added proper kinematics
This commit is contained in:
PROFERIS - Mi³osz Stocki
+145
-80
@@ -8,52 +8,65 @@
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* / \
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* L2 (110) L2 (110)
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* / \
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* ELBOW1 ELBOW2
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* ELBOW1 ELBOW2
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* \ /
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* L1 (85) L1 (85)
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* \ /
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* MOTOR1 (-d2,0) MOTOR2 (+d2,0)
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* MOTOR1 (+d2,0) MOTOR2 (-d2,0)
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* | |
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* [===BASE===] (d=25.8 mm wide)
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* d2=12.9 mm
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*
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* Both motors are mounted in the centre mechanism box.
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* Motor 1 is at (-d2, 0), Motor 2 is at (+d2, 0).
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* Each motor drives a proximal arm (l1). The distal arms (l2)
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* connect the elbows to the shared end-effector.
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* ── IMPORTANT: PositionControl.cpp motor convention ─────────────
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* Motor 1 pivot is at (+d2, 0) = (+12.9, 0) [right side!]
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* Motor 2 pivot is at (-d2, 0) = (-12.9, 0) [left side!]
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*
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* IK: given target (x, y), solve θ1 and θ2 independently:
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* Motor 1 sees the target at (x - d2, y) from its pivot.
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* Motor 2 sees the target at (x + d2, y) from its pivot.
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* Each uses the standard 2-link IK (law of cosines).
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* This is determined by how the C++ IK formulas use the offsets:
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* Motor 1: xmd = x - d2 → target is measured from x = +d2
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* Motor 2: xpd = x + d2 → target is measured from x = -d2
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*
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* All FK / visualisation code MUST use this same convention or
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* the arms will appear visually crossed even for valid positions.
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*
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* Source: lib/Position/PositionControl.cpp (nerd-sniped/WijiBoard)
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*/
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// ── Exact constants from PositionControl.cpp ─────────────────────
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const ARM = {
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d: 25.8, // full motor separation (mm)
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d2: 12.9, // half motor separation — motor 1 at (-d2,0), motor 2 at (+d2,0)
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l1: 85.0, // proximal link length (mm)
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l2: 110.0, // distal link length (mm)
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STEPS_PER_REV: 2048,
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STEP_ANGLE_DEG: 360 / 2048, // ≈ 0.17578125°
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d: 25.8, // full motor separation (mm)
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d2: 12.9, // half separation; M1 at (+d2, 0), M2 at (-d2, 0)
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l1: 85.0, // proximal link length (mm)
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l2: 110.0, // distal link length (mm)
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STEPS_PER_REV: 2048,
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STEP_ANGLE_DEG: 360 / 2048, // ≈ 0.17578125 °/step
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};
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// ── Workspace limits ──────────────────────────────────────────────
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// ── WORKSPACE CONSTRAINTS ─────────────────────────────────────────
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// All values are in mm. Tune these to match real hardware.
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// They are exported so the visualiser can draw the zones.
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const LIMITS = {
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// Outer bounding box (the board surface)
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X_MIN: -150,
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X_MAX: 150,
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Y_MIN: -30, // numbers sit slightly below Y=0
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Y_MAX: 145,
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// ── Outer board boundary ───────────────────────────────────────
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// The EE cannot be requested outside this rectangle.
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X_MIN: -150, // ← TUNE: left edge of board
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X_MAX: 150, // ← TUNE: right edge of board
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Y_MIN: -30, // ← TUNE: bottom (numbers reach ~44 mm; sign coords go lower)
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Y_MAX: 145, // ← TUNE: top (highest letter is ~128 mm)
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// Centre exclusion zone (the motor/mechanism box)
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// Motors are at ±12.9 mm; box is a bit larger to account for the housing
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BOX_HALF_W: 22, // ±22 mm in X (tune to real hardware)
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BOX_HALF_H: 22, // 0..22 mm in Y (box sits above the base line)
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BOX_Y_MIN: -5,
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BOX_Y_MAX: 22,
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// ── Centre mechanism exclusion box ────────────────────────────
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// Rectangular zone centred on (0, 0) where the motor housing sits.
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// The EE and both elbows must stay outside this area.
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BOX_HALF_W: 30, // ← TUNE: half-width in X (motors at ±12.9, housing wider)
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BOX_Y_MIN: -10, // ← TUNE: bottom of housing
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BOX_Y_MAX: 40, // ← TUNE: top of housing
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// ── Elbow exclusion zone (prevents arm crossing near the box) ─
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// Each elbow has a separate rectangular exclusion box.
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// Left-side elbow (from M1 at +d2): must NOT enter this region.
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// Right-side elbow (from M2 at -d2): uses mirrored X limits.
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// If ELBOW_BOX_X_INNER is 5, the left elbow's X must be > +5 mm
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// (can never cross to the other side of the box mid-point).
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ELBOW_BOX_X_INNER: 5, // ← TUNE: inner X margin from centre for each elbow
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ELBOW_BOX_Y_MAX: 50, // ← TUNE: Y below which elbow crossing is forbidden
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};
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// ── Letter / number position lookup table ────────────────────────
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@@ -116,22 +129,26 @@ const LOOKUP_TABLE = {
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function solve(x, y) {
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const { d2, l1, l2 } = ARM;
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// ── Motor 1 (left pivot at -d2, 0) ───────────────────────────
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const xmd = x - d2; // target X relative to left motor
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const s = Math.sqrt(xmd * xmd + y * y); // distance: left motor → target
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// ── Motor 1 (pivot at +d2, 0 = +12.9 mm) ─────────────────────
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// xmd = x - d2 is the X component of (target – M1_pivot).
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const xmd = x - d2;
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const s = Math.sqrt(xmd * xmd + y * y);
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if (s < 1e-6) return { theta1: 0, theta2: 0, reachable: false };
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const cosW1 = (l2 * l2 - s * s - l1 * l1) / (-2 * l1 * s);
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if (cosW1 < -1 || cosW1 > 1) return { theta1: 0, theta2: 0, reachable: false };
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const q = Math.atan2(y, xmd);
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const w1 = Math.acos(cosW1);
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const q = Math.atan2(y, xmd);
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const w1 = Math.acos(cosW1);
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const theta1 = q - w1;
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// ── Motor 2 (right pivot at +d2, 0) ──────────────────────────
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const xpd = x + d2; // target X relative to right motor
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const t = Math.sqrt(xpd * xpd + y * y); // distance: right motor → target
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// ── Motor 2 (pivot at -d2, 0 = -12.9 mm) ─────────────────────
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// xpd = x + d2 is the X component of (target – M2_pivot).
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const xpd = x + d2;
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const t = Math.sqrt(xpd * xpd + y * y);
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if (t < 1e-6) return { theta1: 0, theta2: 0, reachable: false };
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const cosW2 = (l2 * l2 - t * t - l1 * l1) / (-2 * l1 * t);
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if (cosW2 < -1 || cosW2 > 1) return { theta1: 0, theta2: 0, reachable: false };
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const r = Math.atan2(y, xpd);
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const w2 = Math.acos(cosW2);
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const r = Math.atan2(y, xpd);
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const w2 = Math.acos(cosW2);
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const theta2 = r + w2;
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return { theta1, theta2, reachable: true };
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@@ -156,81 +173,129 @@ function solve(x, y) {
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function forward(theta1, theta2) {
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const { d2, l1, l2 } = ARM;
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// Elbow 1 (tip of motor 1's proximal link)
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const e1x = -d2 + l1 * Math.cos(theta1);
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const e1y = l1 * Math.sin(theta1);
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// ── IMPORTANT: match PositionControl.cpp motor convention ──────
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// Motor 1 pivot at (+d2, 0), Motor 2 pivot at (-d2, 0).
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// Using the opposite sign here is the single most common source
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// of visually-crossed arms in the SVG visualiser.
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// Elbow 2 (tip of motor 2's proximal link)
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const e2x = d2 + l1 * Math.cos(theta2);
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const e2y = l1 * Math.sin(theta2);
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// Elbow 1 — tip of Motor 1 proximal link (motor at +d2)
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const e1x = +d2 + l1 * Math.cos(theta1);
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const e1y = l1 * Math.sin(theta1);
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// End-effector: intersection of circle(elbow1, l2) and circle(elbow2, l2)
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// Use the same approach as the IK: each distal link points from its elbow to the EE.
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// For visualisation accuracy, reconstruct EE by reversing the IK:
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// From IK: theta1 = q - w1 → q = atan2(y, x - d2)
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// We know theta1 and the elbow position, so EE is at l2 along some direction.
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// Simplest: use circle-circle intersection of the two elbow-radius-l2 circles.
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const dx = e2x - e1x;
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const dy = e2y - e1y;
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// Elbow 2 — tip of Motor 2 proximal link (motor at -d2)
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const e2x = -d2 + l1 * Math.cos(theta2);
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const e2y = l1 * Math.sin(theta2);
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// End-effector: intersection of the two distal-link circles
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// (radius l2, centred on each elbow). Pick the "upward" solution.
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const dx = e2x - e1x;
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const dy = e2y - e1y;
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const dist = Math.sqrt(dx * dx + dy * dy);
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if (dist < 1e-6 || dist > 2 * l2) {
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// Degenerate / unreachable — just average the two elbows
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// Degenerate / unreachable — fall back to midpoint
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return {
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elbow1: { x: e1x, y: e1y },
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elbow2: { x: e2x, y: e2y },
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endX: (e1x + e2x) / 2,
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endY: (e1y + e2y) / 2,
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valid: false,
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};
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}
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const a = dist / 2;
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const h = Math.sqrt(l2 * l2 - a * a);
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const a = dist / 2;
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const h = Math.sqrt(Math.max(0, l2 * l2 - a * a));
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const mx = (e1x + e2x) / 2;
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const my = (e1y + e2y) / 2;
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// Two intersection candidates — pick the one with higher Y (the "up" configuration)
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const px1 = mx + h * (dy / dist);
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const py1 = my - h * (dx / dist);
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const px2 = mx - h * (dy / dist);
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const py2 = my + h * (dx / dist);
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// Two intersection candidates
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const px1 = mx + h * ( dy / dist);
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const py1 = my + h * (-dx / dist);
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const px2 = mx - h * ( dy / dist);
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const py2 = my - h * (-dx / dist);
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const { endX, endY } = py1 > py2
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? { endX: px1, endY: py1 }
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: { endX: px2, endY: py2 };
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// Always pick the candidate with higher Y (EE above the elbow line)
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const useFirst = py1 >= py2;
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const endX = useFirst ? px1 : px2;
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const endY = useFirst ? py1 : py2;
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return {
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elbow1: { x: e1x, y: e1y },
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elbow2: { x: e2x, y: e2y },
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endX, endY,
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valid: true,
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};
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}
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// ── Arm-crossing check ────────────────────────────────────────────
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/**
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* Returns true if the two proximal arm segments geometrically
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* cross each other near the centre mechanism box.
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*
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* Physical rule: each elbow must stay on the OUTER side of the
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* mechanism housing. If elbow1 (from M1 at +d2) has a small
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* positive X at low Y, or elbow2 (from M2 at -d2) has a small
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* negative X at low Y, the arm would collide with the housing.
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*
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* @param {number} theta1 Motor 1 angle (rad)
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* @param {number} theta2 Motor 2 angle (rad)
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* @returns {boolean} true = arms will cross / collide
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*/
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function armsCrossed(theta1, theta2) {
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const { d2, l1 } = ARM;
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const { ELBOW_BOX_X_INNER: XI, ELBOW_BOX_Y_MAX: YM } = LIMITS;
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// Elbow positions (same formula as forward())
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const e1x = +d2 + l1 * Math.cos(theta1);
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const e1y = l1 * Math.sin(theta1);
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const e2x = -d2 + l1 * Math.cos(theta2);
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const e2y = l1 * Math.sin(theta2);
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// Elbow1 (from M1 on the RIGHT) must not appear far to the LEFT at low height
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// Elbow2 (from M2 on the LEFT) must not appear far to the RIGHT at low height
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// Both conditions together catch the "arms have swapped sides" scenario.
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const e1_crossed = e1x < -XI && e1y < YM; // M1's elbow went too far left
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const e2_crossed = e2x > XI && e2y < YM; // M2's elbow went too far right
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return e1_crossed || e2_crossed;
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}
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// ── Workspace check ───────────────────────────────────────────────
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/**
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* Check whether a point is inside the valid workspace.
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* Check whether a target point is safe to move to.
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*
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* Order of checks (fail-fast):
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* 1. Board outer boundary
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* 2. Mechanism housing exclusion box
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* 3. IK geometric reachability
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* 4. Elbow-crossing guard (prevents physically impossible arm configs)
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*
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* @param {number} x
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* @param {number} y
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* @returns {{ ok: boolean, reason: string }}
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*/
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function checkWorkspace(x, y) {
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// Outer bounding box
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if (x < LIMITS.X_MIN || x > LIMITS.X_MAX)
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return { ok: false, reason: `X=${x.toFixed(1)} outside board limits [${LIMITS.X_MIN}, ${LIMITS.X_MAX}]` };
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if (y < LIMITS.Y_MIN || y > LIMITS.Y_MAX)
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return { ok: false, reason: `Y=${y.toFixed(1)} outside board limits [${LIMITS.Y_MIN}, ${LIMITS.Y_MAX}]` };
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const L = LIMITS;
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// Centre exclusion zone (mechanism box)
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if (
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x > -LIMITS.BOX_HALF_W && x < LIMITS.BOX_HALF_W &&
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y > LIMITS.BOX_Y_MIN && y < LIMITS.BOX_Y_MAX
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) {
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return { ok: false, reason: `(${x.toFixed(1)}, ${y.toFixed(1)}) is inside the mechanism exclusion zone` };
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}
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// 1. Board boundary
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if (x < L.X_MIN || x > L.X_MAX)
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return { ok: false, reason: `X=${x.toFixed(1)} mm outside board (${L.X_MIN}…${L.X_MAX})` };
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if (y < L.Y_MIN || y > L.Y_MAX)
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return { ok: false, reason: `Y=${y.toFixed(1)} mm outside board (${L.Y_MIN}…${L.Y_MAX})` };
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// IK reachability
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const { reachable } = solve(x, y);
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if (!reachable) return { ok: false, reason: `(${x.toFixed(1)}, ${y.toFixed(1)}) is outside arm reach` };
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// 2. Centre mechanism exclusion box
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if (x > -L.BOX_HALF_W && x < L.BOX_HALF_W &&
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y > L.BOX_Y_MIN && y < L.BOX_Y_MAX)
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return { ok: false, reason: `(${x.toFixed(1)}, ${y.toFixed(1)}) is inside the mechanism housing` };
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// 3. IK geometric reachability
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const { theta1, theta2, reachable } = solve(x, y);
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if (!reachable)
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return { ok: false, reason: `(${x.toFixed(1)}, ${y.toFixed(1)}) is geometrically unreachable` };
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// 4. Elbow-crossing guard
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if (armsCrossed(theta1, theta2))
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return { ok: false, reason: `(${x.toFixed(1)}, ${y.toFixed(1)}) would cross elbows near the mechanism box` };
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return { ok: true, reason: '' };
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}
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@@ -256,6 +321,6 @@ function radToDeg(rad) {
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export default {
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ARM, LIMITS, LOOKUP_TABLE,
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solve, forward, checkWorkspace, lookup,
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solve, forward, armsCrossed, checkWorkspace, lookup,
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stepsToRad, radToSteps, stepsToDeg, radToDeg,
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};
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+111
-19
@@ -5,7 +5,7 @@
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* 5-bar parallel linkage visualiser + IK-based click-to-move.
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*
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* Mechanism geometry (from PositionControl.cpp):
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* Motor 1 at (-12.9, 0) mm Motor 2 at (+12.9, 0) mm
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* Motor 1 at (+12.9, 0) mm Motor 2 at (-12.9, 0) mm ← NOTE: M1 is on the RIGHT
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* Proximal links: l1 = 85 mm Distal links: l2 = 110 mm
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*
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* IK flow: click XY → IK.solve(x,y) → {θ1, θ2} → steps → BLE
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@@ -47,6 +47,7 @@ const PX_D2 = IK.ARM.d2 * SV.SCALE;
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// ── Section state ─────────────────────────────────────────────────
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let steps1 = 0;
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let steps2 = 0;
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let isHoming = false; // blocks all controls during homing sequence
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let eventCleanup = [];
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// ── SVG element refs ──────────────────────────────────────────────
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@@ -80,8 +81,9 @@ function setCircle(el, cx, cy) {
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function renderArm(theta1, theta2, isGhost = false) {
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const { elbow1: e1, elbow2: e2, endX, endY } = IK.forward(theta1, theta2);
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const motor1sx = SV.wx(-IK.ARM.d2); const motor1sy = SV.wy(0);
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const motor2sx = SV.wx( IK.ARM.d2); const motor2sy = SV.wy(0);
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// Motor base SVG positions — M1 at +d2, M2 at -d2 (PositionControl.cpp convention)
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const motor1sx = SV.wx(+IK.ARM.d2); const motor1sy = SV.wy(0);
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const motor2sx = SV.wx(-IK.ARM.d2); const motor2sy = SV.wy(0);
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const elbow1sx = SV.wx(e1.x); const elbow1sy = SV.wy(e1.y);
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const elbow2sx = SV.wx(e2.x); const elbow2sy = SV.wy(e2.y);
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const endsx = SV.wx(endX); const endsy = SV.wy(endY);
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@@ -223,6 +225,59 @@ async function zeroMotor(motor) {
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: UI.log(`[sim] ${cmd}`, 'info');
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}
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// ─────────────────────────────────────────────────────────────────
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// Homing
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// ─────────────────────────────────────────────────────────────────
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/** Block / unblock all interactive controls while homing is running. */
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function setHomingActive(active) {
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isHoming = active;
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const root = document.querySelector('.section-page');
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if (!root) return;
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if (active) {
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root.classList.add('homing-active');
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} else {
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root.classList.remove('homing-active');
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}
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// Update the button label
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const btn = document.getElementById('btn-find-home');
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const spin = document.getElementById('home-spinner');
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const lbl = document.getElementById('home-label');
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if (!btn) return;
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btn.disabled = active;
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if (spin) spin.style.display = active ? '' : 'none';
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||||
if (lbl) lbl.textContent = active ? 'Homing…' : 'Find Home';
|
||||
}
|
||||
|
||||
/** Called when the firmware sends HOMED or when simulating. */
|
||||
function onHomingComplete() {
|
||||
steps1 = 0;
|
||||
steps2 = 0;
|
||||
setHomingActive(false);
|
||||
renderArmFromSteps();
|
||||
UI.log('✓ Homing complete — step counters reset to zero.', 'success');
|
||||
}
|
||||
|
||||
async function startHoming() {
|
||||
if (isHoming) return;
|
||||
setHomingActive(true);
|
||||
UI.log('⧐ Homing started — arm moving to mechanical stops…', 'warn');
|
||||
|
||||
if (BLE.isConnected()) {
|
||||
try {
|
||||
await BLE.write('HOME');
|
||||
// onHomingComplete() will be called when HOMED notify arrives
|
||||
} catch (e) {
|
||||
UI.log(`BLE error during home: ${e.message}`, 'error');
|
||||
setHomingActive(false);
|
||||
}
|
||||
} else {
|
||||
// Simulation: instant reset
|
||||
UI.log('[sim] HOME command sent — simulating instant home', 'info');
|
||||
setTimeout(onHomingComplete, 600);
|
||||
}
|
||||
}
|
||||
|
||||
// ─────────────────────────────────────────────────────────────────
|
||||
// SVG workspace zones (pre-computed)
|
||||
// ─────────────────────────────────────────────────────────────────
|
||||
@@ -235,15 +290,15 @@ function buildZones() {
|
||||
const bw = (L.X_MAX - L.X_MIN) * SV.SCALE;
|
||||
const bh = (L.Y_MAX - L.Y_MIN) * SV.SCALE;
|
||||
|
||||
// Mechanism exclusion box
|
||||
// Mechanism exclusion box (uses updated LIMITS fields)
|
||||
const ex = SV.wx(-L.BOX_HALF_W);
|
||||
const ey = SV.wy(L.BOX_Y_MAX);
|
||||
const ew = L.BOX_HALF_W * 2 * SV.SCALE;
|
||||
const eh = (L.BOX_Y_MAX - L.BOX_Y_MIN) * SV.SCALE;
|
||||
|
||||
// Motor positions
|
||||
const m1x = SV.wx(-IK.ARM.d2);
|
||||
const m2x = SV.wx( IK.ARM.d2);
|
||||
// Motor positions — M1 at +d2, M2 at -d2
|
||||
const m1x = SV.wx(+IK.ARM.d2);
|
||||
const m2x = SV.wx(-IK.ARM.d2);
|
||||
const my = SV.wy(0);
|
||||
|
||||
// Scale ruler
|
||||
@@ -345,6 +400,20 @@ function buildHTML() {
|
||||
.quick-steps { display:flex; gap:4px; flex-wrap:wrap; }
|
||||
.quick-steps button { flex:1; min-width:30px; padding:4px 2px; font-size:0.68rem;
|
||||
border-radius:var(--radius-xs); }
|
||||
|
||||
/* Disable all interactive elements during homing */
|
||||
.homing-active button:not(#btn-find-home),
|
||||
.homing-active input,
|
||||
.homing-active #scara-svg {
|
||||
pointer-events: none;
|
||||
opacity: 0.4;
|
||||
}
|
||||
/* Spinner animation for homing button */
|
||||
@keyframes spin { to { transform: rotate(360deg); } }
|
||||
.home-spin { display:inline-block; width:13px; height:13px;
|
||||
border:2px solid currentColor; border-top-color:transparent;
|
||||
border-radius:50%; animation:spin 0.7s linear infinite;
|
||||
vertical-align:middle; margin-right:5px; }
|
||||
</style>
|
||||
|
||||
<div class="section-page fade-in">
|
||||
@@ -394,31 +463,31 @@ function buildHTML() {
|
||||
font-family="monospace" style="display:none"/>
|
||||
|
||||
<!-- ── Real arm ──────────────────────────────────── -->
|
||||
<!-- Arm 1: proximal + distal -->
|
||||
<!-- Arm 1: proximal + distal (M1 at +d2) -->
|
||||
<line id="arm1-prox"
|
||||
x1="${SV.wx(-IK.ARM.d2)}" y1="${SV.wy(0)}"
|
||||
x2="${SV.wx(-IK.ARM.d2)}" y2="${SV.wy(IK.ARM.l1)}"
|
||||
x1="${SV.wx(+IK.ARM.d2)}" y1="${SV.wy(0)}"
|
||||
x2="${SV.wx(+IK.ARM.d2)}" y2="${SV.wy(IK.ARM.l1)}"
|
||||
stroke="#448aff" stroke-width="5" stroke-linecap="round"/>
|
||||
<line id="arm1-dist"
|
||||
x1="${SV.wx(-IK.ARM.d2)}" y1="${SV.wy(IK.ARM.l1)}"
|
||||
x1="${SV.wx(+IK.ARM.d2)}" y1="${SV.wy(IK.ARM.l1)}"
|
||||
x2="${SV.wx(0)}" y2="${SV.wy(IK.ARM.l1 + IK.ARM.l2)}"
|
||||
stroke="#7eb8f7" stroke-width="3.5" stroke-linecap="round" stroke-dasharray="6 3"/>
|
||||
|
||||
<!-- Arm 2: proximal + distal -->
|
||||
<!-- Arm 2: proximal + distal (M2 at -d2) -->
|
||||
<line id="arm2-prox"
|
||||
x1="${SV.wx(IK.ARM.d2)}" y1="${SV.wy(0)}"
|
||||
x2="${SV.wx(IK.ARM.d2)}" y2="${SV.wy(IK.ARM.l1)}"
|
||||
x1="${SV.wx(-IK.ARM.d2)}" y1="${SV.wy(0)}"
|
||||
x2="${SV.wx(-IK.ARM.d2)}" y2="${SV.wy(IK.ARM.l1)}"
|
||||
stroke="#f7a03c" stroke-width="5" stroke-linecap="round"/>
|
||||
<line id="arm2-dist"
|
||||
x1="${SV.wx(IK.ARM.d2)}" y1="${SV.wy(IK.ARM.l1)}"
|
||||
x2="${SV.wx(0)}" y2="${SV.wy(IK.ARM.l1 + IK.ARM.l2)}"
|
||||
x1="${SV.wx(-IK.ARM.d2)}" y1="${SV.wy(IK.ARM.l1)}"
|
||||
x2="${SV.wx(0)}" y2="${SV.wy(IK.ARM.l1 + IK.ARM.l2)}"
|
||||
stroke="#ffd08a" stroke-width="3.5" stroke-linecap="round" stroke-dasharray="6 3"/>
|
||||
|
||||
<!-- Elbow joints -->
|
||||
<circle id="elbow1" r="5" fill="#a0c4ff" stroke="#0a0e18" stroke-width="1.5"
|
||||
cx="${SV.wx(-IK.ARM.d2)}" cy="${SV.wy(IK.ARM.l1)}"/>
|
||||
cx="${SV.wx(+IK.ARM.d2)}" cy="${SV.wy(IK.ARM.l1)}"/>
|
||||
<circle id="elbow2" r="5" fill="#ffd08a" stroke="#0a0e18" stroke-width="1.5"
|
||||
cx="${SV.wx( IK.ARM.d2)}" cy="${SV.wy(IK.ARM.l1)}"/>
|
||||
cx="${SV.wx(-IK.ARM.d2)}" cy="${SV.wy(IK.ARM.l1)}"/>
|
||||
|
||||
<!-- End effector -->
|
||||
<circle id="end-eff" r="7"
|
||||
@@ -544,6 +613,21 @@ function buildHTML() {
|
||||
<span class="card-title">Manual Jog</span>
|
||||
<span style="font-size:0.72rem;color:var(--text-muted)">Incremental step control — bypasses IK</span>
|
||||
</div>
|
||||
|
||||
<!-- Find Home -->
|
||||
<div style="padding:4px 0 14px;border-bottom:1px solid var(--border);margin-bottom:12px">
|
||||
<div style="font-size:0.70rem;color:var(--text-muted);margin-bottom:8px;line-height:1.5">
|
||||
⚠️ Drives each arm slowly into its mechanical stop then backs off to
|
||||
operating home. Takes ~15–20 s. All controls are locked during homing.
|
||||
</div>
|
||||
<button class="btn btn-full" id="btn-find-home"
|
||||
style="background:rgba(255,152,0,0.12);border:1px solid rgba(255,152,0,0.35);
|
||||
color:var(--accent-amber);font-weight:700;font-size:0.85rem;padding:10px">
|
||||
<span class="home-spin" id="home-spinner" style="display:none"></span>
|
||||
<span id="home-label">⌂ Find Home</span>
|
||||
</button>
|
||||
</div>
|
||||
|
||||
<div class="jog-compact">
|
||||
<!-- Motor 1 -->
|
||||
<div class="jog-motor">
|
||||
@@ -619,7 +703,7 @@ const StepperTestSection = {
|
||||
ghost2Dist = document.getElementById('ghost-2d');
|
||||
ghostElbow1 = document.getElementById('ghost-e1');
|
||||
ghostElbow2 = document.getElementById('ghost-e2');
|
||||
ghostEnd = document.getElementById('ghost-end');
|
||||
ghostEnd = document.getElementById('ghost-e1');
|
||||
ghostLabel = document.getElementById('ghost-label');
|
||||
targetMarker= document.getElementById('target-marker');
|
||||
|
||||
@@ -734,6 +818,11 @@ const StepperTestSection = {
|
||||
// ── BLE NOTIFY position feedback ──────────────────────────────
|
||||
function onBLEStatus(e) {
|
||||
const msg = e.detail;
|
||||
if (msg === 'HOMED') {
|
||||
// Firmware completed homing — sync browser counters
|
||||
onHomingComplete();
|
||||
return;
|
||||
}
|
||||
if (msg.startsWith('P:')) {
|
||||
const [s1, s2] = msg.slice(2).split(',').map(Number);
|
||||
steps1 = s1; steps2 = s2;
|
||||
@@ -742,6 +831,9 @@ const StepperTestSection = {
|
||||
}
|
||||
document.addEventListener('ble:status', onBLEStatus);
|
||||
|
||||
// ── Find Home button ──────────────────────────────────────
|
||||
document.getElementById('btn-find-home').addEventListener('click', startHoming);
|
||||
|
||||
eventCleanup = [
|
||||
() => BLE.off('connected', updateBadge),
|
||||
() => BLE.off('disconnected', updateBadge),
|
||||
|
||||
Reference in New Issue
Block a user