legop3/MultiRoombaRover
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legop3
2025-12-17 00:53:55 -05:00
parent 102192c631
commit c42d314cc9
7 changed files with 15 additions and 16 deletions
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dist/roverd
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dist/servoverifier
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pi/roverd/wsclient.go
+1 -7
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@@ -140,13 +140,7 @@ func (c *WSClient) dispatch(ctx context.Context, msg *inboundMessage) error {
if err != nil { if err != nil {
return fmt.Errorf("raw decode: %w", err) return fmt.Errorf("raw decode: %w", err)
} }
if err := c.adapter.SendRaw(buf); err != nil { return c.adapter.SendRaw(buf)
return err
}
if len(buf) > 0 && isModeOpcode(buf[0]) {
return c.ensureSensorStream()
}
return nil
case msg.Media != nil: case msg.Media != nil:
if c.media == nil { if c.media == nil {
return fmt.Errorf("media supervisor disabled") return fmt.Errorf("media supervisor disabled")
server/public/assets/index-BI_1Ts67.js → server/public/assets/index-CwvJUtN6.js
+5 -5
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server/public/index.html
+1 -1
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@@ -11,7 +11,7 @@
<meta name="apple-mobile-web-app-status-bar-style" content="black-translucent" /> <meta name="apple-mobile-web-app-status-bar-style" content="black-translucent" />
<meta name="apple-mobile-web-app-title" content="Multi Roomba Rover" /> <meta name="apple-mobile-web-app-title" content="Multi Roomba Rover" />
<title>Multi Roomba Rover</title> <title>Multi Roomba Rover</title>
<script type="module" crossorigin src="/assets/index-BI_1Ts67.js"></script> <script type="module" crossorigin src="/assets/index-CwvJUtN6.js"></script>
<link rel="stylesheet" crossorigin href="/assets/index-CsRcYKTY.css"> <link rel="stylesheet" crossorigin href="/assets/index-CsRcYKTY.css">
</head> </head>
<body> <body>
webui/src/controls/commandPipeline.js
+4 -1
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@@ -120,6 +120,9 @@ export function useCommandPipeline() {
case 'oi': case 'oi':
sendOiCommand(step.command); sendOiCommand(step.command);
break; break;
case 'sensorStream':
enableSensorStream();
break;
case 'drive': case 'drive':
sendDriveDirect(step.speeds ?? { left: 0, right: 0 }); sendDriveDirect(step.speeds ?? { left: 0, right: 0 });
break; break;
@@ -143,7 +146,7 @@ export function useCommandPipeline() {
} }
} }
}, },
[roverId, sendOiCommand, sendDriveDirect, sendAuxMotors, sendServoAngle], [roverId, sendOiCommand, sendDriveDirect, sendAuxMotors, sendServoAngle, enableSensorStream],
); );
const sendNightVision = useCallback( const sendNightVision = useCallback(
webui/src/controls/constants.js
+3 -1
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@@ -53,10 +53,12 @@ export const DEFAULT_MACROS = [
{ {
id: 'drive-sequence', id: 'drive-sequence',
label: 'Drive', label: 'Drive',
description: 'Start, dock, and full command sequence used by the drive button.', description: 'Start OI, request sensors, dock poke, then full mode for driving.',
steps: [ steps: [
{ type: 'oi', command: 'start' }, { type: 'oi', command: 'start' },
{ type: 'pause', duration: COMMAND_DELAY_MS }, { type: 'pause', duration: COMMAND_DELAY_MS },
{ type: 'sensorStream', enable: true },
{ type: 'pause', duration: COMMAND_DELAY_MS },
{ type: 'oi', command: 'dock' }, { type: 'oi', command: 'dock' },
{ type: 'pause', duration: COMMAND_DELAY_MS }, { type: 'pause', duration: COMMAND_DELAY_MS },
{ type: 'oi', command: 'full' }, { type: 'oi', command: 'full' },