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different maths

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legop3
2026-01-21 02:53:18 -05:00
parent 8326898403
commit 2564a451b5
5 changed files with 147 additions and 161 deletions
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server/public/assets/index-CE-rJPwo.js
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server/public/assets/index-DlZ3NGp7.js
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server/public/index.html
+1 -1
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@@ -11,7 +11,7 @@
<meta name="apple-mobile-web-app-status-bar-style" content="black-translucent" /> <meta name="apple-mobile-web-app-status-bar-style" content="black-translucent" />
<meta name="apple-mobile-web-app-title" content="Multi Roomba Rover" /> <meta name="apple-mobile-web-app-title" content="Multi Roomba Rover" />
<title>Multi Roomba Rover</title> <title>Multi Roomba Rover</title>
<script type="module" crossorigin src="/assets/index-DlZ3NGp7.js"></script> <script type="module" crossorigin src="/assets/index-CE-rJPwo.js"></script>
<link rel="stylesheet" crossorigin href="/assets/index-BBEWYgmH.css"> <link rel="stylesheet" crossorigin href="/assets/index-BBEWYgmH.css">
</head> </head>
<body> <body>
webui/src/components/OvercurrentLimiterPanel.jsx
+6 -12
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@@ -39,8 +39,7 @@ export default function OvercurrentLimiterPanel() {
) : ( ) : (
<div className="space-y-0.5"> <div className="space-y-0.5">
{groups.map((key) => { {groups.map((key) => {
const meterA = overcurrentLimiter?.meters?.[key]?.a ?? 0; const temperature = overcurrentLimiter?.temperatures?.[key] ?? 0;
const meterB = overcurrentLimiter?.meters?.[key]?.b ?? 0;
const over = overcurrentLimiter?.overcurrent?.groups?.[key] ?? false; const over = overcurrentLimiter?.overcurrent?.groups?.[key] ?? false;
const scale = overcurrentLimiter?.scales?.perGroup?.[key] ?? 1; const scale = overcurrentLimiter?.scales?.perGroup?.[key] ?? 1;
return ( return (
@@ -53,15 +52,10 @@ export default function OvercurrentLimiterPanel() {
</div> </div>
<div className="space-y-0.5"> <div className="space-y-0.5">
<div className="flex items-center justify-between text-[0.7rem] text-slate-400"> <div className="flex items-center justify-between text-[0.7rem] text-slate-400">
<span>Meter A</span> <span>Temperature</span>
<span>{formatPct(meterA)}</span> <span>{formatPct(temperature)}</span>
</div> </div>
<ProgressBar value={meterA} color="bg-amber-500" /> <ProgressBar value={temperature} color="bg-amber-500" />
<div className="flex items-center justify-between text-[0.7rem] text-slate-400">
<span>Meter B</span>
<span>{formatPct(meterB)}</span>
</div>
<ProgressBar value={meterB} color="bg-red-500" />
<div className="flex items-center justify-between text-[0.7rem] text-slate-400"> <div className="flex items-center justify-between text-[0.7rem] text-slate-400">
<span>Scale</span> <span>Scale</span>
<span>{formatPct(scale)}</span> <span>{formatPct(scale)}</span>
@@ -71,8 +65,8 @@ export default function OvercurrentLimiterPanel() {
); );
})} })}
<div className="surface text-[0.7rem] text-slate-400"> <div className="surface text-[0.7rem] text-slate-400">
<div>{`A charge ${overcurrentLimiter?.config?.meterAChargeSec}s · A decay ${overcurrentLimiter?.config?.meterADecaySec}s`}</div> <div>{`Heat up ${overcurrentLimiter?.config?.heatUpSec}s · Cool down ${overcurrentLimiter?.config?.coolDownSec}s`}</div>
<div>{`B charge ${overcurrentLimiter?.config?.meterBChargeSec}s · B decay ${overcurrentLimiter?.config?.meterBDecaySec}s`}</div> <div>{`Curve k ${overcurrentLimiter?.config?.curveK}`}</div>
<div>{`Output rate ${overcurrentLimiter?.config?.outputRateMs}ms`}</div> <div>{`Output rate ${overcurrentLimiter?.config?.outputRateMs}ms`}</div>
</div> </div>
</div> </div>
webui/src/controls/overcurrentLimiter.js
+21 -29
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@@ -8,16 +8,15 @@ export const OVERCURRENT_GROUPS = [
]; ];
export const DEFAULT_OVERCURRENT_LIMITS = { export const DEFAULT_OVERCURRENT_LIMITS = {
meterAChargeSec: 9, heatUpSec: 5,
meterADecaySec: 9, coolDownSec: 12,
meterBChargeSec: 5, curveK: 6,
meterBDecaySec: 5,
outputRateMs: 250, outputRateMs: 250,
}; };
function createInitialMeters() { function createInitialTemperatures() {
return OVERCURRENT_GROUPS.reduce((acc, group) => { return OVERCURRENT_GROUPS.reduce((acc, group) => {
acc[group.key] = { a: 0, b: 0 }; acc[group.key] = 0;
return acc; return acc;
}, {}); }, {});
} }
@@ -44,7 +43,7 @@ export function useOvercurrentLimiter(roverId, options = {}) {
() => ({ ...DEFAULT_OVERCURRENT_LIMITS, ...(options.config || {}) }), () => ({ ...DEFAULT_OVERCURRENT_LIMITS, ...(options.config || {}) }),
[options.config], [options.config],
); );
const [meters, setMeters] = useState(() => createInitialMeters()); const [temperatures, setTemperatures] = useState(() => createInitialTemperatures());
const lastTickRef = useRef(typeof performance !== 'undefined' ? performance.now() : Date.now()); const lastTickRef = useRef(typeof performance !== 'undefined' ? performance.now() : Date.now());
const flagsRef = useRef(overcurrentFlags); const flagsRef = useRef(overcurrentFlags);
@@ -53,7 +52,7 @@ export function useOvercurrentLimiter(roverId, options = {}) {
}, [overcurrentFlags]); }, [overcurrentFlags]);
useEffect(() => { useEffect(() => {
setMeters(createInitialMeters()); setTemperatures(createInitialTemperatures());
}, [roverId]); }, [roverId]);
useEffect(() => { useEffect(() => {
@@ -63,43 +62,36 @@ export function useOvercurrentLimiter(roverId, options = {}) {
lastTickRef.current = now; lastTickRef.current = now;
const deltaSec = deltaMs / 1000; const deltaSec = deltaMs / 1000;
if (deltaSec <= 0) return; if (deltaSec <= 0) return;
setMeters((prev) => { setTemperatures((prev) => {
let changed = false; let changed = false;
const next = {}; const next = {};
OVERCURRENT_GROUPS.forEach((group) => { OVERCURRENT_GROUPS.forEach((group) => {
const prevEntry = prev[group.key] || { a: 0, b: 0 }; const prevEntry = Number.isFinite(prev[group.key]) ? prev[group.key] : 0;
const over = group.motors.some((motor) => Boolean(flagsRef.current?.[motor])); const over = group.motors.some((motor) => Boolean(flagsRef.current?.[motor]));
const nextA = clampUnit( const nextTemp = clampUnit(
stepValue( stepValue(
prevEntry.a, prevEntry,
deltaSec, deltaSec,
over ? config.meterAChargeSec : config.meterADecaySec, over ? config.heatUpSec : config.coolDownSec,
over ? 'up' : 'down', over ? 'up' : 'down',
), ),
); );
const shouldFillB = over && nextA >= 1; if (Math.abs(nextTemp - prevEntry) > 0.0001) {
const nextB = clampUnit(
stepValue(
prevEntry.b,
deltaSec,
shouldFillB ? config.meterBChargeSec : config.meterBDecaySec,
shouldFillB ? 'up' : 'down',
),
);
if (Math.abs(nextA - prevEntry.a) > 0.0001 || Math.abs(nextB - prevEntry.b) > 0.0001) {
changed = true; changed = true;
} }
next[group.key] = { a: nextA, b: nextB }; next[group.key] = nextTemp;
}); });
return changed ? next : prev; return changed ? next : prev;
}); });
}, 100); }, 100);
return () => clearInterval(interval); return () => clearInterval(interval);
}, [config.meterAChargeSec, config.meterADecaySec, config.meterBChargeSec, config.meterBDecaySec]); }, [config.heatUpSec, config.coolDownSec]);
const scales = useMemo(() => { const scales = useMemo(() => {
const curveK = Number.isFinite(config.curveK) ? Math.max(0, config.curveK) : 0;
const perGroup = OVERCURRENT_GROUPS.reduce((acc, group) => { const perGroup = OVERCURRENT_GROUPS.reduce((acc, group) => {
acc[group.key] = clampUnit(1 - (meters?.[group.key]?.b ?? 0)); const temp = Number.isFinite(temperatures?.[group.key]) ? temperatures[group.key] : 0;
acc[group.key] = clampUnit(Math.exp(-curveK * temp));
return acc; return acc;
}, {}); }, {});
return { return {
@@ -114,7 +106,7 @@ export function useOvercurrentLimiter(roverId, options = {}) {
vacuum: 1, vacuum: 1,
}, },
}; };
}, [meters]); }, [config.curveK, temperatures]);
const overcurrent = useMemo(() => { const overcurrent = useMemo(() => {
const motors = {}; const motors = {};
@@ -137,14 +129,14 @@ export function useOvercurrentLimiter(roverId, options = {}) {
return useMemo( return useMemo(
() => ({ () => ({
meters, temperatures,
overcurrent, overcurrent,
scales, scales,
isActive: (scales?.drive?.left ?? 1) < 1 || (scales?.drive?.right ?? 1) < 1 || (scales?.aux?.main ?? 1) < 1 || (scales?.aux?.side ?? 1) < 1, isActive: (scales?.drive?.left ?? 1) < 1 || (scales?.drive?.right ?? 1) < 1 || (scales?.aux?.main ?? 1) < 1 || (scales?.aux?.side ?? 1) < 1,
config, config,
adminImmune, adminImmune,
}), }),
[meters, overcurrent, scales, config, adminImmune], [temperatures, overcurrent, scales, config, adminImmune],
); );
} }