Shake the portafilter at two opposing poses - #294
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A puck stuck against one wall of the basket survives a shake that only ever leans one way, so the arm shakes once at coffee_shake and once at coffee_shake_left. Both poses become required whenever portafilter_shake_sec is set, so a machine with a shake configured but no coffee_shake_left fails pose validation at construction rather than mid-order. Co-Authored-By: Claude Opus 5 (1M context) <noreply@anthropic.com>
Starting the left shake from wherever the right one ended would give it a different move out of the group head, and the point of the second pose is to repeat the first move mirrored. Co-Authored-By: Claude Opus 5 (1M context) <noreply@anthropic.com>
Nicolas Palpacuer (NickPPC)
approved these changes
Aug 26, 2026
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The single shake leans the filter one way, so a puck packed against that side of the basket rides through it. The arm now shakes twice: once at
coffee_shake, once at a newcoffee_shake_leftauthored to lean the other way. A second pose rather than a rotation applied in code, because the mirrored position needs more than a theta offset and poses get taught on the machine, not derived.This needs a config change before it ships.
coffee_shake_leftjoins the required poses wheneverportafilter_shake_secis set, andvalidateConfiguredPosesruns at construction, so a machine with a shake configured and no left pose refuses to start with a pose-validation error. Teach and commit the pose first, or clearportafilter_shake_secon machines that will not get one. Nothing verifies that the two poses actually lean opposite ways, or that the tilted filter clears the group head; that is on whoever authors the pose.Unlock also takes longer by one travel plus one
portafilter_shake_sec.