legop3/MultiRoombaRover
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legop3
2026-01-21 03:15:24 -05:00
parent 6009056edd
commit 7249621ebe
4 changed files with 25 additions and 17 deletions
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webui/src/controls/overcurrentLimiter.js
+14 -7
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@@ -10,12 +10,13 @@ export const OVERCURRENT_GROUPS = [
export const DEFAULT_OVERCURRENT_LIMITS = {
downRatePerSec: 0.25,
upRatePerSec: 0.1,
releaseDelaySec: 1.5,
outputRateMs: 250,
};
function createInitialCaps() {
return OVERCURRENT_GROUPS.reduce((acc, group) => {
acc[group.key] = 1;
acc[group.key] = { cap: 1, clearSec: 0 };
return acc;
}, {});
}
@@ -58,26 +59,32 @@ export function useOvercurrentLimiter(roverId, options = {}) {
const next = {};
const downRate = Number.isFinite(config.downRatePerSec) ? Math.max(0, config.downRatePerSec) : 0;
const upRate = Number.isFinite(config.upRatePerSec) ? Math.max(0, config.upRatePerSec) : 0;
const releaseDelay = Number.isFinite(config.releaseDelaySec) ? Math.max(0, config.releaseDelaySec) : 0;
OVERCURRENT_GROUPS.forEach((group) => {
const prevEntry = Number.isFinite(prev[group.key]) ? prev[group.key] : 1;
const prevEntry = prev[group.key] || { cap: 1, clearSec: 0 };
const prevCap = Number.isFinite(prevEntry.cap) ? prevEntry.cap : 1;
const prevClear = Number.isFinite(prevEntry.clearSec) ? prevEntry.clearSec : 0;
const over = group.motors.some((motor) => Boolean(flagsRef.current?.[motor]));
const nextClear = over ? 0 : prevClear + deltaSec;
const allowRecover = !over && nextClear >= releaseDelay;
const nextCap = clampUnit(
over ? prevEntry - downRate * deltaSec : prevEntry + upRate * deltaSec,
over ? prevCap - downRate * deltaSec : allowRecover ? prevCap + upRate * deltaSec : prevCap,
);
if (Math.abs(nextCap - prevEntry) > 0.0001) {
if (Math.abs(nextCap - prevCap) > 0.0001 || Math.abs(nextClear - prevClear) > 0.0001) {
changed = true;
}
next[group.key] = nextCap;
next[group.key] = { cap: nextCap, clearSec: nextClear };
});
return changed ? next : prev;
});
}, 100);
return () => clearInterval(interval);
}, [config.downRatePerSec, config.upRatePerSec]);
}, [config.downRatePerSec, config.releaseDelaySec, config.upRatePerSec]);
const scales = useMemo(() => {
const perGroup = OVERCURRENT_GROUPS.reduce((acc, group) => {
const cap = Number.isFinite(caps?.[group.key]) ? caps[group.key] : 1;
const entry = caps?.[group.key];
const cap = Number.isFinite(entry?.cap) ? entry.cap : 1;
acc[group.key] = clampUnit(cap);
return acc;
}, {});