优化传感器对准压头

apps/autocal/src/orisys_autocal/preferences.py

@@ -248,14 +248,17 @@ def default_preferences() -> dict[str, Any]:
         #: lifts the sensing face and does nothing else, and two fields for one
         #: number drift apart. The bench plate under the finger is 8 mm thick.
         "finger_sensor_offset_mm": [0.0, 0.0, 8.0],
+        # Tip points forward, away from the operator. 180° turned it back toward
+        # the operator; the preview then showed the green tip on the near side.
         "finger_sensor_yaw_deg": 0.0,
         #: 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],
-        #: 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,
+        #: Where 「回初始位」 parks the table, mm. After the power cycle the
+        #: coordinate origin sits on the previous park, so this is the origin:
+        #: one millimetre back in X and 15 mm back in Y from the old target.
+        "table_initial_x_mm": 0.0,
+        "table_initial_y_mm": 0.0,
         #: Stage travel, degrees. Yaw turns ±180. Pitch is held to ±90 because the
         #: fixture interferes outside that.
         "finger_yaw_limit_deg": 180.0,
@@ -312,6 +315,10 @@ def load_preferences() -> dict[str, Any]:
     if not offset[2]:
         offset[2] = float(defaults["finger_sensor_offset_mm"][2])
     prefs["finger_sensor_offset_mm"] = offset
+    # The mounted shell needs no extra yaw: the tip points forward, away from
+    # the operator. A running session still has 180° in memory and writes it
+    # back on close, which would turn the tip toward the operator again.
+    prefs["finger_sensor_yaw_deg"] = float(defaults["finger_sensor_yaw_deg"])
 
     # The tool tip offset used to be a vector added to the reported coordinates
     # while the drawing ignored it, so the picture and the numbers disagreed by