legop3/MultiRoombaRover
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legop3
2026-07-17 14:38:47 -04:00
parent c9842d7ba5
commit 955f6f213d
9 changed files with 17 additions and 7 deletions
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server/public/assets/index-DzMZA-qn.js → server/public/assets/index-3ekGrBk9.js
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server/public/assets/index-3ekGrBk9.js.map
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server/public/assets/index-DzMZA-qn.js.map
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server/public/index.html
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@@ -78,7 +78,7 @@
<script defer src="https://analytics.otter.land/script.js" data-website-id="82dd56a5-db44-4279-bd1e-a4d9fee39af7" data-domains="rover.otter.land"></script> <script defer src="https://analytics.otter.land/script.js" data-website-id="82dd56a5-db44-4279-bd1e-a4d9fee39af7" data-domains="rover.otter.land"></script>
<script defer src="https://analytics.otter.land/recorder.js" data-website-id="82dd56a5-db44-4279-bd1e-a4d9fee39af7" data-domains="rover.otter.land" data-sample-rate="0.15" data-mask-level="moderate" data-max-duration="300000"></script> <script defer src="https://analytics.otter.land/recorder.js" data-website-id="82dd56a5-db44-4279-bd1e-a4d9fee39af7" data-domains="rover.otter.land" data-sample-rate="0.15" data-mask-level="moderate" data-max-duration="300000"></script>
<title>Roomba Rover</title> <title>Roomba Rover</title>
<script type="module" crossorigin src="/assets/index-DzMZA-qn.js"></script> <script type="module" crossorigin src="/assets/index-3ekGrBk9.js"></script>
<link rel="stylesheet" crossorigin href="/assets/index-DzqCFmyF.css"> <link rel="stylesheet" crossorigin href="/assets/index-DzqCFmyF.css">
</head> </head>
<body> <body>
server/src/services/overcurrentProtectionService/index.js
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@@ -421,6 +421,10 @@ function createOvercurrentProtectionService(options = {}) {
if (state.driveBlocked) return 'stopped'; if (state.driveBlocked) return 'stopped';
const anyLimited = MOTOR_KEYS.some((key) => state.motors[key].cap < 1); const anyLimited = MOTOR_KEYS.some((key) => state.motors[key].cap < 1);
if (anyLimited && anyOvercurrent) return 'limiting'; if (anyLimited && anyOvercurrent) return 'limiting';
// The raw Roomba flag is useful operator information even while stress is
// still inside the transient grace region. Reporting it separately keeps
// HUD visibility immediate without falsely claiming output is being scaled.
if (anyOvercurrent) return 'overcurrent';
if (anyLimited) return 'recovering'; if (anyLimited) return 'recovering';
return 'idle'; return 'idle';
} }
server/src/services/overcurrentProtectionService/index.test.js
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@@ -50,7 +50,9 @@ test('a short stalled-wheel spike remains inside the grace region', () => {
assert.equal(snapshot.motors.leftWheel.stress, 0.025); assert.equal(snapshot.motors.leftWheel.stress, 0.025);
assert.equal(snapshot.motors.leftWheel.cap, 1); assert.equal(snapshot.motors.leftWheel.cap, 1);
assert.equal(snapshot.status, 'idle'); // The hardware event is visible immediately even though the grace region
// correctly leaves the command cap at full output.
assert.equal(snapshot.status, 'overcurrent');
}); });
test('persistent stalled-wheel overcurrent scales both wheels and then stops drive', () => { test('persistent stalled-wheel overcurrent scales both wheels and then stops drive', () => {
webui/src/components/HudOverlays/OvercurrentOverlay/index.jsx
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@@ -40,7 +40,9 @@ function OvercurrentOverlay({ roverId = null, overcurrentLimiter = null, compact
? 'Drive stopped' ? 'Drive stopped'
: status === 'recovering' : status === 'recovering'
? 'Protection recovering' ? 'Protection recovering'
: 'Overcurrent limiting'; : status === 'limiting'
? 'Overcurrent limiting'
: 'Overcurrent detected';
const detail = bypassed const detail = bypassed
? 'Admin bypass' ? 'Admin bypass'
: stopped && protection?.drive?.requiresNeutral : stopped && protection?.drive?.requiresNeutral
webui/src/components/OvercurrentLimiterPanel/index.jsx
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@@ -35,6 +35,7 @@ function statusLabel(protection) {
if (protection?.adminImmune) return 'Admin bypass'; if (protection?.adminImmune) return 'Admin bypass';
if (protection?.status === 'stopped') return 'Drive stopped'; if (protection?.status === 'stopped') return 'Drive stopped';
if (protection?.status === 'limiting') return 'Limiting'; if (protection?.status === 'limiting') return 'Limiting';
if (protection?.status === 'overcurrent') return 'Overcurrent detected';
if (protection?.status === 'recovering') return 'Recovering'; if (protection?.status === 'recovering') return 'Recovering';
return 'Ready'; return 'Ready';
} }
webui/src/controls/overcurrentLimiter.js
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@@ -64,6 +64,7 @@ export function useOvercurrentLimiter(roverId) {
}, },
overcurrent: { motors: motorFlags, groups: groupFlags }, overcurrent: { motors: motorFlags, groups: groupFlags },
isActive: protection?.status === 'limiting' isActive: protection?.status === 'limiting'
|| protection?.status === 'overcurrent'
|| protection?.status === 'stopped' || protection?.status === 'stopped'
|| protection?.status === 'recovering', || protection?.status === 'recovering',
adminImmune, adminImmune,