From cf71803fc4a3fd1bbb03f8965c66023eccc4fb95 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?PROFERIS=20-=20Mi=C2=B3osz=20Stocki?=
 <milosz.stocki@proferis.pl>
Date: Wed, 8 Jul 2026 13:12:12 +0200
Subject: [PATCH] kinematics

---
 src/main.cpp                    | 25 +++++++++++++++++++------
 web/js/sections/stepper-test.js |  6 ++----
 web/js/sequence-runner.js       |  6 ++----
 3 files changed, 23 insertions(+), 14 deletions(-)

diff --git a/src/main.cpp b/src/main.cpp
index 8029531..8b61195 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -118,19 +118,32 @@ class CmdCallbacks : public BLECharacteristicCallbacks {
 
 // ─── Command parser ───────────────────────────────────────────────
 void parseCommand(const String &cmd) {
-  // S1+<n> or S1-<n>
+  // S1+<n> or S1-<n> (Relative)
   if (cmd.startsWith("S1") && cmd.length() > 2) {
-    long steps =
-        cmd.substring(2).toInt(); // '+' or '-' prefix handled by toInt()
+    long steps = cmd.substring(2).toInt();
     stepper1.move(steps);
-    Serial.printf("[S1] Move %+ld steps\n", steps);
+    Serial.printf("[S1] Move relative %+ld steps\n", steps);
     return;
   }
-  // S2+<n> or S2-<n>
+  // S2+<n> or S2-<n> (Relative)
   if (cmd.startsWith("S2") && cmd.length() > 2) {
     long steps = cmd.substring(2).toInt();
     stepper2.move(steps);
-    Serial.printf("[S2] Move %+ld steps\n", steps);
+    Serial.printf("[S2] Move relative %+ld steps\n", steps);
+    return;
+  }
+  // X1:<n> (Absolute)
+  if (cmd.startsWith("X1:")) {
+    long target = cmd.substring(3).toInt();
+    stepper1.moveTo(target);
+    Serial.printf("[S1] Move absolute to %ld\n", target);
+    return;
+  }
+  // X2:<n> (Absolute)
+  if (cmd.startsWith("X2:")) {
+    long target = cmd.substring(3).toInt();
+    stepper2.moveTo(target);
+    Serial.printf("[S2] Move absolute to %ld\n", target);
     return;
   }
   // SPD:<n>
diff --git a/web/js/sections/stepper-test.js b/web/js/sections/stepper-test.js
index 3c44a94..df34b12 100644
--- a/web/js/sections/stepper-test.js
+++ b/web/js/sections/stepper-test.js
@@ -197,11 +197,9 @@ async function moveToXY(targetX, targetY) {
 
   const newSteps1 = IK.radToSteps(theta1);
   const newSteps2 = IK.radToSteps(theta2);
-  const delta1 = newSteps1 - steps1;
-  const delta2 = newSteps2 - steps2;
 
-  const cmd1 = `S1${delta1 >= 0 ? '+' : ''}${delta1}`;
-  const cmd2 = `S2${delta2 >= 0 ? '+' : ''}${delta2}`;
+  const cmd1 = `X1:${newSteps1}`;
+  const cmd2 = `X2:${newSteps2}`;
 
   if (BLE.isConnected()) {
     try {
diff --git a/web/js/sequence-runner.js b/web/js/sequence-runner.js
index 903cf09..107ceaf 100644
--- a/web/js/sequence-runner.js
+++ b/web/js/sequence-runner.js
@@ -66,11 +66,9 @@ export default {
 
       const newSteps1 = IK.radToSteps(res.theta1);
       const newSteps2 = IK.radToSteps(res.theta2);
-      const delta1 = newSteps1 - steps1;
-      const delta2 = newSteps2 - steps2;
 
-      const cmd1 = `S1${delta1 >= 0 ? '+' : ''}${delta1}`;
-      const cmd2 = `S2${delta2 >= 0 ? '+' : ''}${delta2}`;
+      const cmd1 = `X1:${newSteps1}`;
+      const cmd2 = `X2:${newSteps2}`;
 
       UI.log(`Seq step: ${label}`, 'info');