full spectrum of data read/write (needs testing), feedback checkbox activates position streaming for the 5 test motors

feetechDefinitions.js

@@ -1,64 +1,75 @@
 export class ServoMotor {
-  constructor(payload) {
+    constructor(payload) {
-    this.CHANNEL = payload[0];
+        this.CHANNEL = payload[0];
-    this.ID = payload[1];
+        this.ID = payload[1];
 
-    this.MODEL = getModelType(payload[3], payload[2]); // minor, major
+        this.MODEL = getModelType(payload[3], payload[2]); // minor, major
 
-    this.MIN_ANGLE_LIMIT = (payload[4] << 8) | payload[5];
+        this.MIN_ANGLE_LIMIT = (payload[4] << 8) | payload[5];
-    this.MAX_ANGLE_LIMIT = (payload[6] << 8) | payload[7];
+        this.MAX_ANGLE_LIMIT = (payload[6] << 8) | payload[7];
-    this.POSITION = (payload[8] << 8) | payload[9];
+        this.POSITION = (payload[8] << 8) | payload[9];
 
-    this.CW_DEAD_ZONE = payload[10];
+        this.CW_DEAD_ZONE = payload[10];
-    this.CCW_DEAD_ZONE = payload[11];
+        this.CCW_DEAD_ZONE = payload[11];
-    this.OFFSET = (payload[12] << 8) | payload[13];
+        this.OFFSET = (payload[12] << 8) | payload[13];
-    this.MODE = payload[14];
+        this.MODE = payload[14];
-    this.TORQUE_ENABLE = payload[15];
+        this.TORQUE_ENABLE = payload[15];
-    this.ACCELERATION = payload[16];
+        this.ACCELERATION = payload[16];
 
-    this.GOAL_POSITION = (payload[17] << 8) | payload[18];
+        this.GOAL_POSITION = (payload[17] << 8) | payload[18];
-    this.GOAL_TIME = (payload[19] << 8) | payload[20];
+        this.GOAL_TIME = (payload[19] << 8) | payload[20];
-    this.GOAL_SPEED = (payload[21] << 8) | payload[22];
+        this.GOAL_SPEED = (payload[21] << 8) | payload[22];
-    this.LOCK = payload[23];
+        this.LOCK = payload[23];
 
-    const rawSpeed = (payload[24] << 8) | payload[25];
+        const rawSpeed = (payload[24] << 8) | payload[25];
-    this.CURRENT_SPEED = rawSpeed > 0x7FFF ? rawSpeed - 0x10000 : rawSpeed;
+        this.CURRENT_SPEED = rawSpeed > 0x7FFF ? rawSpeed - 0x10000 : rawSpeed;
 
-    this.CURRENT_LOAD = (payload[26] << 8) | payload[27];
+        this.CURRENT_LOAD = (payload[26] << 8) | payload[27];
-    this.TEMPERATURE = payload[28];
+        this.TEMPERATURE = payload[28];
-    this.MOVING = payload[29];
+        this.MOVING = payload[29];
-    this.CURRENT_CURRENT = (payload[30] << 8) | payload[31];
+        this.CURRENT_CURRENT = (payload[30] << 8) | payload[31];
-    this.VOLTAGE = payload[32];
+        this.VOLTAGE = payload[32];
-  }
+    }
 }
 
 
-// Takes Motor object and 
+// Takes Motor object and updates simulated value, returns packet for real device
 export function writeData(motor, key) {
     const entry = DataMap[key];
     if (!entry) {
         throw new Error(`Invalid data key: ${key}`);
     }
 
-    const { address, length } = entry;
+    let { address, length } = entry;
     const value = motor[key];
 
     if (value === undefined) {
         throw new Error(`Motor does not contain value for key: ${key}`);
     }
 
-    const packet = [motor.CHANNEL, motor.ID, address];
+    
+
+    // HANDLE DIFFERENT ADDRESS FOR LOCK ON SMS_STS    
+    if (key == 'LOCK') {
+        if (motor.MODEL && (motor.MODEL.includes("SMS") || motor.MODEL.includes("STS"))) {       
+            address = DataMap.LOCK_SMS_STS.address;
+        } else {
+            address = DataMap.LOCK.address;
+        }
+    }
+
+    const packet = [motor.CHANNEL, motor.ID, address, length]; // channel, id, address, value
 
     if (length === 2) {
-        packet.push((value >> 8) & 0xFF);
         packet.push(value & 0xFF);
+        packet.push((value >> 8) & 0xFF);
     } else if (length === 1) {
         packet.push(value);
     } else {
         throw new Error(`Unsupported byte length: ${length}`);
     }
 
-    return packet;
+    return new Uint8Array(packet);
 }
 
 
@@ -77,8 +88,8 @@ const DataMap = Object.freeze({
     GOAL_POSITION: { address: 0x2A, length: 2 },
     GOAL_TIME: { address: 0x2C, length: 2 },
     GOAL_SPEED: { address: 0x2E, length: 2 },
-    LOCK_SCS: { address: 0x30, length: 1 },
+    LOCK: { address: 0x30, length: 1 }, //SCS
-    LOCK_SMS_STS: { address: 0x37, length: 1 },
+    LOCK_SMS_STS: { address: 0x37, length: 1 },//SMS_STS
     POSITION: { address: 0x38, length: 2 },
     CURRENT_SPEED: { address: 0x3A, length: 2 },
     CURRENT_LOAD: { address: 0x3C, length: 2 },

index.html

@@ -175,6 +175,9 @@
         <label>
           <input type="checkbox" id="syncCheckbox"> Sync
         </label>
+        <label>
+          <input type="checkbox" id="feebackCheckbox"> Feedback
+        </label>
 
         <canvas id="timelineCanvas" width="800" height="30"></canvas>
 

script.js

@@ -9,6 +9,7 @@ window.onload = () => {
     const disconnectBtn = document.getElementById('disconnect');
     const connectBtn = document.getElementById('connect');
     const syncCheckbox = document.getElementById("syncCheckbox");
+    const feebackCheckbox = document.getElementById("feebackCheckbox");
     const clearBtn = document.getElementById("clearAnimation");
 
     // Limits rate of move commands sent while sliding timeslider
@@ -329,6 +330,17 @@ window.onload = () => {
                         handleScanChannelResponse(new Uint8Array(payload))
                         break;
 
+                    case 0x10: // CMD_SCAN_CHANNEL
+                        console.log(new Uint8Array(payload));
+                        document.getElementById('log').value += `Data updated\n`;
+                        //handleScanChannelResponse(new Uint8Array(payload))
+                        break;
+
+                    case 0x15: // POSITION STREAM
+                        //console.log(new Uint8Array(payload));
+                        handlePositionStreamPacket(payload);
+                        break;
+
                     // Add more cases as needed
                     default:
                         document.getElementById('log').value += `Unknown command ${command}\n`;
@@ -350,6 +362,16 @@ window.onload = () => {
         }
     });
 
+    function handlePositionStreamPacket(data) {
+        for (let i = 0; i < 5; i++) {
+            const high = data[i * 2];       // High byte
+            const low = data[i * 2 + 1];    // Low byte
+            const value = (high << 8) | low; // Combine into uint16_t
+
+            dials[i].value = value;
+        }
+    }
+
     function handleLoadedFile(data) {
         // Ensure data is a Uint8Array
         console.log(data.buffer);
@@ -834,7 +856,7 @@ window.onload = () => {
         editedCells.forEach(cell => {
             const row = cell.closest('tr');
             const rowId = row.getAttribute('data-row-id');
-            const title = getColumnTitle(cell); // see below
+            const title = getColumnTitle(cell);
             const value = cell.textContent.trim();
 
             packets.push({
@@ -842,11 +864,15 @@ window.onload = () => {
                 title,
                 value
             });
+
+            // Remove the classes
+            cell.classList.remove('edited', 'bg-warning');
         });
 
         return packets;
     }
 
+
     function getColumnTitle(cell) {
         const table = cell.closest('table');
         const cellIndex = cell.cellIndex;
@@ -882,10 +908,10 @@ window.onload = () => {
         selection.addRange(newRange);
     }
 
-    function getServoMotorByID(channel, id){
+    function getServoMotorByID(channel, id) {
-        for (var i = 0; i < servoMotors[channel].length; i++){
+        for (var i = 0; i < servoMotors[channel].length; i++) {
             console.log(servoMotors[channel][i].ID, id);
-            if (servoMotors[channel][i].ID === id){
+            if (servoMotors[channel][i].ID === id) {
                 return servoMotors[channel][i];
             }
         }
@@ -912,14 +938,14 @@ window.onload = () => {
     document.getElementById('btnSendChangesCh0').onclick = async () => {
 
         const packets = collectChangePackets(0); // or 2
-        for (var i = 0; i < packets.length; i++){
+        for (var i = 0; i < packets.length; i++) {
             let channel = 0
             let servoMotor = getServoMotorByID(channel, parseInt(packets[i].id, 10));
             let dataKey = packets[i].title;
             let value = packets[i].value;
             servoMotor[dataKey] = value;
-            console.log(writeData(servoMotor, dataKey));
+            let dataPacket = writeData(servoMotor, dataKey);
-
+            serial.requestWriteData(dataPacket);
         }
         console.log(servoMotors);
         console.log('Sending packets:', packets);
@@ -928,6 +954,16 @@ window.onload = () => {
     document.getElementById('btnSendChangesCh1').onclick = async () => {
 
         const packets = collectChangePackets(1); // or 2
+        for (var i = 0; i < packets.length; i++) {
+            let channel = 1
+            let servoMotor = getServoMotorByID(channel, parseInt(packets[i].id, 10));
+            let dataKey = packets[i].title;
+            let value = packets[i].value;
+            servoMotor[dataKey] = value;
+            let dataPacket = writeData(servoMotor, dataKey);
+            serial.requestWriteData(dataPacket);
+        }
+        console.log(servoMotors);
         console.log('Sending packets:', packets);
     };
 
@@ -954,5 +990,23 @@ window.onload = () => {
 
 
 
+    feebackCheckbox.addEventListener('change', async function () {
+        if (feebackCheckbox.checked) {
+            console.log("Checkbox is checked!");
+            serial.requestPositionStreaming(true);
+        } else {
+            console.log("Checkbox is unchecked!");
+            serial.requestPositionStreaming(false);
+        }
+    });
 
+
+    function matchPositions() {
+        // if (feebackCheckbox.checked) {
+        //     console.log("Running every 100ms");
+        // }
+    }
+
+    // Run 10 times per second
+    const intervalId = setInterval(matchPositions, 100);
 };

serial.js

@@ -12,6 +12,10 @@ const CMD_DELETE_FILE = 0x04;
 const CMD_SET_POSITION = 0x07;
 const CMD_PLAY_FILE = 0x08;
 const CMD_SCAN_CHANNEL = 0x09;
+const CMD_WRITE_DATA = 0x10;
+const CMD_READ_DATA = 0x11;
+const CMD_START_POSITION_STREAM = 0x14;
+const POSITION_STREAM = 0x15;
 
 export class SerialManager {
     constructor() {
@@ -60,7 +64,7 @@ export class SerialManager {
         await this.send(CMD_LOAD_FILE, payload); // CMD_LOAD_FILE
     }
 
-    async requestPlayFile(payload){
+    async requestPlayFile(payload) {
         console.log("Playing File: " + "filename");
         await this.send(CMD_PLAY_FILE, payload);
 
@@ -76,17 +80,26 @@ export class SerialManager {
         await this.send(CMD_DELETE_FILE, payload);
     }
 
-    async sendSetPositions(payload){        
+    async sendSetPositions(payload) {
         console.log("Setting positions");
         await this.send(CMD_SET_POSITION, payload);
     }
 
-    async requestScan(channel){        
+    async requestScan(channel) {
-        console.log("Scanning Channel " + (channel+1));
+        console.log("Scanning Channel " + (channel + 1));
         let payload = new Uint8Array([channel]);
         await this.send(CMD_SCAN_CHANNEL, payload);
     }
 
+    async requestWriteData(payload) {
+        console.log(payload);
+        await this.send(CMD_WRITE_DATA, payload);
+    }
+
+    async requestPositionStreaming(stream) { //stream true/false
+        await this.send(CMD_START_POSITION_STREAM, new Uint8Array([stream]));
+    }
+
     startReading(onPacket) {
         const decoder = new TextDecoder();
         let buffer = [];