Remove IK enabled option from firmware builder

Author: dennisklappe

tools/firmware-builder/index.html

@@ -1020,15 +1020,6 @@ <h3 class="text-2xl font-bold text-gray-900 mb-2">Inverse kinematics parameters<
                     </div>
 
                     <div class="max-w-xl mx-auto space-y-6">
-                        <!-- IK Enable -->
-                        <label class="flex items-center justify-between p-4 border border-gray-200 rounded-lg cursor-pointer hover:border-primary">
-                            <div>
-                                <span class="font-medium text-gray-900">Enable IK by default</span>
-                                <p class="text-sm text-gray-500">Inverse kinematics enabled on startup (G43.4)</p>
-                            </div>
-                            <input type="checkbox" id="ikEnabled" class="w-5 h-5 text-primary rounded">
-                        </label>
-
                         <div class="section-divider">
                             <span>Axis homing positions</span>
                         </div>

tools/firmware-builder/js/app.js

@@ -97,7 +97,6 @@ const wizardState = {
         invertE: false,
 
         // Step 6: Kinematics
-        ikEnabled: false,
         ikLC: 2.30,
         ikLB: 52.87,
         cHomePos: 0,  // C axis coordinate at home switch
@@ -228,8 +227,7 @@ function setupInputListeners() {
         { id: 'invertZ', key: 'invertZ' },
         { id: 'invertC', key: 'invertC' },
         { id: 'invertB', key: 'invertB' },
-        { id: 'invertE', key: 'invertE' },
-        { id: 'ikEnabled', key: 'ikEnabled' }
+        { id: 'invertE', key: 'invertE' }
     ];
 
     checkboxInputs.forEach(({ id, key }) => {
@@ -569,8 +567,7 @@ function generateConfigSummary() {
         { label: 'Z height', value: `${config.zMaxPos} mm` },
         { label: 'Display', value: formatDisplayName(config.display) },
         { label: 'IK parameters', value: `LC=${config.ikLC}, LB=${config.ikLB}` },
-        { label: 'Axis limits', value: `C home=${config.cHomePos}°, B=±${config.bRange}°` },
-        { label: 'IK default', value: config.ikEnabled ? 'Enabled' : 'Disabled' }
+        { label: 'Axis limits', value: `C home=${config.cHomePos}°, B=±${config.bRange}°` }
     ];
 
     container.innerHTML = summaryItems.map(item => `
@@ -773,7 +770,6 @@ async function buildFirmware() {
             invertB: config.invertB,
             invertE: config.invertE,
             // IK parameters
-            ikEnabled: config.ikEnabled,
             ikLC: config.ikLC,
             ikLB: config.ikLB,
             cHomePos: config.cHomePos,
@@ -1117,7 +1113,6 @@ function applyImportedConfig(config) {
     });
 
     // === IK Parameters ===
-    document.getElementById('ikEnabled').checked = config.ikEnabled;
     document.getElementById('ikLC').value = config.ikLC;
     document.getElementById('ikLB').value = config.ikLB;
     document.getElementById('segmentsPerSecond').value = config.segmentsPerSecond;

tools/firmware-builder/js/config-generator.js

@@ -110,7 +110,7 @@ const ConfigGenerator = {
         lines.push(`#define DEFAULT_ROTATIONAL_JOINT_OFFSET_Y ${config.ikLC}  // LC`);
         lines.push(`#define DEFAULT_ROTATIONAL_JOINT_OFFSET_Z ${config.ikLB}  // LB`);
         lines.push(`#define DEFAULT_SEGMENTS_PER_SECOND ${config.segmentsPerSecond}`);
-        lines.push(`#define DEFAULT_TOOL_CENTERPOINT_CONTROL ${config.ikEnabled ? 'true' : 'false'}`);
+        lines.push('#define DEFAULT_TOOL_CENTERPOINT_CONTROL false  // Enable via G43.4 in start g-code');
         lines.push('');
         lines.push('// === Axis positions ===');
         lines.push(`#define MANUAL_I_HOME_POS ${config.cHomePos}  // C position after homing`);

tools/firmware-builder/worker/worker.js

@@ -125,7 +125,6 @@ async function handleBuildRequest(request, env, corsHeaders) {
     invertB: body.invertB,
     invertE: body.invertE,
     // IK parameters
-    ikEnabled: body.ikEnabled,
     ikLC: body.ikLC,
     ikLB: body.ikLB,
     cHomePos: body.cHomePos,
@@ -288,7 +287,6 @@ async function handleConfigRequest(buildId, env, corsHeaders) {
     invertB: buildData.invertB,
     invertE: buildData.invertE,
     // IK parameters
-    ikEnabled: buildData.ikEnabled,
     ikLC: buildData.ikLC,
     ikLB: buildData.ikLB,
     cHomePos: buildData.cHomePos,