Upgrade pathing

web/js/kinematics.js

@@ -327,12 +327,16 @@ function radToSteps(rad) {
   return Math.round(-(rad / (2 * Math.PI)) * ARM.STEPS_PER_REV);
 }
 
-function radToStepsClosest(rad, currentSteps) {
-  let target = radToSteps(rad);
-  // Ensure we take the shortest path instead of winding up the motors
-  while (target - currentSteps > 1024) target -= 2048;
-  while (target - currentSteps < -1024) target += 2048;
-  return target;
+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;
+  // 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;
+  return steps;
 }
 function stepsToDeg(steps) {
   return steps * ARM.STEP_ANGLE_DEG;
@@ -344,5 +348,5 @@ function radToDeg(rad) {
 export default {
   ARM, LIMITS, LOOKUP_TABLE,
   solve, forward, armsCrossed, checkWorkspace, lookup,
-  stepsToRad, radToSteps, radToStepsClosest, stepsToDeg, radToDeg,
+  stepsToRad, radToSteps, radToStepsAbsolute, stepsToDeg, radToDeg,
 };