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@@ -456,82 +456,81 @@ def home(timeout=60):
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homing_complete.set()
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return
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- # Perform angular homing if enabled (Raspberry Pi only)
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+ # Set rho to 0 after radial homing completes
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+ state.current_rho = 0
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+
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+ # Perform angular homing if enabled
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if state.angular_homing_enabled:
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logger.info("Starting angular homing sequence")
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+ angular_homing_success = False
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try:
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# Initialize reed switch monitor
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reed_switch = ReedSwitchMonitor(gpio_pin=18)
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- if not reed_switch.is_raspberry_pi:
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- logger.warning("Angular homing is enabled but not running on Raspberry Pi. Skipping angular homing.")
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- else:
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- # Move radial arm to perimeter
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- logger.info("Moving radial arm to perimeter (y20)")
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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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- result = loop.run_until_complete(send_grbl_coordinates(0, 20, 400, home=False))
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- if result == False:
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- logger.error("Failed to move to perimeter for angular homing")
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- homing_complete.set()
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- return
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- state.machine_y += 20
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-
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- # Wait for idle
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- idle_reached = check_idle()
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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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-
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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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-
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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 (6.28 radians)")
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- # We'll do this in small increments to check the reed switch
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- # One full rotation is 2*pi (6.28) radians
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- increment = 0.1 # Small angular increment
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- current_theta = 0
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- max_theta = 6.28 # One full rotation
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-
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- while current_theta < max_theta:
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- # Check reed switch
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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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- break
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-
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- # Move to next position
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- current_theta += increment
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- result = loop.run_until_complete(
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- asyncio.to_thread(
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- pattern_manager.motion_controller._move_polar_sync,
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- current_theta,
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- 1.0, # rho = 1.0 (perimeter)
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- 400 # speed
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- )
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- )
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-
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- # Small delay to allow reed switch to settle
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- time.sleep(0.05)
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-
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- if current_theta >= max_theta:
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- logger.warning("Completed full rotation without reed switch trigger")
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-
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- # Set theta to 0 at this position
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- state.current_theta = 0
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- logger.info("Angular homing completed")
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-
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- finally:
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- loop.close()
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- reed_switch.cleanup()
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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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+
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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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+ 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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+
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+ # Wait 1 second for stabilization
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+ time.sleep(1)
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+
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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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+
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+ # Start rotation to theta=6.28 (one full rotation)
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+ # We'll check the reed switch in small increments during the rotation
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+ increment = 0.1 # Small angular increment
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+ current_theta = 0
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+ max_theta = 6.28 # One full rotation
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+ reed_switch_triggered = False
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+
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+ while current_theta < max_theta:
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+ # Check reed switch
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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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+ reed_switch_triggered = True
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+ break
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+
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+ # Move to next position
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+ current_theta += increment
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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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+
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+ # Small delay to allow reed switch to settle
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+ time.sleep(0.05)
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+
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+ if not reed_switch_triggered:
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+ logger.warning("Completed full rotation without reed switch trigger")
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+
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+ # Set theta to 0 at this position (home position)
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+ state.current_theta = 0
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+ angular_homing_success = True
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+ logger.info("Angular homing completed - theta set to 0")
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+
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+ finally:
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+ loop.close()
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+ reed_switch.cleanup()
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except Exception as e:
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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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+ # If angular homing failed, still set theta to 0
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+ if not angular_homing_success:
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+ state.current_theta = 0
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+ logger.info("Angular homing failed - setting theta to 0 as fallback")
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+ else:
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+ # Angular homing not enabled, set theta to 0
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+ state.current_theta = 0
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+
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homing_success = True
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logger.info("Homing completed and device is idle")
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tuanchris