delete homing. Have to redo

2026-07-06 15:40:15 +02:00
parent ee8a2d97ed
commit f652b741ae
5 changed files with 119 additions and 208 deletions
@@ -1 +1 @@
-You didn't finish writing home for web. Analyse it properly as it was quota reached. I can see that there is definitely wron position on map at the start. I do not know what else but you should properly finish homing sequence it was done for mcu already
+Implement mechanical stall homing
@@ -50,20 +50,6 @@
 #define DEFAULT_SPEED   600.0f    // steps/sec
 #define DEFAULT_ACCEL   100.0f    // steps/sec²

-// ─── Homing configuration ─────────────────────────────────────────
-// TUNE these after first hardware test.
-//   SEEK_DIR: +1 = CW (positive steps), -1 = CCW toward stop
-//   SEEK_STEPS: must exceed maximum arm travel (~240° = 1365 steps)
-//   OP_OFFSET: steps from the mechanical stop to the operating home
-//              (derived from original PositionControl.cpp homing offsets)
-#define M1_HOME_DIR      (-1)     // ← TUNE: flip to +1 if M1 moves wrong way
-#define M2_HOME_DIR      (+1)     // ← TUNE: flip to -1 if M2 moves wrong way
-#define HOME_SEEK_STEPS  1600     // ← TUNE: > max travel; 1600 ≈ 281° of a rev
-#define HOME_SPEED       180.0f   // ← TUNE: slow seek to avoid missing steps
-#define HOME_ACCEL        50.0f   // ← TUNE: gentle accel during seek
-#define M1_OP_OFFSET      550     // ← TUNE: steps from M1 stop → operating home
-#define M2_OP_OFFSET     -530     // ← TUNE: steps from M2 stop → operating home
-
 // ─── BLE UUIDs ────────────────────────────────────────────────────
 #define SERVICE_UUID    "a0b1c2d3-e4f5-6789-abcd-ef0123456700"
 #define CMD_UUID        "a0b1c2d3-e4f5-6789-abcd-ef0123456701"
@@ -87,7 +73,6 @@ const unsigned long NOTIFY_INTERVAL_MS = 200;
 // ─── Forward declarations ─────────────────────────────────────────
 void parseCommand(const String& cmd);
 void sendPosition();
-void runHoming();

 // ─── BLE Server Callbacks ─────────────────────────────────────────
 class ServerCallbacks : public BLEServerCallbacks {
@@ -145,13 +130,7 @@ void parseCommand(const String& cmd) {
        Serial.printf("[CFG] Acceleration → %.0f steps/sec²\n", acc);
        return;
    }
-    // HOME – full stall-seek homing sequence
-    if (cmd == "HOME") {
-        Serial.println("[HOME] Received HOME command");
-        runHoming();
-        return;
-    }
-    // HOME1 / HOME2 – manual zero (soft zero, no motion)
+    // HOME1
    if (cmd == "HOME1") {
        stepper1.setCurrentPosition(0);
        Serial.println("[S1] Zeroed");
@@ -173,80 +152,6 @@ void parseCommand(const String& cmd) {
    Serial.printf("[CMD] Unknown command: '%s'\n", cmd.c_str());
 }

-// ─── Stall-based homing sequence ─────────────────────────────────
-/**
- * Drives each motor slowly into its mechanical hard stop (the arm
- * folds against the motor housing).  The 28BYJ-48 stalls harmlessly
- * for a fraction of a second at the stop.  After both stops are
- * found, the arm backs off to the operating home position and both
- * step counters are zeroed.
- *
- * This is a BLOCKING call — BLE is not serviced during homing
- * (~15-20 s total). The browser shows "Homing…" until the
- * HOMED notify arrives.
- *
- * Tune M1_HOME_DIR, M2_HOME_DIR, HOME_SEEK_STEPS, and OP_OFFSETs
- * after the first hardware test.
- */
-void runHoming() {
-    Serial.println("[HOME] Starting homing sequence…");
-
-    // Reduce speed for the seek phase
-    stepper1.setMaxSpeed(HOME_SPEED);
-    stepper1.setAcceleration(HOME_ACCEL);
-    stepper2.setMaxSpeed(HOME_SPEED);
-    stepper2.setAcceleration(HOME_ACCEL);
-
-    // ── Seek M1 to its mechanical stop ───────────────────────────
-    Serial.println("[HOME] Seeking M1 stop…");
-    stepper1.move(M1_HOME_DIR * HOME_SEEK_STEPS);
-    while (stepper1.isRunning()) {
-        stepper1.run();
-        stepper2.run(); // keep M2 coils energised during M1 seek
-    }
-    stepper1.setCurrentPosition(0);
-    Serial.println("[HOME] M1 stop found → zeroed");
-    delay(200); // brief pause before M2 seek
-
-    // ── Seek M2 to its mechanical stop ───────────────────────────
-    Serial.println("[HOME] Seeking M2 stop…");
-    stepper2.move(M2_HOME_DIR * HOME_SEEK_STEPS);
-    while (stepper2.isRunning()) {
-        stepper1.run();
-        stepper2.run();
-    }
-    stepper2.setCurrentPosition(0);
-    Serial.println("[HOME] M2 stop found → zeroed");
-    delay(200);
-
-    // ── Move to operating home (restore normal speed) ─────────────
-    stepper1.setMaxSpeed(DEFAULT_SPEED);
-    stepper1.setAcceleration(DEFAULT_ACCEL);
-    stepper2.setMaxSpeed(DEFAULT_SPEED);
-    stepper2.setAcceleration(DEFAULT_ACCEL);
-
-    Serial.println("[HOME] Moving to operating home…");
-    stepper1.moveTo(M1_OP_OFFSET);
-    stepper2.moveTo(M2_OP_OFFSET);
-    while (stepper1.isRunning() || stepper2.isRunning()) {
-        stepper1.run();
-        stepper2.run();
-    }
-
-    // Declare operating home as the new step zero
-    stepper1.setCurrentPosition(0);
-    stepper2.setCurrentPosition(0);
-    Serial.println("[HOME] Homing complete — at operating home (0, 0)");
-
-    // Notify the browser so it can sync its step counters
-    if (bleConnected && pStatusChar) {
-        pStatusChar->setValue("HOMED");
-        pStatusChar->notify();
-    }
-    delay(50);
-    sendPosition(); // immediately follow with P:0,0
-}
-
 // ─── Send current positions via BLE NOTIFY ────────────────────────
 void sendPosition() {
    if (!bleConnected || !pStatusChar) return;
@@ -47,7 +47,6 @@ const PX_D2 = IK.ARM.d2 * SV.SCALE;
 // ── Section state ─────────────────────────────────────────────────
 let steps1 = 0;
 let steps2 = 0;
-let isHoming = false;   // blocks all controls during homing sequence
 let eventCleanup = [];

 // ── SVG element refs ──────────────────────────────────────────────
@@ -226,58 +225,9 @@ async function zeroMotor(motor) {
 }

 // ─────────────────────────────────────────────────────────────────
-//  Homing
+//  Manual jog
 // ─────────────────────────────────────────────────────────────────

-/** Block / unblock all interactive controls while homing is running. */
-function setHomingActive(active) {
-  isHoming = active;
-  const root = document.querySelector('.section-page');
-  if (!root) return;
-  if (active) {
-    root.classList.add('homing-active');
-  } else {
-    root.classList.remove('homing-active');
-  }
-  // Update the button label
-  const btn  = document.getElementById('btn-find-home');
-  const spin = document.getElementById('home-spinner');
-  const lbl  = document.getElementById('home-label');
-  if (!btn) return;
-  btn.disabled = active;
-  if (spin) spin.style.display = active ? '' : 'none';
-  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)
 // ─────────────────────────────────────────────────────────────────
@@ -401,19 +351,7 @@ function buildHTML() {
    .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">
@@ -614,19 +552,6 @@ function buildHTML() {
        <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 -->
@@ -818,11 +743,6 @@ 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;
@@ -831,9 +751,6 @@ 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),
@@ -0,0 +1,89 @@
+# WijiBoard Wiring Diagram
+
+This document outlines the hardware connections for the WijiBoard. 
+
+## Hardware Components
+- **Microcontroller**: Waveshare ESP32-S3-Zero
+- **Motors**: 2× 28BYJ-48 (5V Stepper Motors)
+- **Motor Drivers**: 2× ULN2003 Driver Boards
+- **Power System**: 
+  - 4S LiPo Battery
+  - XH-M609 Battery Low-Voltage Disconnect Module
+  - 2× Buck Regulators (step-down converters tuned to 5V)
+
+---
+
+## Power Connections
+The system is powered by a 4S LiPo battery. To protect the battery from over-discharge, it is connected to an **XH-M609** module. The output of the XH-M609 is split into two separate **Buck Regulators**, both tuned to output 5V.
+
+1. **Buck Regulator 1 (MCU Power)**: Dedicated to powering the ESP32-S3-Zero.
+2. **Buck Regulator 2 (Motor Power)**: Dedicated to powering both ULN2003 driver boards to prevent voltage drops or electrical noise from affecting the MCU.
+
+> [!IMPORTANT]
+> **Common Ground**: You MUST connect the Ground (GND) from the ESP32 to the Ground (GND) of the ULN2003 drivers. Even though they have separate 5V power supplies, they need a common ground reference for the GPIO logic signals to work correctly.
+
+| Component | Connection | Destination |
+| :--- | :--- | :--- |
+| **4S LiPo** | `BAT+` / `BAT-` | XH-M609 `VIN+` / `VIN-` |
+| **XH-M609** | `VOUT+` / `VOUT-` | Split to **IN+** and **IN-** on both Buck Regulators |
+| **Buck 1 (MCU)** | `OUT+ (5V)` | ESP32-S3-Zero `5V` (used as power input) |
+| **Buck 1 (MCU)** | `OUT- (GND)` | ESP32-S3-Zero `GND` |
+| **Buck 2 (Motors)**| `OUT+ (5V)` | ULN2003 (M1) `+ / 5V` and ULN2003 (M2) `+ / 5V` |
+| **Buck 2 (Motors)**| `OUT- (GND)` | ULN2003 (M1) `- / GND` and ULN2003 (M2) `- / GND` |
+| **ESP32-S3-Zero** | `GND` | Tie to the motor ground network (Common Ground) |
+
+---
+
+## Motor 1 (Right Motor) Logic
+**Physical Location**: Right side (pivot at +12.9mm)
+
+| ESP32-S3-Zero Pin | ULN2003 (Motor 1) Pin |
+| :--- | :--- |
+| **GPIO 4** | `IN1` |
+| **GPIO 5** | `IN2` |
+| **GPIO 6** | `IN3` |
+| **GPIO 7** | `IN4` |
+
+---
+
+## Motor 2 (Left Motor) Logic
+**Physical Location**: Left side (pivot at -12.9mm)
+
+| ESP32-S3-Zero Pin | ULN2003 (Motor 2) Pin |
+| :--- | :--- |
+| **GPIO 8** | `IN1` |
+| **GPIO 9** | `IN2` |
+| **GPIO 10** | `IN3` |
+| **GPIO 11** | `IN4` |
+
+---
+
+## Stepper to Driver Connections
+Simply plug the white 5-pin JST connectors from the 28BYJ-48 motors into the corresponding white sockets on their respective ULN2003 driver boards. The connector is keyed and only fits one way.
+
+## Schematic Overview
+
+```mermaid
+flowchart LR
+    subgraph Power Delivery
+        BATT[4S LiPo Battery] -->|14.8V| XHM609[XH-M609 Protector]
+        XHM609 -->|14.8V| BUCK1[Buck Regulator 1]
+        XHM609 -->|14.8V| BUCK2[Buck Regulator 2]
+    end
+
+    BUCK1 -->|5V Power| ESP[ESP32-S3-Zero]
+    BUCK2 -->|5V Power| M1_Driver[ULN2003 M1]
+    BUCK2 -->|5V Power| M2_Driver[ULN2003 M2]
+    
+    %% Common Ground
+    ESP -. Common Ground .- M1_Driver
+    ESP -. Common Ground .- M2_Driver
+    
+    %% Logic Signals
+    ESP -- Pins 4,5,6,7 --> M1_Driver
+    ESP -- Pins 8,9,10,11 --> M2_Driver
+    
+    %% Motors
+    M1_Driver == 5-wire cable ==> M1[Motor 1 - Right]
+    M2_Driver == 5-wire cable ==> M2[Motor 2 - Left]
+```