Ensure real90 axis moves are signed and axis-aligned#2
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| if abs(dtheta) > 1e-9: | ||
| emit_turn_in_place(out, dtheta, feed_turn) | ||
| heading = axis_y | ||
| emit_straight(out, abs(dy), feed_lin) | ||
| heading = axis_heading | ||
| if abs(delta) > 1e-9: | ||
| emit_straight(out, delta, feed_lin) |
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In axis_move_to, emit_axis_leg now forwards the signed delta to emit_straight after rotating to the target axis heading. When dx/dy is negative (e.g., moving from x=10 to x=0 in real90 mode), the heading is set to π or -π/2 to face the target, but emit_straight receives a negative distance, which drives the robot backwards relative to that heading—moving away from the target instead of toward it. This reverses travel for any negative leg and prevents the plotter from reaching the intended point.
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Summary
Testing
Codex Task