Park dome at front (0 deg) after initial homing#62
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thePunderWoman merged 1 commit intomainfrom Apr 19, 2026
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The hall sensor rarely sits at the dome's configured front, so after homing completes the dome would rest at an arbitrary offset. Now, once homing finishes and provided the drive is calibrated and the front offset is non-zero, the firmware automatically seeks 0 deg so the dome ends up facing forward at startup. No-ops safely when not yet calibrated (can't translate degrees to ticks) or when frontOffset is 0 (hall already at front). Co-Authored-By: Claude Opus 4.7 <noreply@anthropic.com>
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Summary
isCalibrated()(needs ticks-per-rev to translate degrees to ticks) andfFrontOffset != 0(hall not already at front). Safe no-op otherwise.speedTargetseek speed — same as anydome=<N>command.Test plan
pio test -e native) — 409/409.pio runformegaatmega2560).domefront != 0): power cycle → dome sweeps to hall, then automatically seeks forward.domefront = 0): power cycle → dome stops at hall (already at front, no extra movement).🤖 Generated with Claude Code