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legop3
2026-01-21 02:23:43 -05:00
parent 629d979b67
commit 4f60248bc6
4 changed files with 47 additions and 40 deletions
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webui/src/controls/overcurrentLimiter.js
+30 -22
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@@ -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' ||