From 388e1fe08ea7aaa1868235a78d1e6767d63d29ef Mon Sep 17 00:00:00 2001
From: Jonathan Dahan <git@jonathan.is>
Date: Wed, 11 Oct 2023 19:10:51 -0400
Subject: [PATCH] When cancelling, move pen to up position

---
 src/ui.tsx | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

diff --git a/src/ui.tsx b/src/ui.tsx
index bc033f8..8f0dbab 100644
--- a/src/ui.tsx
+++ b/src/ui.tsx
@@ -179,7 +179,12 @@ class WebSerialDriver implements Driver {
 
     if (this._cancelRequested) {
       const device = Device(this.ebb.hardware);
-      await this.ebb.setPenHeight(device.penPctToPos(0), 1000);
+      if (!penIsUp) {
+        // Move to the pen up position, or 50% if no position was found
+        const penMotion = plan.motions.find((motion): motion is PenMotion => motion instanceof PenMotion)
+        const penUpPosition = penMotion ? Math.max(penMotion.initialPos, penMotion.finalPos) :  device.penPctToPos(50)
+        await this.ebb.setPenHeight(penUpPosition, 1000);
+      }
       if (this.oncancelled) this.oncancelled()
     } else {
       if (this.onfinished) this.onfinished()