fix the motion

reachy_mini_ha_voice/__main__.py

@@ -20,6 +20,7 @@ from pyopen_wakeword import OpenWakeWord, OpenWakeWordFeatures
 
 from .models import AvailableWakeWord, Preferences, ServerState, WakeWordType
 from .audio_player import AudioPlayer
+from .motion import ReachyMiniMotion
 from .satellite import VoiceSatelliteProtocol
 from .util import get_mac
 from .zeroconf import HomeAssistantZeroconf
@@ -314,10 +315,12 @@ async def main() -> None:
 
     # Initialize Reachy Mini (if available)
     reachy_mini = None
+    motion = None
     if not args.no_motion:
         try:
             from reachy_mini import ReachyMini
             reachy_mini = ReachyMini()
+            motion = ReachyMiniMotion(reachy_mini)
             _LOGGER.info("Reachy Mini connected")
         except ImportError:
             _LOGGER.warning("reachy-mini not installed, motion control disabled")
@@ -343,6 +346,7 @@ async def main() -> None:
         refractory_seconds=args.refractory_seconds,
         download_dir=download_dir,
         reachy_mini=reachy_mini,
+        motion=motion,
         motion_enabled=not args.no_motion and reachy_mini is not None,
     )
 

reachy_mini_ha_voice/motion.py

@@ -45,7 +45,9 @@ class ReachyMiniMotion:
         Args:
             doa_angle_deg: Direction of arrival angle in degrees (0=front, positive=right, negative=left)
         """
+        _LOGGER.debug("on_wakeup called with doa_angle_deg=%s, reachy_mini=%s", doa_angle_deg, self.reachy_mini)
         if not self.reachy_mini:
+            _LOGGER.warning("on_wakeup: reachy_mini is None, skipping motion")
             return
         self._submit_motion(self._do_wakeup, doa_angle_deg)
 
@@ -148,8 +150,12 @@ class ReachyMiniMotion:
         """Actual wakeup motion (blocking, runs in thread pool)."""
         with self._lock:
             try:
+                _LOGGER.info("_do_wakeup: doa_angle_deg=%s", doa_angle_deg)
                 if doa_angle_deg is not None:
+                    _LOGGER.info("Turning to sound source at %s degrees", doa_angle_deg)
                     self._turn_to_sound_source(doa_angle_deg)
+                else:
+                    _LOGGER.warning("DOA angle is None, skipping turn to sound source")
                 self._nod(count=1, amplitude=10, duration=0.3)
                 _LOGGER.debug("Reachy Mini: Wake up nod (DOA: %s)", doa_angle_deg)
             except Exception as e:

reachy_mini_ha_voice/satellite.py

@@ -333,9 +333,6 @@ class VoiceSatelliteProtocol(APIServer):
         # Update DOA entity in Home Assistant
         self._update_doa_entities()
 
-        # Reachy Mini: Wake up animation
-        self._reachy_on_wakeup()
-
     def stop(self) -> None:
         self.state.active_wake_words.discard(self.state.stop_word.id)
         self.state.tts_player.stop()
@@ -485,17 +482,6 @@ class VoiceSatelliteProtocol(APIServer):
         except Exception as e:
             _LOGGER.error("Error updating DOA entities: %s", e)
 
-    def _reachy_on_wakeup(self) -> None:
-        """Called when wake word is detected."""
-        if not self.state.motion_enabled or not self.state.reachy_mini:
-            return
-        try:
-            # Nod to acknowledge
-            _LOGGER.debug("Reachy Mini: Wake up animation")
-            # Will be implemented with actual Reachy Mini SDK
-        except Exception as e:
-            _LOGGER.error("Reachy Mini motion error: %s", e)
-
     def _reachy_on_listening(self) -> None:
         """Called when listening for speech (HA state: Listening)."""
         if not self.state.motion_enabled or not self.state.reachy_mini: