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@@ -470,13 +470,15 @@ def home(timeout=60):
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# Import pattern_manager here to avoid circular import
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from modules.core import pattern_manager
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- # Move radial arm to perimeter (theta=0, rho=1)
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- logger.info("Moving radial arm to perimeter (theta=0, rho=1)")
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+ # Move radial arm to perimeter
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+ # Since current_rho is already 0 from radial homing, we move from (0,0) to (0,1)
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+ logger.info("Moving radial arm to perimeter (rho: 0 -> 1)")
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loop = asyncio.new_event_loop()
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asyncio.set_event_loop(loop)
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try:
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- # Move to perimeter and wait for completion
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- loop.run_until_complete(pattern_manager.move_polar(0, 1.0, homing_speed))
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+ # Move radially outward to perimeter while keeping theta at 0
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+ # current_theta is 0, so this moves from (theta=0, rho=0) to (theta=0, rho=1)
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+ loop.run_until_complete(pattern_manager.move_polar(state.current_theta, 1.0, homing_speed))
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# Wait for device to reach idle state
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idle_reached = check_idle()
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@@ -486,26 +488,28 @@ def home(timeout=60):
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return
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# Wait 1 second for stabilization
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+ logger.info("Radial arm now at perimeter. Starting angular rotation...")
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time.sleep(1)
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# Perform angular rotation until reed switch is triggered
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- logger.info("Rotating around perimeter to find home position (theta=6.28, rho=1)")
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+ logger.info("Rotating around perimeter to find home position (up to one full rotation)")
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# Rotate in small increments, checking reed switch after each move
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- increment = 0.2 # Angular increment in radians
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+ increment = 0.2 # Angular increment in radians (~11.5 degrees)
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current_theta = 0
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- max_theta = 6.28 # One full rotation (2*pi)
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+ max_theta = 6.28 # One full rotation (2*pi radians)
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reed_switch_triggered = False
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while current_theta < max_theta:
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# Check reed switch before moving
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if reed_switch.is_triggered():
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- logger.info(f"Reed switch triggered at theta={current_theta}")
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+ logger.info(f"Reed switch triggered at theta={current_theta:.2f} rad ({current_theta*57.3:.1f} deg)")
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reed_switch_triggered = True
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break
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- # Move to next position
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+ # Move to next angular position while maintaining rho=1.0
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current_theta += increment
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+ logger.debug(f"Moving to theta={current_theta:.2f} rad ({current_theta*57.3:.1f} deg), rho=1.0")
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loop.run_until_complete(
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pattern_manager.move_polar(current_theta, 1.0, homing_speed)
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)
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@@ -518,7 +522,7 @@ def home(timeout=60):
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# Check reed switch after move completes
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if reed_switch.is_triggered():
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- logger.info(f"Reed switch triggered at theta={current_theta}")
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+ logger.info(f"Reed switch triggered at theta={current_theta:.2f} rad ({current_theta*57.3:.1f} deg)")
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reed_switch_triggered = True
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break
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tuanchris