7014760175
Three refinements found while testing find_rotation_center() against the simulated LamNI: - Drop the trailing tomo_rotate(0) at the end of find_rotation_center(): both the isolated path (explicit rotate-back before applying the correction) and the extended path (verification sweep ends at 0) already leave lsamrot at 0 by then, so it was a pure duplicate move. - Simplify _live_sweep() to rotate directly to each waypoint instead of stepping through artificial step_deg-sized sub-moves with settle pauses in between -- a single tomo_rotate() already produces continuous physical rotation, so the stepping added nothing but jerkier motion and extra queue overhead. - Add _ensure_at_configured_center(), called at the start of find_rotation_center() before lfzp_in(). lamni_move_to_scan_center's interferometer-drift safety check (LamNIFermatScan.py) assumes lsamx/ lsamy start near their configured center and silently skips the entire corrective move if that drift exceeds 150um -- exactly the situation find_rotation_center() is meant to handle, since its purpose is recalibrating a potentially-stale center. Confirmed this was a real gap: a run where the stage hadn't started at its configured center produced a correct absolute target (verified via the interferometer reading) but a confusingly small apparent motor delta. Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com>