Top speed lowered

Gaugecontroller/Gaugecontroller.ino

@@ -258,7 +258,7 @@ struct Gauge {
   long homingBackoffSteps = 3800; // Deliberately a touch past full reverse travel.
 
   float velocity = 0.0f;
-  float maxSpeed = 5000.0f;
+  float maxSpeed = 4000.0f;
   float accel = 6000.0f;
   float homingSpeed = 500.0f;
 

gauge.py

@@ -526,14 +526,27 @@ _last_wifi_check = 0
 _wifi_sta = None
 
 
-def connect_wifi(ssid, password, timeout_s=15):
+def connect_wifi(ssid, password, timeout_s=15, force_reconnect=False):
     global _wifi_sta
     _wifi_sta = network.WLAN(network.STA_IF)
+
+    if force_reconnect:
+        try:
+            _wifi_sta.disconnect()
+        except Exception:
+            pass
+        try:
+            _wifi_sta.active(False)
+            utime.sleep_ms(250)
+        except Exception:
+            pass
+
     _wifi_sta.active(True)
-    if _wifi_sta.isconnected():
+    if _wifi_sta.isconnected() and not force_reconnect:
         ip, mask, gw, dns = _wifi_sta.ifconfig()
         info("WiFi already connected")
         info(f"  IP:{ip}  mask:{mask}  gw:{gw}  dns:{dns}")
+        utime.sleep_ms(250)
         return ip
     info(f"WiFi connecting to '{ssid}' ...")
     _wifi_sta.connect(ssid, password)
@@ -549,6 +562,7 @@ def connect_wifi(ssid, password, timeout_s=15):
     info(f"  SSID    : {ssid}")
     info(f"  MAC     : {mac}")
     info(f"  IP      : {ip}  mask:{mask}  gw:{gw}  dns:{dns}")
+    utime.sleep_ms(250)
     return ip
 
 
@@ -858,6 +872,15 @@ def _subscribe_all(c):
 def connect_mqtt():
     global client_ref, _mqtt_connected
     info(f"Connecting to MQTT broker {MQTT_BROKER}:{MQTT_PORT} ...")
+    last_error = None
+    for attempt in range(3):
+        try:
+            if client_ref is not None:
+                try:
+                    client_ref.disconnect()
+                except Exception:
+                    pass
+
             client = MQTTClient(
                 client_id=MQTT_CLIENT_ID,
                 server=MQTT_BROKER,
@@ -871,6 +894,14 @@ def connect_mqtt():
             client_ref = client
             _mqtt_connected = True
             info(f"MQTT connected  client_id={MQTT_CLIENT_ID}")
+            return
+        except Exception as e:
+            last_error = e
+            log_err(f"MQTT connect attempt {attempt + 1} failed: {e}")
+            utime.sleep_ms(1000)
+
+    _mqtt_connected = False
+    raise last_error
 
 
 _mqtt_check_interval_ms = 30000
@@ -1124,10 +1155,7 @@ def _append_vfd_discovery(entries, dev_ref):
                 "cmd_t": vfd_topics["set"],
                 "stat_t": vfd_topics["state"],
                 "avty_t": gauge_topics[0]["status"],
-                "max": 4,
-                "mode": "text",
                 "icon": "mdi:alpha-box",
-                "pattern": "^[0-9A-Fa-f-]{0,4}$",
                 "dev": dev_ref,
             },
             "Discovery: VFD text",
@@ -1206,10 +1234,13 @@ def service_discovery():
         return
 
     topic, payload, log_msg = _discovery_queue[_discovery_idx]
+    try:
         if isinstance(payload, bytes):
             client_ref.publish(topic, payload, retain=True)
         else:
             _publish_discovery_entity(client_ref, topic, payload, log_msg)
+    except Exception as e:
+        log_err(f"Discovery publish failed for {topic}: {e}")
     _discovery_idx += 1
     _last_discovery_ms = utime.ticks_ms()
     if (_discovery_idx & 3) == 0:
@@ -1247,7 +1278,7 @@ def main():
     info("Gauge MQTT controller starting")
     info("=" * 48)
 
-    connect_wifi(WIFI_SSID, WIFI_PASSWORD)
+    connect_wifi(WIFI_SSID, WIFI_PASSWORD, force_reconnect=True)
 
     connect_mqtt()
     _subscribe_all(client_ref)