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output rate limit and override gating

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legop3
2026-01-21 02:38:37 -05:00
parent e0edbcfb28
commit 8326898403
5 changed files with 28 additions and 17 deletions
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webui/src/controls/overcurrentLimiter.js
+7 -3
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@@ -8,10 +8,11 @@ export const OVERCURRENT_GROUPS = [
];
export const DEFAULT_OVERCURRENT_LIMITS = {
meterAChargeSec: 3,
meterAChargeSec: 9,
meterADecaySec: 9,
meterBChargeSec: 1,
meterBDecaySec: 10,
meterBChargeSec: 5,
meterBDecaySec: 5,
outputRateMs: 250,
};
function createInitialMeters() {
@@ -139,6 +140,7 @@ export function useOvercurrentLimiter(roverId, options = {}) {
meters,
overcurrent,
scales,
isActive: (scales?.drive?.left ?? 1) < 1 || (scales?.drive?.right ?? 1) < 1 || (scales?.aux?.main ?? 1) < 1 || (scales?.aux?.side ?? 1) < 1,
config,
adminImmune,
}),
@@ -150,6 +152,7 @@ export function applyDriveOvercurrentScale(speeds = {}, scales, adminImmune = fa
if (adminImmune || !scales?.drive) return speeds;
const leftScale = typeof scales.drive.left === 'number' ? scales.drive.left : 1;
const rightScale = typeof scales.drive.right === 'number' ? scales.drive.right : 1;
if (leftScale >= 0.999 && rightScale >= 0.999) return speeds;
return {
left: Math.round((speeds.left ?? 0) * leftScale),
right: Math.round((speeds.right ?? 0) * rightScale),
@@ -161,6 +164,7 @@ export function applyAuxOvercurrentScale(values = {}, scales, adminImmune = fals
const mainScale = typeof scales.aux.main === 'number' ? scales.aux.main : 1;
const sideScale = typeof scales.aux.side === 'number' ? scales.aux.side : 1;
const vacuumScale = typeof scales.aux.vacuum === 'number' ? scales.aux.vacuum : 1;
if (mainScale >= 0.999 && sideScale >= 0.999 && vacuumScale >= 0.999) return values;
return {
main: Math.round((values.main ?? 0) * mainScale),
side: Math.round((values.side ?? 0) * sideScale),