delete homing. Have to redo
This commit is contained in:
PROFERIS - Mi³osz Stocki
+26
-26
@@ -33,11 +33,11 @@
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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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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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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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STEPS_PER_REV: 2048,
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STEP_ANGLE_DEG: 360 / 2048, // ≈ 0.17578125 °/step
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};
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@@ -48,16 +48,16 @@ const LIMITS = {
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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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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 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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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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@@ -66,7 +66,7 @@ const 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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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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@@ -132,23 +132,23 @@ function solve(x, y) {
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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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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 (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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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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@@ -180,16 +180,16 @@ function forward(theta1, 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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const e1y = l1 * Math.sin(theta1);
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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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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 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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@@ -203,15 +203,15 @@ function forward(theta1, theta2) {
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};
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}
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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 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
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const px1 = mx + h * ( dy / dist);
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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 px2 = mx - h * (dy / dist);
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const py2 = my - h * (-dx / dist);
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// Always pick the candidate with higher Y (EE above the elbow line)
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@@ -247,15 +247,15 @@ function armsCrossed(theta1, theta2) {
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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 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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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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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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@@ -285,7 +285,7 @@ function checkWorkspace(x, y) {
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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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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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@@ -47,7 +47,6 @@ 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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@@ -226,58 +225,9 @@ async function zeroMotor(motor) {
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}
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// ─────────────────────────────────────────────────────────────────
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// Homing
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// Manual jog
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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';
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}
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/** Called when the firmware sends HOMED or when simulating. */
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function onHomingComplete() {
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steps1 = 0;
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steps2 = 0;
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setHomingActive(false);
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renderArmFromSteps();
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UI.log('✓ Homing complete — step counters reset to zero.', 'success');
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}
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async function startHoming() {
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if (isHoming) return;
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setHomingActive(true);
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UI.log('⧐ Homing started — arm moving to mechanical stops…', 'warn');
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if (BLE.isConnected()) {
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try {
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await BLE.write('HOME');
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// onHomingComplete() will be called when HOMED notify arrives
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} catch (e) {
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UI.log(`BLE error during home: ${e.message}`, 'error');
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setHomingActive(false);
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}
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} else {
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// Simulation: instant reset
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UI.log('[sim] HOME command sent — simulating instant home', 'info');
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setTimeout(onHomingComplete, 600);
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}
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}
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// ─────────────────────────────────────────────────────────────────
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// SVG workspace zones (pre-computed)
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// ─────────────────────────────────────────────────────────────────
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@@ -401,19 +351,7 @@ function buildHTML() {
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.quick-steps button { flex:1; min-width:30px; padding:4px 2px; font-size:0.68rem;
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border-radius:var(--radius-xs); }
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/* Disable all interactive elements during homing */
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.homing-active button:not(#btn-find-home),
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.homing-active input,
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.homing-active #scara-svg {
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pointer-events: none;
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opacity: 0.4;
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}
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/* Spinner animation for homing button */
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@keyframes spin { to { transform: rotate(360deg); } }
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.home-spin { display:inline-block; width:13px; height:13px;
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border:2px solid currentColor; border-top-color:transparent;
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border-radius:50%; animation:spin 0.7s linear infinite;
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vertical-align:middle; margin-right:5px; }
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</style>
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<div class="section-page fade-in">
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@@ -614,19 +552,6 @@ function buildHTML() {
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<span style="font-size:0.72rem;color:var(--text-muted)">Incremental step control — bypasses IK</span>
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</div>
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<!-- Find Home -->
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<div style="padding:4px 0 14px;border-bottom:1px solid var(--border);margin-bottom:12px">
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<div style="font-size:0.70rem;color:var(--text-muted);margin-bottom:8px;line-height:1.5">
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⚠️ Drives each arm slowly into its mechanical stop then backs off to
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operating home. Takes ~15–20 s. All controls are locked during homing.
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</div>
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<button class="btn btn-full" id="btn-find-home"
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style="background:rgba(255,152,0,0.12);border:1px solid rgba(255,152,0,0.35);
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color:var(--accent-amber);font-weight:700;font-size:0.85rem;padding:10px">
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<span class="home-spin" id="home-spinner" style="display:none"></span>
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<span id="home-label">⌂ Find Home</span>
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</button>
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</div>
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<div class="jog-compact">
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<!-- Motor 1 -->
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@@ -818,11 +743,6 @@ const StepperTestSection = {
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// ── BLE NOTIFY position feedback ──────────────────────────────
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function onBLEStatus(e) {
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const msg = e.detail;
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if (msg === 'HOMED') {
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// Firmware completed homing — sync browser counters
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onHomingComplete();
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return;
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}
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if (msg.startsWith('P:')) {
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const [s1, s2] = msg.slice(2).split(',').map(Number);
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steps1 = s1; steps2 = s2;
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@@ -831,9 +751,6 @@ const StepperTestSection = {
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}
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document.addEventListener('ble:status', onBLEStatus);
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// ── Find Home button ──────────────────────────────────────
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document.getElementById('btn-find-home').addEventListener('click', startHoming);
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eventCleanup = [
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() => BLE.off('connected', updateBadge),
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() => BLE.off('disconnected', updateBadge),
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