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@@ -470,15 +470,29 @@ 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
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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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+ # Move radial arm to perimeter using direct GRBL coordinates
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+ logger.info("Moving radial arm to perimeter (Y + 20mm)")
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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 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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+ # Send direct GRBL command: keep X the same, move Y outward by 20mm
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+ target_x = state.machine_x
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+ target_y = state.machine_y + 20
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+ logger.info(f"Sending GRBL: X={target_x:.3f}, Y={target_y:.3f}")
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+
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+ result = loop.run_until_complete(
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+ send_grbl_coordinates(target_x, target_y, homing_speed)
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+ )
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+
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+ if result == False:
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+ logger.error("Failed to move to perimeter - send_grbl_coordinates returned False")
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+ homing_complete.set()
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+ return
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+
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+ # Update machine position and polar coordinates
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+ state.machine_y += 20
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+ state.current_rho = 1.0 # Now at perimeter
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+ logger.info(f"Updated position: theta={state.current_theta}, rho={state.current_rho}")
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# Wait for device to reach idle state
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idle_reached = check_idle()
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tuanchris