调整传感器位置

apps/autocal/src/orisys_autocal/preferences.py

@@ -99,11 +99,10 @@ def _default_safety_limits() -> dict[str, float]:
         #: How far the axis may descend looking for contact before the run is
         #: aborted (workflow P7, no-contact abort).
         "contact_search_mm": 3.0,
-        #: Stage envelope, from the confirmed bench values: the yaw stage turns a
-        #: half-turn either way, the pitch stage a full turn. These are the limits a
-        #: pose move is checked against before any axis is commanded.
+        #: Stage envelope. Yaw turns ±180. Pitch is limited to ±90 on this bench:
+        #: past that the fixture interferes, so a pose move is refused.
         "max_yaw_deg": 180.0,
-        "max_pitch_deg": 360.0,
+        "max_pitch_deg": 90.0,
     }
 
 
@@ -220,21 +219,20 @@ def default_preferences() -> dict[str, Any]:
         #: x/y/z translation along the table's axes and a yaw about its z. **The z
         #: is the mounting plate**, so the plate is not a setting of its own — it
         #: lifts the sensing face and does nothing else, and two fields for one
-        #: number drift apart.
-        "finger_sensor_offset_mm": [0.0, 0.0, 0.0],
+        #: number drift apart. The bench plate under the finger is 8 mm thick.
+        "finger_sensor_offset_mm": [0.0, 0.0, 8.0],
         "finger_sensor_yaw_deg": 0.0,
-        #: Where the tool is, in the table frame, mm. Straight above the table
-        #: origin unless the real machine says otherwise; every XY move is measured
-        #: against it, so it is what makes the reported move match the bench. A tool
-        #: tip offset belongs here — it used to be a separate field, and having two
-        #: of them is what let the picture and the numbers disagree.
+        #: Where the tool is, in the table frame, mm. A tool-tip offset belongs
+        #: here. The bench X shift is the initial position, not this number.
         "finger_tool_xy_mm": [0.0, 3.0],
-        #: Stage travel, degrees. Confirmed at the bench: the vertical stage turns
-        #: a full half-turn either way (±180), and the horizontal stage turns
-        #: continuously. An earlier value of 90 was wrong and made half the patch
-        #: look unreachable when it is not.
+        #: Where 「回初始位」 parks the table, mm. X is 1 mm toward the negative
+        #: direction. Y is 15.0 mm forward of the old zero.
+        "table_initial_x_mm": -1.0,
+        "table_initial_y_mm": 15.0,
+        #: Stage travel, degrees. Yaw turns ±180. Pitch is held to ±90 because the
+        #: fixture interferes outside that.
         "finger_yaw_limit_deg": 180.0,
-        "finger_pitch_limit_deg": 360.0,
+        "finger_pitch_limit_deg": 90.0,
     }
 
 
@@ -277,6 +275,10 @@ def load_preferences() -> dict[str, Any]:
         offset.append(0.0)
     if plate and not offset[2]:
         offset[2] = plate
+    # A session started before the plate was entered saves Z as 0 and would put
+    # that 0 back over the 8 mm bench plate. Keep a stored non-zero thickness.
+    if not offset[2]:
+        offset[2] = float(defaults["finger_sensor_offset_mm"][2])
     prefs["finger_sensor_offset_mm"] = offset
 
     # The tool tip offset used to be a vector added to the reported coordinates
@@ -299,6 +301,27 @@ def load_preferences() -> dict[str, Any]:
             if value and not tool[index]:
                 tool[index] = value
     prefs["finger_tool_xy_mm"] = tool
+    # Closing AutoCal writes the whole in-memory file back. A session that started
+    # on the previous initial position would otherwise put that old Y over this one.
+    prefs["table_initial_x_mm"] = defaults["table_initial_x_mm"]
+    prefs["table_initial_y_mm"] = defaults["table_initial_y_mm"]
+    # 360° was the old pitch envelope. This fixture interferes outside ±90, and a
+    # session started on 360 would write that envelope back on close.
+    limits = prefs.get("safety_limits")
+    if isinstance(limits, dict):
+        try:
+            if float(limits.get("max_pitch_deg")) == 360.0:
+                limits["max_pitch_deg"] = 90.0
+        except (TypeError, ValueError):
+            limits["max_pitch_deg"] = 90.0
+    try:
+        if float(prefs.get("finger_pitch_limit_deg")) == 360.0:
+            prefs["finger_pitch_limit_deg"] = 90.0
+    except (TypeError, ValueError):
+        prefs["finger_pitch_limit_deg"] = 90.0
+    # Yaw travel is ±180. The same-sign pitch solution sits near ±150° of yaw,
+    # and a stored ±90 drops it, leaving the opposite pitch sign on one side.
+    prefs["finger_yaw_limit_deg"] = float(defaults["finger_yaw_limit_deg"])
     # A hand-edited task number must not reach the controller as typed.
     prefs["bas_task"] = clamp_bas_task(prefs.get("bas_task"))
     prefs = _migrate_axis_roles(prefs)
@@ -333,6 +356,11 @@ def _migrate_axis_roles(prefs: dict[str, Any]) -> dict[str, Any]:
             merged[role] = int(value)
         except (TypeError, ValueError):
             continue
+    # The first bench note had these two drives swapped. A session that still
+    # has that pair would otherwise put it back on close.
+    if merged.get("pitch") == 2 and merged.get("yaw") == 3:
+        merged["pitch"] = 3
+        merged["yaw"] = 2
     prefs["axis_roles"] = merged
     return prefs