manual docking mode real life testing

webui/src/controls/ControlContext.jsx

@@ -11,6 +11,7 @@ import {
   HORN_HEAT_RESUME_THRESHOLD,
   HORN_HEAT_UP_PER_SEC,
   HORN_MAX_MS,
+  MANUAL_DOCK_ASSIST_MAX_SPEED,
   SONG_DEFAULT_NOTE,
 } from './constants.js';
 import { canonicalizeKeyInput } from './keymapUtils.js';
@@ -212,7 +213,23 @@ export function ControlSystemProvider({ children }) {
 
   const setDriveVector = useCallback(
     (vector, meta = {}) => {
-      const computed = computeDifferentialSpeeds(vector, meta.speedOptions);
+      const speedOptions = { ...(meta.speedOptions || {}) };
+      if (state.manualDockAssist?.active) {
+        const capped = Math.max(1, Math.min(MANUAL_DOCK_ASSIST_MAX_SPEED, 500));
+        speedOptions.maxSpeed = Math.min(
+          typeof speedOptions.maxSpeed === 'number' ? speedOptions.maxSpeed : capped,
+          capped,
+        );
+        speedOptions.baseSpeed = Math.min(
+          typeof speedOptions.baseSpeed === 'number' ? speedOptions.baseSpeed : capped,
+          capped,
+        );
+        speedOptions.boostSpeed = Math.min(
+          typeof speedOptions.boostSpeed === 'number' ? speedOptions.boostSpeed : capped,
+          capped,
+        );
+      }
+      const computed = computeDifferentialSpeeds(vector, speedOptions);
       dispatch({
         type: 'control/update-drive',
         payload: { ...computed, source: meta.source ?? null },
@@ -220,7 +237,7 @@ export function ControlSystemProvider({ children }) {
       recordControlIntent();
       pipeline.sendDriveDirect(computed.speeds);
     },
-    [pipeline, recordControlIntent],
+    [pipeline, recordControlIntent, state.manualDockAssist?.active],
   );
 
   const setAuxMotors = useCallback(
@@ -318,8 +335,6 @@ export function ControlSystemProvider({ children }) {
             steps: removeDriveSequenceBackoff(macro.steps),
           };
         }
-      } else if (macroId === 'seek-dock') {
-        recordControlIntent();
       }
       await pipeline.runMacroSteps(macroToRun);
     },
@@ -509,6 +524,28 @@ export function ControlSystemProvider({ children }) {
     return () => clearInterval(interval);
   }, [dispatch, hornNeedsTick, HORN_HEAT_COOL_PER_SEC, HORN_HEAT_RESUME_THRESHOLD, HORN_HEAT_UP_PER_SEC]);
 
+  const setManualDockAssistActive = useCallback(
+    (active) => {
+      const nextActive = Boolean(active);
+      const prevActive = Boolean(state.manualDockAssist?.active);
+      if (prevActive === nextActive) return;
+      dispatch({ type: 'control/set-manual-dock-assist', payload: nextActive });
+      if (!nextActive) return;
+      const minAngle =
+        typeof pipeline.servoConfig?.minAngle === 'number'
+          ? pipeline.servoConfig.minAngle
+          : -45;
+      setServoAngle(minAngle);
+      pipeline.sendSong([{ note: 76, duration: 10 }, { note: 83, duration: 10 }], { slot: 0 });
+      recordControlIntent();
+    },
+    [pipeline, recordControlIntent, setServoAngle, state.manualDockAssist?.active],
+  );
+
+  const toggleManualDockAssist = useCallback(() => {
+    setManualDockAssistActive(!state.manualDockAssist?.active);
+  }, [setManualDockAssistActive, state.manualDockAssist?.active]);
+
   const registerInputState = useCallback((source, data) => {
     dispatch({ type: 'control/register-input-state', payload: { source, state: data } });
   }, []);
@@ -539,6 +576,8 @@ export function ControlSystemProvider({ children }) {
         updateKeyBinding,
         resetKeyBindings,
         registerInputState,
+        setManualDockAssistActive,
+        toggleManualDockAssist,
         setSongNote,
         sendSong,
         startHorn,
@@ -565,6 +604,8 @@ export function ControlSystemProvider({ children }) {
       updateKeyBinding,
       resetKeyBindings,
       registerInputState,
+      setManualDockAssistActive,
+      toggleManualDockAssist,
       setSongNote,
       sendSong,
       startHorn,

webui/src/controls/constants.js

@@ -12,6 +12,8 @@ export const DRIVE_LIMITS = {
   boostSpeed: 400,
 };
 
+export const MANUAL_DOCK_ASSIST_MAX_SPEED = 110;
+
 export const COMMAND_DELAY_MS = 100;
 
 export const SONG_NOTE_RANGE = [31, 127];
@@ -78,12 +80,4 @@ export const DEFAULT_MACROS = [
       { type: 'drive', speeds: { left: 0, right: 0 } },
     ],
   },
-  {
-    id: 'seek-dock',
-    label: 'Dock',
-    description: 'Send the seek dock command.',
-    steps: [
-      { type: 'oi', command: 'dock' }
-    ],
-  },
 ];

webui/src/controls/controlReducer.js

@@ -43,6 +43,12 @@ function createMicState() {
   };
 }
 
+function createManualDockAssistState() {
+  return {
+    active: false,
+  };
+}
+
 export const initialControlState = {
   roverId: null,
   mode: 'drive',
@@ -52,6 +58,7 @@ export const initialControlState = {
   song: createSongState(),
   horn: createHornState(),
   mic: createMicState(),
+  manualDockAssist: createManualDockAssistState(),
   lastControlIntentAt: 0,
   macros: DEFAULT_MACROS,
   keymap: DEFAULT_KEYMAP,
@@ -69,6 +76,7 @@ export function controlReducer(state, action) {
         song: action.payload ? state.song : createSongState(),
         horn: action.payload ? state.horn : createHornState(),
         mic: action.payload ? state.mic : createMicState(),
+        manualDockAssist: action.payload ? state.manualDockAssist : createManualDockAssistState(),
         lastControlIntentAt: action.payload ? state.lastControlIntentAt : 0,
       };
     case 'control/set-mode':
@@ -187,6 +195,14 @@ export function controlReducer(state, action) {
           pttActive: Boolean(action.payload),
         },
       };
+    case 'control/set-manual-dock-assist':
+      return {
+        ...state,
+        manualDockAssist: {
+          ...(state.manualDockAssist || createManualDockAssistState()),
+          active: Boolean(action.payload),
+        },
+      };
     default:
       return state;
   }

webui/src/controls/inputs/GamepadInputManager.jsx

@@ -50,6 +50,8 @@ export default function GamepadInputManager() {
     state,
     actions: {
       setMode,
+      setManualDockAssistActive,
+      toggleManualDockAssist,
       setDriveVector,
       setAuxMotors,
       setServoAngle,
@@ -243,6 +245,7 @@ export default function GamepadInputManager() {
       }
 
       if (outputs.buttons.driveMacro && handleButtonEdge('driveMacro', true)) {
+        setManualDockAssistActive(false);
         setMode('drive');
         runMacro('drive-sequence');
       } else if (!outputs.buttons.driveMacro) {
@@ -250,8 +253,7 @@ export default function GamepadInputManager() {
       }
 
       if (outputs.buttons.dockMacro && handleButtonEdge('dockMacro', true)) {
-        setMode('dock');
-        runMacro('seek-dock');
+        toggleManualDockAssist();
       } else if (!outputs.buttons.dockMacro) {
         handleButtonEdge('dockMacro', false);
       }
@@ -288,9 +290,11 @@ export default function GamepadInputManager() {
     handleCameraAxis,
     registerInputState,
     runMacro,
+    setManualDockAssistActive,
     setAuxMotors,
     setDriveVector,
     setMode,
+    toggleManualDockAssist,
     toggleNightVision,
   ]);
 

webui/src/controls/inputs/KeyboardInputManager.jsx

@@ -122,6 +122,8 @@ export default function KeyboardInputManager() {
     state,
     actions: {
       setMode,
+      setManualDockAssistActive,
+      toggleManualDockAssist,
       setDriveVector,
       setAuxMotors,
       nudgeServo,
@@ -372,11 +374,11 @@ export default function KeyboardInputManager() {
 
       if (newlyPressed.length > 0) {
         if (newlyPressed.some((token) => keymap.driveMacro?.has(token))) {
+          setManualDockAssistActive(false);
           setMode('drive');
           runMacro('drive-sequence');
         } else if (newlyPressed.some((token) => keymap.dockMacro?.has(token))) {
-          setMode('dock');
-          runMacro('seek-dock');
+          toggleManualDockAssist();
         } else if (newlyPressed.some((token) => keymap.nightVisionToggle?.has(token))) {
           toggleNightVision();
         } else if (newlyPressed.some((token) => keymap.hornHonk?.has(token))) {
@@ -441,12 +443,14 @@ export default function KeyboardInputManager() {
     keymap.micPtt,
     resetAll,
     runMacro,
+    setManualDockAssistActive,
     setMicPttActive,
     setMode,
     stopAllMotion,
     stopSongLoop,
     startHorn,
     stopHorn,
+    toggleManualDockAssist,
     triggerHomeAssistantCycle,
   ]);