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@@ -474,6 +474,13 @@ def home(timeout=60):
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# Move radial arm to perimeter (theta=0, rho=1.0)
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logger.info("Moving radial arm to perimeter (theta=0, rho=1.0)")
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asyncio.run(pattern_manager.move_polar(0, 1.0, homing_speed))
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+
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+ idle_reached = check_idle()
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+
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+ if not idle_reached:
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+ logger.error("Device did not reach idle state after moving to perimeter")
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+ homing_complete.set()
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+ return
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# Wait 1 second for stabilization
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logger.info("Waiting for stabilization...")
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@@ -515,7 +522,6 @@ def home(timeout=60):
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logger.error(f"Error during angular homing: {e}")
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# Continue with normal homing completion even if angular homing fails
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- state.current_theta = state.current_rho = 0
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homing_success = True
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logger.info("Homing completed and device is idle")
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tuanchris