From 1cbcf499e4436669ff85fa2b76d1663ec1f158d5 Mon Sep 17 00:00:00 2001
From: Christian <80114847+TheBest6337@users.noreply.github.com>
Date: Fri, 6 Feb 2026 19:10:57 +0100
Subject: [PATCH] Add manual homing functionality for addon motor 3

---
 .../winder/gluetex/hooks/useGluetex.ts        | 12 ++++++
 .../gluetex/pages/GluetexAddonsPage.tsx       | 12 ++++++
 machines/src/gluetex/api.rs                   |  5 +++
 .../controllers/addon_motor_controller.rs     | 42 +++++++++++++++++++
 4 files changed, 71 insertions(+)

diff --git a/electron/src/machines/winder/gluetex/hooks/useGluetex.ts b/electron/src/machines/winder/gluetex/hooks/useGluetex.ts
index 768c7985..29a7dc41 100644
--- a/electron/src/machines/winder/gluetex/hooks/useGluetex.ts
+++ b/electron/src/machines/winder/gluetex/hooks/useGluetex.ts
@@ -250,6 +250,9 @@ export function useGluetex() {
   const { request: requestAddonMotor3SetPause } = useMachineMutation(
     z.object({ SetAddonMotor3Pause: z.number() }),
   );
+  const { request: requestHomeAddonMotor3 } = useMachineMutation(
+    z.literal("HomeAddonMotor3"),
+  );
 
   // Slave Puller mutations
   const { request: requestSlavePullerSetEnabled } = useMachineMutation(
@@ -1016,6 +1019,14 @@ export function useGluetex() {
     });
   };
 
+  const homeAddonMotor3 = () => {
+    // Trigger manual homing for addon motor 3
+    requestHomeAddonMotor3({
+      machine_identification_unique: machineIdentification,
+      data: "HomeAddonMotor3",
+    });
+  };
+
   // Addon Motor Forward direction setters
   const setStepper3Forward = (forward: boolean) => {
     updateStateOptimistically(
@@ -1788,5 +1799,6 @@ export function useGluetex() {
     setStepper5Forward,
     setStepper3Konturlaenge,
     setStepper3Pause,
+    homeAddonMotor3,
   };
 }
diff --git a/electron/src/machines/winder/gluetex/pages/GluetexAddonsPage.tsx b/electron/src/machines/winder/gluetex/pages/GluetexAddonsPage.tsx
index 2b45e1fb..69c40e4d 100644
--- a/electron/src/machines/winder/gluetex/pages/GluetexAddonsPage.tsx
+++ b/electron/src/machines/winder/gluetex/pages/GluetexAddonsPage.tsx
@@ -45,6 +45,7 @@ export function GluetexAddonsPage() {
     setStepper5Slave,
     setStepper3Konturlaenge,
     setStepper3Pause,
+    homeAddonMotor3,
   } = useGluetex();
 
   // Calculate max speed based on gear ratio (same as main puller)
@@ -318,6 +319,17 @@ export function GluetexAddonsPage() {
                 </StatusBadge>
               </Label>
             )}
+          <Label label="Stepper 3 Homing">
+            <TouchButton
+              variant="outline"
+              icon="lu:House"
+              onClick={homeAddonMotor3}
+              disabled={isDisabled}
+              isLoading={isLoading}
+            >
+              Home Motor
+            </TouchButton>
+          </Label>
         </ControlCard>
 
         <ControlCard title="Addon Tension Arm">
diff --git a/machines/src/gluetex/api.rs b/machines/src/gluetex/api.rs
index 402ea50d..b2554699 100644
--- a/machines/src/gluetex/api.rs
+++ b/machines/src/gluetex/api.rs
@@ -189,6 +189,7 @@ pub enum Mutation {
     SetAddonMotor5SlaveRatio(f64),
     SetAddonMotor3Konturlaenge(f64),
     SetAddonMotor3Pause(f64),
+    HomeAddonMotor3,
 
     // Slave Puller
     SetSlavePullerEnabled(bool),
@@ -769,6 +770,10 @@ impl MachineApi for Gluetex {
                 self.addon_motor_3_controller.set_pause_mm(pause_mm);
                 self.emit_state();
             }
+            Mutation::HomeAddonMotor3 => {
+                self.addon_motor_3_controller.start_manual_homing();
+                self.emit_state();
+            }
             Mutation::SetSlavePullerEnabled(enabled) => {
                 self.slave_puller_user_enabled = enabled;
                 // Re-apply the current mode to update the controller state
diff --git a/machines/src/gluetex/controllers/addon_motor_controller.rs b/machines/src/gluetex/controllers/addon_motor_controller.rs
index 78879dc5..5c0b4109 100644
--- a/machines/src/gluetex/controllers/addon_motor_controller.rs
+++ b/machines/src/gluetex/controllers/addon_motor_controller.rs
@@ -41,6 +41,8 @@ pub struct AddonMotorController {
     accumulated_distance: f64,
     /// Whether the motor needs homing on next enable
     needs_homing: bool,
+    /// Whether the motor is in manual homing mode (triggered by user button)
+    manual_homing: bool,
 }
 
 impl AddonMotorController {
@@ -60,6 +62,7 @@ impl AddonMotorController {
             pattern_state: PatternControlState::Idle,
             accumulated_distance: 0.0,
             needs_homing: false,
+            manual_homing: false,
         }
     }
 
@@ -168,6 +171,19 @@ impl AddonMotorController {
         self.pattern_state
     }
 
+    /// Start manual homing - moves motor in positive direction until endstop is hit
+    ///
+    /// This method initiates a manual homing sequence, putting the motor into
+    /// the Homing state. The motor will move in the positive direction at a fixed
+    /// speed until the endstop is triggered, then automatically go to standby.
+    pub fn start_manual_homing(&mut self) {
+        self.enabled = true;
+        self.manual_homing = true;
+        self.pattern_state = PatternControlState::Homing;
+        self.accumulated_distance = 0.0;
+        self.needs_homing = false;
+    }
+
     /// Calculate the motor angular velocity based on puller angular velocity and ratio
     ///
     /// # Arguments
@@ -211,6 +227,32 @@ impl AddonMotorController {
         endstop_hit: Option<bool>,
         puller_length_moved: Length,
     ) {
+        // Handle manual homing first (highest priority)
+        if self.manual_homing {
+            // Enable motor if not already enabled
+            if !motor.is_enabled() {
+                motor.set_enabled(true);
+            }
+
+            if let Some(endstop_triggered) = endstop_hit {
+                if endstop_triggered {
+                    // Endstop hit - stop motor, disable, and exit manual homing
+                    let _ = motor.set_speed(0.0);
+                    motor.set_enabled(false);
+                    self.enabled = false;
+                    self.manual_homing = false;
+                    self.pattern_state = PatternControlState::Idle;
+                    return;
+                }
+            }
+
+            // Move towards endstop at fixed speed (0.5 rev/s regardless of puller speed)
+            let homing_velocity = AngularVelocity::new::<revolution_per_second>(0.5);
+            let steps_per_second = self.converter.angular_velocity_to_steps(homing_velocity);
+            let _ = motor.set_speed(steps_per_second);
+            return;
+        }
+
         if !self.enabled {
             // If disabled, ensure motor is not enabled
             if motor.is_enabled() {