pairs

webui/src/components/OvercurrentLimiterPanel.jsx

@@ -1,11 +1,10 @@
 import { useMemo } from 'react';
 import { useControlSystem } from '../controls/index.js';
+import { OVERCURRENT_GROUPS } from '../controls/overcurrentLimiter.js';
 
-const MOTOR_LABELS = {
-  leftWheel: 'Left wheel',
-  rightWheel: 'Right wheel',
-  mainBrush: 'Main brush',
-  sideBrush: 'Side brush',
+const GROUP_LABELS = {
+  drive: 'Drive wheels',
+  aux: 'Aux motors',
 };
 
 function formatPct(value) {
@@ -27,7 +26,7 @@ export default function OvercurrentLimiterPanel() {
     state: { roverId },
     overcurrentLimiter,
   } = useControlSystem();
-  const motors = useMemo(() => Object.keys(MOTOR_LABELS), []);
+  const groups = useMemo(() => OVERCURRENT_GROUPS.map((group) => group.key), []);
 
   return (
     <section className="panel-section space-y-0.5 text-sm">
@@ -39,15 +38,15 @@ export default function OvercurrentLimiterPanel() {
         <p className="text-xs text-slate-500">Assign a rover to view limiter status.</p>
       ) : (
         <div className="space-y-0.5">
-          {motors.map((key) => {
+          {groups.map((key) => {
             const meterA = overcurrentLimiter?.meters?.[key]?.a ?? 0;
             const meterB = overcurrentLimiter?.meters?.[key]?.b ?? 0;
-            const over = overcurrentLimiter?.overcurrent?.[key] ?? false;
-            const scale = overcurrentLimiter?.scales?.perMotor?.[key] ?? 1;
+            const over = overcurrentLimiter?.overcurrent?.groups?.[key] ?? false;
+            const scale = overcurrentLimiter?.scales?.perGroup?.[key] ?? 1;
             return (
               <div key={key} className="surface space-y-0.5">
                 <div className="flex items-center justify-between text-xs">
-                  <span className="text-slate-200">{MOTOR_LABELS[key] || key}</span>
+                  <span className="text-slate-200">{GROUP_LABELS[key] || key}</span>
                   <span className={over ? 'text-red-300' : 'text-slate-400'}>
                     {over ? 'overcurrent' : 'ok'}
                   </span>

webui/src/controls/overcurrentLimiter.js

@@ -2,7 +2,10 @@ import { useEffect, useMemo, useRef, useState } from 'react';
 import { useTelemetryFrame } from '../context/TelemetryContext.jsx';
 import { useSession } from '../context/SessionContext.jsx';
 
-export const OVERCURRENT_MOTORS = ['leftWheel', 'rightWheel', 'mainBrush', 'sideBrush'];
+export const OVERCURRENT_GROUPS = [
+  { key: 'drive', motors: ['leftWheel', 'rightWheel'] },
+  { key: 'aux', motors: ['mainBrush', 'sideBrush'] },
+];
 
 export const DEFAULT_OVERCURRENT_LIMITS = {
   meterAChargeSec: 4,
@@ -12,8 +15,8 @@ export const DEFAULT_OVERCURRENT_LIMITS = {
 };
 
 function createInitialMeters() {
-  return OVERCURRENT_MOTORS.reduce((acc, key) => {
-    acc[key] = { a: 0, b: 0 };
+  return OVERCURRENT_GROUPS.reduce((acc, group) => {
+    acc[group.key] = { a: 0, b: 0 };
     return acc;
   }, {});
 }
@@ -62,9 +65,9 @@ export function useOvercurrentLimiter(roverId, options = {}) {
       setMeters((prev) => {
         let changed = false;
         const next = {};
-        OVERCURRENT_MOTORS.forEach((key) => {
-          const prevEntry = prev[key] || { a: 0, b: 0 };
-          const over = Boolean(flagsRef.current?.[key]);
+        OVERCURRENT_GROUPS.forEach((group) => {
+          const prevEntry = prev[group.key] || { a: 0, b: 0 };
+          const over = group.motors.some((motor) => Boolean(flagsRef.current?.[motor]));
           const nextA = clampUnit(
             stepValue(
               prevEntry.a,
@@ -85,7 +88,7 @@ export function useOvercurrentLimiter(roverId, options = {}) {
           if (Math.abs(nextA - prevEntry.a) > 0.0001 || Math.abs(nextB - prevEntry.b) > 0.0001) {
             changed = true;
           }
-          next[key] = { a: nextA, b: nextB };
+          next[group.key] = { a: nextA, b: nextB };
         });
         return changed ? next : prev;
       });
@@ -94,32 +97,37 @@ export function useOvercurrentLimiter(roverId, options = {}) {
   }, [config.meterAChargeSec, config.meterADecaySec, config.meterBChargeSec, config.meterBDecaySec]);
 
   const scales = useMemo(() => {
-    const perMotor = OVERCURRENT_MOTORS.reduce((acc, key) => {
-      acc[key] = clampUnit(1 - (meters?.[key]?.b ?? 0));
+    const perGroup = OVERCURRENT_GROUPS.reduce((acc, group) => {
+      acc[group.key] = clampUnit(1 - (meters?.[group.key]?.b ?? 0));
       return acc;
     }, {});
     return {
-      perMotor,
+      perGroup,
       drive: {
-        left: perMotor.leftWheel ?? 1,
-        right: perMotor.rightWheel ?? 1,
+        left: perGroup.drive ?? 1,
+        right: perGroup.drive ?? 1,
       },
       aux: {
-        main: perMotor.mainBrush ?? 1,
-        side: perMotor.sideBrush ?? 1,
+        main: perGroup.aux ?? 1,
+        side: perGroup.aux ?? 1,
         vacuum: 1,
       },
     };
   }, [meters]);
 
-  const overcurrent = useMemo(
-    () =>
-      OVERCURRENT_MOTORS.reduce((acc, key) => {
-        acc[key] = Boolean(overcurrentFlags?.[key]);
-        return acc;
-      }, {}),
-    [overcurrentFlags],
-  );
+  const overcurrent = useMemo(() => {
+    const motors = {};
+    OVERCURRENT_GROUPS.forEach((group) => {
+      group.motors.forEach((motor) => {
+        motors[motor] = Boolean(overcurrentFlags?.[motor]);
+      });
+    });
+    const groups = OVERCURRENT_GROUPS.reduce((acc, group) => {
+      acc[group.key] = group.motors.some((motor) => Boolean(overcurrentFlags?.[motor]));
+      return acc;
+    }, {});
+    return { motors, groups };
+  }, [overcurrentFlags]);
 
   const adminImmune =
     session?.role === 'admin' ||