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Merged
codeflight1 merged 6 commits into from
Aug 3, 2026
Merged

New science #72

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1f2f2a4
new science API
codeflight1 Jul 24, 2026
97caf60
Testing
CPRTSoftwareLead Jul 26, 2026
cdafc6f
first pass drill status
codeflight1 Jul 29, 2026
5e05968
Drill status changes
codeflight1 Jul 30, 2026
2178dc5
Misc fixes
codeflight1 Aug 3, 2026
84b0f60
copilot fixes
codeflight1 Aug 3, 2026
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222 changes: 152 additions & 70 deletions src/components/panels/ScienceControlPanel.tsx
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Original file line number Diff line number Diff line change
Expand Up @@ -14,13 +14,11 @@ interface RunPolarimeterResponse {
file_path: string;
}

type DCMotorConfig = {
type MotorConfig = {
id: number;
name: string;
defaultTime: number;
defaultDuty: number;
frequency: number;
type: 'dc';
};

type ServoConfig = {
Expand All @@ -30,74 +28,78 @@ type ServoConfig = {
minPulseUs: number;
maxPulseUs: number;
maxDegrees: number;
frequency: number;
type: 'servo';
};

type MotorConfig = DCMotorConfig | ServoConfig;

type SendCommandFn = (
type SendMotorFn = (
motorID: number,
type: number,
value: number,
duration?: number,
frequency?: number,
ramp?: number
) => void;

type DCMotorProps = {
motor: DCMotorConfig;
sendCommand: SendCommandFn;
type SendServoFn = (
motorID: number,
value: number,
) => void;

type MotorProps = {
motor: MotorConfig;
sendCommand: SendMotorFn;
disabled: boolean;
};

type ServoMotorProps = {
motor: ServoConfig;
sendCommand: SendCommandFn;
sendCommand: SendServoFn;
disabled: boolean;
};

const TYPE_DC = 0;
const TYPE_SERVO = 1;

function isDCMotor(motor: MotorConfig): motor is DCMotorConfig {
return motor.type === 'dc';
interface MotorStatus {
temperature: number;
bus_voltage: number;
output_percent: number;
output_voltage: number;
output_current: number;
position: number;
velocity: number;
fwd_limit: boolean;
rev_limit: boolean;
active_errors: number;
}

const PWM_MAX = 1023;
const DEFAULT_PWM_FREQUENCY = 50;
const DEFAULT_RAMP = 0;

const motors: MotorConfig[] = [
{ id: 18, name: 'Strip', defaultTime: 3.0, defaultDuty: 50, frequency: 2000, type: 'dc' },
{ id: 23, name: 'Resin Pump', defaultTime: 2.5, defaultDuty: 50, frequency: 2000, type: 'dc' },
{ id: 22, name: 'Polar', defaultTime: 1.5, defaultDuty: 50, frequency: 2000, type: 'dc' },
{ id: 21, name: 'Benedict', defaultTime: 2.5, defaultDuty: 50, frequency: 2000, type: 'dc' },
{ id: 19, name: 'Stirrer', defaultTime: 10.0, defaultDuty: 75, frequency: 2000, type: 'dc' },
{ id: 16, name: 'Heater', defaultTime: 10.0, defaultDuty: 75, frequency: 2000, type: 'dc' },

{ id: 2, name: 'Strip', defaultTime: 10.0, defaultDuty: 100 },
{ id: 0, name: 'Resin Pump', defaultTime: 2.5, defaultDuty: 100 },
{ id: 5, name: 'Polar', defaultTime: 1.5, defaultDuty: 100 },
{ id: 4, name: 'Benedict', defaultTime: 8, defaultDuty: 100 },
{ id: 1, name: 'Stirrer', defaultTime: 10.0, defaultDuty: 50 },
{ id: 6, name: 'Heater', defaultTime: 20.0, defaultDuty: 75 },
]

const servos: ServoConfig[] = [
{
id: 13,
id: 2,
name: 'Disk Servo',
defaultPosition: 90,
minPulseUs: 615,
maxPulseUs: 2495,
maxDegrees: 195,
frequency: 50,
type: 'servo',
},
{
id: 32,
id: 0,
name: 'Resin Servo',
defaultPosition: 45,
minPulseUs: 350,
maxPulseUs: 2500,
maxDegrees: 360,
frequency: 50,
type: 'servo',
}
];

const CM_PER_TICK = 0.15 / 13 / 4096; // 1.5 mm pitch thread, 1:13 gear ratio, 12-bit encoder
const DRILL_HEIGHT = 30;

// --------------------
// Panel
// --------------------
Expand All @@ -106,49 +108,58 @@ const ScienceControlPanel: React.FC = () => {

const [title, setTitle] = useState<string>("");
const [polarStatus, setPolarStatus] = useState<string>("");
const [drill, setDrill] = useState<MotorStatus>();
const [elevator, setElevator] = useState<MotorStatus>();
const [zero, setZero] = useState<number>(0); // TODO: Service for resetting talon encoder estimate

const sendCommand: SendCommandFn = (
const sendMotor: SendMotorFn = (
motorID,
type,
value,
duration,
frequency,
ramp = DEFAULT_RAMP
) => {
if (!ros) return;

const safeDurationMs = Math.round(
Math.min(Math.max(duration ?? 0, 0), 65.535) * 10
const safeDuration = Math.round(
Math.min(Math.max(duration ?? 0, 0), 6553.5) * 10
);

const safeDutyPercent = Math.min(Math.max(value, 0), 100);
const dutyCycle = Math.round((safeDutyPercent / 100) * PWM_MAX);
const dutyCycle = Math.min(Math.max(value, 0), 100);

const topic = new ROSLIB.Topic({
ros,
name: '/esp_pwm_command',
messageType: 'interfaces/msg/PwmCommand',
name: '/science/motor',
messageType: 'interfaces/msg/ScienceMotor',
});

topic.publish(
new ROSLIB.Message({
pin: motorID,
type: type,
duty_cycle: dutyCycle,
duration: safeDurationMs,
frequency,
duration: safeDuration,
ramp,
})
);
};

const sendServo: SendServoFn = (
motorID,
value,
) => {
if (!ros) return;

console.log('[SCIENCE PWM CMD]', {
pin: motorID,
type: type,
duty_cycle: dutyCycle,
duration: safeDurationMs,
frequency,
ramp,
const topic = new ROSLIB.Topic({
ros,
name: '/science/servo',
messageType: 'interfaces/msg/ScienceServo',
});

topic.publish(
new ROSLIB.Message({
pin: motorID,
us: value,
})
);
};

const handlePolar = () => {
Expand All @@ -158,7 +169,7 @@ const ScienceControlPanel: React.FC = () => {

const polarSrv = new ROSLIB.Service({
ros,
name: "/run_polarimeter",
name: "/science/run_polarimeter",
serviceType: "interfaces/srv/RunPolarimeter",
});

Expand All @@ -170,22 +181,75 @@ const ScienceControlPanel: React.FC = () => {
);
};

useEffect(() => {
if (!ros) return;

const drillTopic = new ROSLIB.Topic({
ros,
name: '/drill/status',
messageType: 'ros_phoenix/msg/MotorStatus',
});

const handleDrillReading = (msg: any) => {
setDrill(msg as MotorStatus);
};

drillTopic.subscribe(handleDrillReading);

return () => {
drillTopic.unsubscribe(handleDrillReading);
};
}, [ros]);

useEffect(() => {
if (!ros) return;

const elevatorTopic = new ROSLIB.Topic({
ros,
name: '/elevator/status',
messageType: 'ros_phoenix/msg/MotorStatus',
});

const handleElevatorReading = (msg: any) => {
setElevator(msg as MotorStatus);
};

elevatorTopic.subscribe(handleElevatorReading);

return () => {
elevatorTopic.unsubscribe(handleElevatorReading);
};
}, [ros]);

return (
<div className="panel">
<div className="drill-info">
<div style={{ float: "left" }}>
<button style={{ marginRight: '10px' }} onClick={() => {setZero(elevator?.position ?? 0)}}>Set Fully UP</button>
<span style={{ paddingRight: '20px' }}>Drill Height: <span className='drill-reading'>{(DRILL_HEIGHT - (((elevator?.position ?? 0) - zero) * CM_PER_TICK)).toFixed(2)}</span> cm above ground</span>
<span style={{ paddingRight: '20px' }}>Drill Current: <span className='drill-reading'>{drill?.output_current?.toFixed(2) ?? '--'}</span> A</span>
<span>Drill Percent: <span className='drill-reading'>{((drill?.output_percent ?? 0) * 100).toFixed(0)}</span>%</span>
</div>
<div style={{ float: "right" }}>
<span className='right' style={{ paddingRight: '20px' }}>Elevator Current: <span className='drill-reading'>{elevator?.output_current?.toFixed(2) ?? '--'}</span> A</span>
<span className='right'>Elevator Percent: <span className='drill-reading'>{((elevator?.output_percent ?? 0) * 100).toFixed(0)}</span>%</span>
</div>
</div>
<div className="motor-grid">
{motors.map((motor) =>
isDCMotor(motor) ? (
<DCMotor
key={`${motor.type}-${motor.id}-${motor.name}`}
key={`${motor.id}-${motor.name}`}
motor={motor}
sendCommand={sendCommand}
sendCommand={sendMotor}
disabled={!ros}
/>
) : (
)
}
{servos.map((servo) => (
<ServoMotor
key={`${motor.type}-${motor.id}-${motor.name}`}
motor={motor}
sendCommand={sendCommand}
key={`${servo.id}-${servo.name}`}
motor={servo}
sendCommand={sendServo}
disabled={!ros}
/>
)
Expand Down Expand Up @@ -350,6 +414,25 @@ const ScienceControlPanel: React.FC = () => {
background: #00ffcc;
transition: width 0.1s linear;
}

.drill-info {
border: 1px solid #3a3a3a;
border-radius: 10px;
padding: .75rem;
margin-bottom: 1rem;
box-shadow: 0 3px 10px rgba(0,0,0,.4);
background: linear-gradient(145deg,#2b2b2b,#202020);
color: #eaeaea;
}

.right {
vertical-align: -moz-middle-with-baseline;
vertical-align: -webkit-baseline-middle;
}

.drill-reading {
font-weight: 600;
}
`}</style>
</div>
);
Expand All @@ -358,7 +441,7 @@ const ScienceControlPanel: React.FC = () => {
// --------------------
// DC Motor Component
// --------------------
const DCMotor: React.FC<DCMotorProps> = ({
const DCMotor: React.FC<MotorProps> = ({
motor,
sendCommand,
disabled,
Expand Down Expand Up @@ -392,17 +475,17 @@ const DCMotor: React.FC<DCMotorProps> = ({
}, [remaining]);

const handleGo = () => {
const safeTime = clamp(time, 0, 65.535);
const safeTime = clamp(time, 0, 6553.5);
const safeDuty = clamp(duty, 0, 100);

sendCommand(motor.id, TYPE_DC, safeDuty, safeTime, motor.frequency);
sendCommand(motor.id, safeDuty, safeTime);

setStartTime(safeTime);
setRemaining(safeTime);
};

const handleStop = () => {
sendCommand(motor.id, TYPE_DC, 0, 0, motor.frequency);
sendCommand(motor.id, 0, 0);
setRemaining(null);
};

Expand All @@ -421,7 +504,7 @@ const DCMotor: React.FC<DCMotorProps> = ({
type="number"
step="0.1"
min="0"
max="65.535"
max="6553.5"
value={time}
disabled={disabled}
onChange={(e) => setTime(Number(e.target.value))}
Expand Down Expand Up @@ -495,12 +578,11 @@ const ServoMotor: React.FC<ServoMotorProps> = ({
const handleGo = () => {
const safePos = clamp(position, 0, motor.maxDegrees);

const pulseUs =
const pulseUs = Math.round(
motor.minPulseUs +
(safePos / motor.maxDegrees) * (motor.maxPulseUs - motor.minPulseUs);
(safePos / motor.maxDegrees) * (motor.maxPulseUs - motor.minPulseUs));

const dutyPercent = (pulseUs * motor.frequency / 1000000) * 100;
sendCommand(motor.id, TYPE_SERVO, dutyPercent, 0, motor.frequency);
sendCommand(motor.id, pulseUs);
};

return (
Expand Down
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