Add CALIBRATE: forced end-stop referencing, split from HOME - #34
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calibrate() always runs the firmware's referencing sequence (each joint seeks its limit switch to re-derive joint zero), even when the robot already reports itself referenced. home() keeps its existing semantics: a planned, collision-checked return to standby, falling back to the referencing sequence only on an uncalibrated robot. This matches the industrial mastering/calibration-vs-home-pose split and aligns parol6 with par6's calibrate behavior. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_0158QrPR5eVhd31AvFpxJKr6
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Adds a
calibrate()command that always runs the firmware's end-stop referencing sequence (each joint seeks its limit switch to re-derive joint zero), even when the robot already reports itself referenced.home()keeps its existing semantics — a planned, collision-checked return to standby, falling back to the referencing sequence only on an uncalibrated robot.This follows the industrial mastering/calibration-vs-home-pose split and aligns parol6 with par6's calibrate behavior (par6 finds both ends; parol6's firmware seeks one). It also covers the forced-re-reference need behind #33's
home(force=True)without overloadinghome().Implementation: new
CalibrateCmdwire struct (enum tag appended, wire-stable),CalibrateCommandreusing HOME's firmware state machine but never fast-pathed by the planner, queued ack policy (returns a command index;wait_commandworks), dry-run preview support, andcalibrate(wait, timeout)on both clients. Unit test pins the contract (CALIBRATE yields an InlineSegment even when referenced); integration test drives it through the real client/server path.🤖 Generated with Claude Code
https://claude.ai/code/session_0158QrPR5eVhd31AvFpxJKr6