Lower noise buffer for ultrasonic ranger

orchestrateur/main.py

@@ -817,16 +817,16 @@ async def monitor_dish_height_task():
 
         if dist is not None:
             # Hysteresis Thresholds:
-            # - Must be > 2.5 cm to detect dish insertion
+            # - Must be > 1.2 cm to detect dish insertion
-            # - Must be < 1.2 cm to detect dish removal
+            # - Must be < 0.8 cm to detect dish removal
-            if dist > 2.5:
+            if dist > 1.2:
                 consecutive_present += 1
                 consecutive_absent = 0
-            elif dist < 1.2:
+            elif dist < 0.8:
                 consecutive_absent += 1
                 consecutive_present = 0
             else:
-                # Dead-zone (1.2cm to 2.5cm) -> Noise buffer
+                # Dead-zone (1.2cm to 0.8cm) -> Noise buffer
                 consecutive_present = 0
                 consecutive_absent = 0
 
@@ -848,7 +848,7 @@ async def monitor_dish_height_task():
                 ir_data_cache.pop(mw_id, None)
                 ir_data_events.pop(mw_id, None)
         
-        await asyncio.sleep(0.3)
+        await asyncio.sleep(0.7)
 
 # --- BOOTSTRAP ---
 async def main():