  bool moving = stepper1.isRunning() || stepper2.isRunning() || homingState != HOME_IDLE;
+  
+  if (moving) {
+    lastMotorActive = millis();
+    motorsDisabled = false;
+  } else if (!motorsDisabled && (millis() - lastMotorActive > IDLE_TIMEOUT_MS)) {
+    stepper1.disableOutputs();
+    stepper2.disableOutputs();
+    motorsDisabled = true;
+    Serial.println("[SYS] Idle timeout reached. Steppers disabled.");
+    if (bleConnected && pStatusChar) {
+      pStatusChar->setValue("SYS:IDLE_TIMEOUT");
+      pStatusChar->notify();
+    }
+  }
+
   if (homingState == HOME_ALL_PHASE1) {
     if (stepper1.distanceToGo() == 0 && stepper2.distanceToGo() == 0) {
       stepper1.setCurrentPosition(1024);
@@ -291,8 +321,6 @@ void loop() {
     }
   } else if (homingState == HOME_ALL_PHASE2) {
     if (stepper1.distanceToGo() == 0 && stepper2.distanceToGo() == 0) {
-      stepper1.disableOutputs();
-      stepper2.disableOutputs();
       stepper1.setMaxSpeed(currentMaxSpeed);
       stepper2.setMaxSpeed(currentMaxSpeed);
       stepper1.setAcceleration(currentAccel);
@@ -309,7 +337,6 @@ void loop() {
     }
   } else if (homingState == HOME_1_PHASE2) {
     if (stepper1.distanceToGo() == 0) {
-      stepper1.disableOutputs();
       stepper1.setMaxSpeed(currentMaxSpeed);
       stepper1.setAcceleration(currentAccel);
       homingState = HOME_IDLE;
@@ -322,7 +349,6 @@ void loop() {
     }
   } else if (homingState == HOME_2_PHASE2) {
     if (stepper2.distanceToGo() == 0) {
-      stepper2.disableOutputs();
       stepper2.setMaxSpeed(currentMaxSpeed);
       stepper2.setAcceleration(currentAccel);
       homingState = HOME_IDLE;
@@ -332,7 +358,6 @@ void loop() {
   // Periodic position notify while motors are moving
   if (bleConnected) {
     unsigned long now = millis();
-    bool moving = stepper1.isRunning() || stepper2.isRunning() || homingState != HOME_IDLE;
     if (moving && (now - lastNotify >= NOTIFY_INTERVAL_MS)) {
       lastNotify = now;
       sendPosition();
diff --git a/web/js/ble.js b/web/js/ble.js
index c71a36b..61d6aa5 100644
--- a/web/js/ble.js
+++ b/web/js/ble.js
@@ -18,6 +18,7 @@
  *   SPD:<n> → set max speed (steps/sec)
  *   ACC:<n> → set acceleration (steps/sec²)
  *   HOME    → zero both steppers
+ *   DISABLE → disable steppers (un-hold)
  *   POS     → request position report
  *
  * Status characteristic (NOTIFY):
diff --git a/web/js/sections/home.js b/web/js/sections/home.js
index 55d3c62..39ef83d 100644
--- a/web/js/sections/home.js
+++ b/web/js/sections/home.js
@@ -15,7 +15,7 @@ const HomeSection = {
       <div class="section-page fade-in">
         <div class="section-header">
           <h2>WijiBoard</h2>
-          <p>WiFi Spirit Board — SCARA arm controller. Select a section from the sidebar to get started.</p>
+          <p>Bluetooth Spirit Board — SCARA arm controller. Select a section from the sidebar to get started.</p>
         </div>
 
         <div class="grid-2" style="margin-bottom:16px">