Upgrade pathing

src/main.cpp

@@ -185,6 +185,14 @@ void parseCommand(const String &cmd) {
     sendPosition();
     return;
   }
+  // ZEROALL
+  if (cmd == "ZEROALL") {
+    stepper1.setCurrentPosition(1024);
+    stepper2.setCurrentPosition(0);
+    Serial.println("[SYS] Position blindly reset to home (1024, 0).");
+    sendPosition();
+    return;
+  }
   // POS – explicit position request
   if (cmd == "POS") {
     sendPosition();

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) {
+function radToStepsAbsolute(rad, motor) {
-  let target = radToSteps(rad);
+  let steps = radToSteps(rad);
-  // Ensure we take the shortest path instead of winding up the motors
+  // Motor 1 (Left) is constrained near 1536 steps (90 deg, UP)
-  while (target - currentSteps > 1024) target -= 2048;
+  // Motor 2 (Right) is constrained near -512 steps (90 deg, UP)
-  while (target - currentSteps < -1024) target += 2048;
+  const center = motor === 1 ? 1536 : -512;
-  return target;
+  // 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,
 };

web/js/sections/board-control.js

@@ -277,8 +277,8 @@ async function executeMove(spot) {
     return;
   }
 
-  const newSteps1 = IK.radToStepsClosest(res.theta1, steps1);
+  const newSteps1 = IK.radToStepsAbsolute(res.theta1, 1);
-  const newSteps2 = IK.radToStepsClosest(res.theta2, steps2);
+  const newSteps2 = IK.radToStepsAbsolute(res.theta2, 2);
   const delta1 = newSteps1 - steps1;
   const delta2 = newSteps2 - steps2;
 

web/js/sections/input-text.js

@@ -275,8 +275,8 @@ async function executeMove(spot) {
     return false;
   }
 
-  const newSteps1 = IK.radToStepsClosest(res.theta1, steps1);
+  const newSteps1 = IK.radToStepsAbsolute(res.theta1, 1);
-  const newSteps2 = IK.radToStepsClosest(res.theta2, steps2);
+  const newSteps2 = IK.radToStepsAbsolute(res.theta2, 2);
   const delta1 = newSteps1 - steps1;
   const delta2 = newSteps2 - steps2;
 

web/js/sections/stepper-test.js

@@ -195,8 +195,8 @@ async function moveToXY(targetX, targetY) {
 
   const { theta1, theta2 } = IK.solve(targetX, targetY);
 
-  const newSteps1 = IK.radToStepsClosest(theta1, steps1);
+  const newSteps1 = IK.radToStepsAbsolute(theta1, 1);
-  const newSteps2 = IK.radToStepsClosest(theta2, steps2);
+  const newSteps2 = IK.radToStepsAbsolute(theta2, 2);
 
   const cmd = `X:${newSteps1},${newSteps2}`;
 
@@ -252,6 +252,9 @@ async function zeroMotor(motor) {
     renderArmFromSteps();
     console.log(`[sim] ${cmd}`);
     UI.log(`[sim] ${cmd}`, 'info');
+    
+    const warningEl = document.getElementById('home-warning');
+    if (warningEl) warningEl.style.display = localStorage.getItem('wiji_homed') === 'true' ? 'none' : 'block';
   }
 }
 
@@ -498,7 +501,10 @@ function buildHTML() {
 
         <!-- Current position -->
         <div class="card">
-          <div class="card-header"><span class="card-title">Current Position</span></div>
+          <div class="card-header">
+            <span class="card-title">Current Position</span>
+            <span id="home-warning" style="font-size:0.75rem;color:var(--accent-amber);font-weight:600;display:none;">⚠️ Not Homed</span>
+          </div>
           <div class="pos-grid">
             <div class="pos-box">
               <div class="pos-val xy" id="curr-x">0.0</div>
@@ -622,6 +628,7 @@ function buildHTML() {
       </div>
       <div style="margin-top: 12px;">
         <button class="btn btn-danger btn-full" id="sall-zero" style="padding: 10px; font-weight: bold; font-size: 0.9rem;">HOME BOTH MOTORS</button>
+        <button class="btn btn-warning btn-full" id="fake-home" style="padding: 8px; margin-top: 8px; font-weight: bold; font-size: 0.8rem; background-color: transparent; border: 1px solid var(--accent-amber); color: var(--accent-amber);">Reset Position</button>
       </div>
     </div>
 
@@ -736,6 +743,20 @@ const StepperTestSection = {
     document.getElementById('s1-zero').addEventListener('click', () => zeroMotor(1));
     document.getElementById('s2-zero').addEventListener('click', () => zeroMotor(2));
     document.getElementById('sall-zero').addEventListener('click', () => zeroMotor('ALL'));
+    document.getElementById('fake-home').addEventListener('click', async () => {
+      localStorage.setItem('wiji_homed', 'false');
+      const warningEl = document.getElementById('home-warning');
+      if (warningEl) warningEl.style.display = 'block';
+      if (BLE.isConnected()) {
+        await BLE.write('ZEROALL').catch(e => UI.log(e.message, 'error'));
+      } else {
+        steps1 = IK.ARM.HOME_STEPS.m1;
+        steps2 = IK.ARM.HOME_STEPS.m2;
+        renderArmFromSteps();
+        console.log(`[sim] ZEROALL`);
+        UI.log(`[sim] ZEROALL (Reset Position)`, 'info');
+      }
+    });
 
     // ── Quick-step buttons ────────────────────────────────────────
     container.querySelectorAll('[data-motor][data-steps]').forEach(btn => {
@@ -796,6 +817,9 @@ const StepperTestSection = {
     ];
 
     // ── Initial render ─────────────────────────────────────────────
+    const warningEl = document.getElementById('home-warning');
+    if (warningEl) warningEl.style.display = localStorage.getItem('wiji_homed') === 'true' ? 'none' : 'block';
+    
     renderArmFromSteps();
     UI.log('Stepper Test ready — 5-bar parallel IK active.', 'success');
     UI.log(`Arm: d=${IK.ARM.d}mm  l1=${IK.ARM.l1}mm  l2=${IK.ARM.l2}mm`, 'info');

web/js/sequence-runner.js

@@ -64,8 +64,8 @@ export default {
         continue;
       }
 
-      const newSteps1 = IK.radToStepsClosest(res.theta1, steps1);
+      const newSteps1 = IK.radToStepsAbsolute(res.theta1, 1);
-      const newSteps2 = IK.radToStepsClosest(res.theta2, steps2);
+      const newSteps2 = IK.radToStepsAbsolute(res.theta2, 2);
 
       const cmd = `X:${newSteps1},${newSteps2}`;