kinematics

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>