From eeb2cb191bb45f5256d9dcae79a4a56b3860c8fa 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 13:30:30 +0200
Subject: [PATCH] kin

---
 src/main.cpp                    | 22 ++++++++++------------
 web/js/sections/stepper-test.js |  8 +++-----
 web/js/sequence-runner.js       |  8 +++-----
 3 files changed, 16 insertions(+), 22 deletions(-)

diff --git a/src/main.cpp b/src/main.cpp
index 8b61195..47c741d 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -132,18 +132,16 @@ void parseCommand(const String &cmd) {
     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);
+  // X:<n1>,<n2> (Absolute combined)
+  if (cmd.startsWith("X:")) {
+    int commaIdx = cmd.indexOf(',');
+    if (commaIdx != -1) {
+      long target1 = cmd.substring(2, commaIdx).toInt();
+      long target2 = cmd.substring(commaIdx + 1).toInt();
+      stepper1.moveTo(target1);
+      stepper2.moveTo(target2);
+      Serial.printf("[X] Move absolute to %ld, %ld\n", target1, target2);
+    }
     return;
   }
   // SPD:<n>
diff --git a/web/js/sections/stepper-test.js b/web/js/sections/stepper-test.js
index df34b12..4c46fe7 100644
--- a/web/js/sections/stepper-test.js
+++ b/web/js/sections/stepper-test.js
@@ -198,13 +198,11 @@ async function moveToXY(targetX, targetY) {
   const newSteps1 = IK.radToSteps(theta1);
   const newSteps2 = IK.radToSteps(theta2);
 
-  const cmd1 = `X1:${newSteps1}`;
-  const cmd2 = `X2:${newSteps2}`;
+  const cmd = `X:${newSteps1},${newSteps2}`;
 
   if (BLE.isConnected()) {
     try {
-      await BLE.write(cmd1);
-      await BLE.write(cmd2);
+      await BLE.write(cmd);
       // Do not update steps1/steps2 here; let the P: notify handler update the UI smoothly
     } catch (e) {
       UI.log(`BLE error: ${e.message}`, 'error');
@@ -213,7 +211,7 @@ async function moveToXY(targetX, targetY) {
     steps1 = newSteps1;
     steps2 = newSteps2;
     renderArm(theta1, theta2);
-    const simMsg = `[sim] IK→ θ1=${IK.radToDeg(theta1).toFixed(1)}° θ2=${IK.radToDeg(theta2).toFixed(1)}° | ${cmd1}  ${cmd2}`;
+    const simMsg = `[sim] IK→ θ1=${IK.radToDeg(theta1).toFixed(1)}° θ2=${IK.radToDeg(theta2).toFixed(1)}° | ${cmd}`;
     console.log(simMsg);
     UI.log(simMsg, 'info');
   }
diff --git a/web/js/sequence-runner.js b/web/js/sequence-runner.js
index 107ceaf..361cefa 100644
--- a/web/js/sequence-runner.js
+++ b/web/js/sequence-runner.js
@@ -67,15 +67,13 @@ export default {
       const newSteps1 = IK.radToSteps(res.theta1);
       const newSteps2 = IK.radToSteps(res.theta2);
 
-      const cmd1 = `X1:${newSteps1}`;
-      const cmd2 = `X2:${newSteps2}`;
+      const cmd = `X:${newSteps1},${newSteps2}`;
 
       UI.log(`Seq step: ${label}`, 'info');
 
       if (BLE.isConnected()) {
         try {
-          await BLE.write(cmd1);
-          await BLE.write(cmd2);
+          await BLE.write(cmd);
         } catch (e) {
           UI.log(`BLE error: ${e.message}`, 'error');
           isRunning = false;
@@ -88,7 +86,7 @@ export default {
         if (onStepComplete) {
           onStepComplete(steps1, steps2);
         }
-        console.log(`[sim] ${cmd1}  ${cmd2}`);
+        console.log(`[sim] ${cmd}`);
       }
 
       // Wait for delay