From b12b413bf6b4f38c730425ce4c5ed981eeee5f98 Mon Sep 17 00:00:00 2001
From: 2ManyProjects <shaivkamat@gmail.com>
Date: Mon, 22 Sep 2025 00:23:57 -0500
Subject: [PATCH] proper relative stepper movement

---
 sketch/sketch.ino | 47 ++++++++++++++++++++++++++++-------------------
 1 file changed, 28 insertions(+), 19 deletions(-)

diff --git a/sketch/sketch.ino b/sketch/sketch.ino
index a9448d9..fa84a6f 100644
--- a/sketch/sketch.ino
+++ b/sketch/sketch.ino
@@ -41,7 +41,7 @@
 #define Z_MIN_PIN 46
 #define Z_MAX_PIN 40
 #define E_HOME_PIN 48
-#define ELECTROMAGNET_RELAY_PIN 10
+#define ELECTROMAGNET_RELAY_PIN 22
 #define LATCH_PIN 11
 
 //Mem addresses
@@ -208,37 +208,45 @@ void calibrateAndHome() {
     Serial.println("Starting calibration");
 
 
-    calibrateEndEffectorCarousal();
-    delay(2500);
+    // calibrateEndEffectorCarousal();
+    // delay(500);
     // moveEffectorIndex(1);
-    // delay(2500);
+    // delay(500);
     // moveEffectorIndex(2);
-    // delay(2500);
+    // delay(500);
     // moveEffectorIndex(3);
-    // delay(2500);
+    // delay(500);
     // moveEffectorIndex(4);
-    // delay(2500);
+    // delay(500);
     // moveEffectorIndex(5);
-    // delay(2500);
-    // moveEffectorIndex(2);
-    // delay(2500);
-    // moveEffectorIndex(0);
-
-
+    // delay(500);
+    // moveEffectorIndex(0); //base position
+    // delay(500);
 
     calibrateXaxis();
     calculateStepsPerCM(); 
-    moveToXCM(X_TRAVEL_CM / 2);
+    moveToXCM((X_TRAVEL_CM / 2) - 0.5);
+    delay(2500);
 
     calibrateZaxis();
     calculateStepsPerCM(); 
-    moveToZCM(Z_TRAVEL_CM / 2);
+    moveToZCM(Z_TRAVEL_CM / 4);
     delay(2500);
 
     calibrateYaxis();
     calculateStepsPerCM(); 
-    moveToYCM(Y_TRAVEL_CM / 2);
+    moveToYCM((Y_TRAVEL_CM / 6) * 5);
     delay(2500);
+    
+    // Move Align with effector 
+
+    moveToXCM((X_TRAVEL_CM / 2) - 0.5);
+    moveToZCM(Z_TRAVEL_CM / 4);
+    moveToYCM((Y_TRAVEL_CM / 6) * 5);
+    moveToZCM(Z_TRAVEL_CM - 3.5);
+    moveToYCM((Y_TRAVEL_CM / 6) * 4);
+    connectElectromagnet();
+    moveToYCM((Y_TRAVEL_CM / 6) * 5);
 
     
     saveCalibrationData();
@@ -504,6 +512,8 @@ void moveToXCM(float xCM){
     long xTarget = cmToStepsX(xCM);
     
     Serial.print("Moving to: X="); Serial.print(xCM); Serial.println("cm");
+    Serial.print("Moving to: X="); Serial.print(xTarget); Serial.println("step");
+    Serial.print("Current Pos: X="); Serial.print(stepperX.currentPosition()); Serial.println("step");
     
     stepperX.moveTo(xTarget);
 
@@ -602,8 +612,9 @@ void connectElectromagnet() {
 }
 
 void disconnectElectromagnet() {
+    Serial.println("disconnectElectromagnet");
     digitalWrite(ELECTROMAGNET_RELAY_PIN, LOW); 
-    Serial.println("Electromagnet OFF - End effector disconnected");
+    Serial.println("Electromagnet OFF");
 }
 
 
@@ -662,8 +673,6 @@ void latch()
     servo.write(LATCH_ANGLE);           
     delay(500);       
 }
-// cur 5 goal 2
-// 
 
 
 void moveEffectorIndex(short index) {