implemented minimal config (motors) updating

feetechDefinitions.js

@@ -112,6 +112,12 @@ const DataMap = Object.freeze({
 
 
 export function getModelType(major, minor) {
+
+
+    const id = combine(major, minor);
+    return modelList.get(id) || "Unknown Model";
+}
+
 const modelList = new Map([
     [combine(5, 0), "SCSXX"],
     [combine(5, 4), "SCS009"],
@@ -173,8 +179,11 @@ export function getModelType(major, minor) {
     [combine(9, 40), "SCS40-2"]
 ]);
 
-    const id = combine(major, minor);
+export const reverseModelMap = new Map();
-    return modelList.get(id) || "Unknown Model";
+for (const [combined, model] of modelList.entries()) {
+    const minor = combined >> 8;
+    const major = combined & 0xFF;
+    reverseModelMap.set(model, { major, minor });
 }
 
 function combine(major, minor) {

index.html

@@ -50,16 +50,19 @@
             <div class="channel-box mb-5">
               <label class="form-label">Channel 0</label>
               <div class="row mb-2">
-                <div class="col-9">
+                <!-- <div class="col-9">
                   <select class="form-select">
                     <option selected>SCS</option>
                     <option>STS</option>
                     <option>SM</option>
                   </select>
-                </div>
+                </div> -->
                 <div class="col-3">
                   <button id="btn_scan_channel_0" class="btn btn-primary w-100">Scan</button>
                 </div>
+                <div class="col-3">
+                  <button id="btn_apply_config_channel_0" class="btn btn-primary w-100">Apply To Config</button>
+                </div>
               </div>
               <table id="channel0-motor-table" class="table table-bordered">
                 <thead>
@@ -85,6 +88,7 @@
                     <th data-key="MOVING">MOVING</th>
                     <th data-key="CURRENT_CURRENT">CURRENT</th>
                     <th data-key="VOLTAGE">VOLTAGE</th>
+                    <th data-key="NAME">NAME</th>
                   </tr>
 
                 </thead>
@@ -97,16 +101,19 @@
             <div class="channel-box mb-5">
               <label class="form-label">Channel 1</label>
               <div class="row mb-2">
-                <div class="col-9">
+                <!-- <div class="col-9">
                   <select class="form-select">
                     <option selected>SCS</option>
                     <option>STS</option>
                     <option>SM</option>
                   </select>
-                </div>
+                </div> -->
                 <div class="col-3">
                   <button id="btn_scan_channel_1" class="btn btn-primary w-100">Scan</button>
                 </div>
+                <div class="col-3">
+                  <button id="btn_apply_config_channel_1" class="btn btn-primary w-100">Apply</button>
+                </div>
               </div>
               <table id="channel1-motor-table" class="table table-bordered">
                 <thead>
@@ -132,6 +139,7 @@
                     <th data-key="MOVING">MOVING</th>
                     <th data-key="CURRENT_CURRENT">CURRENT</th>
                     <th data-key="VOLTAGE">VOLTAGE</th>
+                    <th data-key="NAME">NAME</th>
                   </tr>
 
                 </thead>

script.js

@@ -1,5 +1,5 @@
 import { SerialManager } from './serial.js';
-import { ServoMotor, getModelType, writeData } from './feetechDefinitions.js';
+import { ServoMotor, getModelType, reverseModelMap, writeData } from './feetechDefinitions.js';
 import { CurveEditor } from './curveEditor.js';
 import { Robot } from './robot.js';
 import { NodeEditor } from './nodeeditor/NodeEditor.js';
@@ -330,7 +330,7 @@ window.onload = () => {
 
             for (let ch = 0; ch < dials.length; ch++) {
                 const value = dials[ch].value;
-                motorPayloads.push({ motorId: ch, position: value });
+                motorPayloads.push({ motorId: dials[ch].motorID, position: value });
             }
 
             const buffer = new ArrayBuffer(motorPayloads.length * 3);
@@ -343,6 +343,8 @@ window.onload = () => {
             });
 
             const payload = new Uint8Array(buffer);
+            console.log("SENDING POSITIONTS");
+            console.log(payload);
             serial.sendSetPositions(payload);
         }
     }
@@ -732,6 +734,92 @@ window.onload = () => {
 
 
 
+    document.getElementById('btn_apply_config_channel_0').onclick = async () => {
+        const table = document.querySelector('#channel0-motor-table tbody');
+        const rows = table.querySelectorAll('tr');
+        const motors = [];
+
+        rows.forEach(row => {
+            const cells = row.querySelectorAll('td');
+            const motor = {
+                MODEL: reverseModelMap.get(cells[0].textContent.trim()),
+                ID: parseInt(cells[1].textContent.trim()),
+                // MIN_ANGLE_LIMIT: parseInt(cells[2].textContent.trim()),
+                // MAX_ANGLE_LIMIT: parseInt(cells[3].textContent.trim()),
+                // POSITION: parseInt(cells[4].textContent.trim()),
+                // CW_DEAD_ZONE: parseInt(cells[5].textContent.trim()),
+                // CCW_DEAD_ZONE: parseInt(cells[6].textContent.trim()),
+                // OFFSET: parseInt(cells[7].textContent.trim()),
+                // MODE: parseInt(cells[8].textContent.trim()),
+                // TORQUE_ENABLE: parseInt(cells[9].textContent.trim()),
+                // ACCELERATION: parseInt(cells[10].textContent.trim()),
+                // GOAL_POSITION: parseInt(cells[11].textContent.trim()),
+                // GOAL_TIME: parseInt(cells[12].textContent.trim()),
+                // GOAL_SPEED: parseInt(cells[13].textContent.trim()),
+                // LOCK: parseInt(cells[14].textContent.trim()),
+                // CURRENT_SPEED: parseInt(cells[15].textContent.trim()),
+                // CURRENT_LOAD: parseInt(cells[16].textContent.trim()),
+                // TEMPERATURE: parseInt(cells[17].textContent.trim()),
+                // MOVING: parseInt(cells[18].textContent.trim()),
+                // CURRENT_CURRENT: parseInt(cells[19].textContent.trim()),
+                // VOLTAGE: parseInt(cells[20].textContent.trim()),
+                NAME: cells[21].textContent.trim()
+            };
+
+            motors.push(motor);
+        });
+
+        console.log("Compiled motor list:", motors);
+
+        await serial.sendConfigUpdate(encodeMotorConfig(motors));
+        // You can now use this list for saving, sending, or applying config
+    };
+
+    function encodeMotorConfig(motors) {
+        const robotName = "Mr Roboto";
+        const firmwareVersion = 1;
+
+        const bufferSize = 1024; // adjust as needed
+        const buffer = new ArrayBuffer(bufferSize);
+        const view = new DataView(buffer);
+        let offset = 0;
+
+        const encoder = new TextEncoder();
+        const nameBytes = encoder.encode(robotName);
+        const nameLength = Math.min(nameBytes.length, 255); // max 255 bytes
+
+        // 🔹 Encode robotName (length + bytes)
+        view.setUint8(offset++, nameLength);
+        for (let i = 0; i < nameLength; i++) {
+            view.setUint8(offset++, nameBytes[i]);
+        }
+
+        // 🔹 Encode firmwareVersion (2 bytes)
+        view.setUint16(offset, firmwareVersion, true); offset += 2;
+
+        // 🔹 Encode motor count (1 byte)
+        view.setUint8(offset++, motors.length);
+
+        // 🔹 Encode motor entries
+        motors.forEach(motor => {
+            const { major, minor } = motor.MODEL;
+            const modelValue = (minor << 8) | major;
+
+            view.setUint16(offset, modelValue, true); offset += 2; // MODEL
+            view.setUint16(offset, motor.ID, true); offset += 2;   // ID
+
+            const motorNameBytes = encoder.encode(motor.NAME);
+            const motorNameLength = Math.min(motorNameBytes.length, 255);
+
+            view.setUint8(offset++, motorNameLength);
+            for (let i = 0; i < motorNameLength; i++) {
+                view.setUint8(offset++, motorNameBytes[i]);
+            }
+        });
+
+        return new Uint8Array(buffer.slice(0, offset));
+    }
+
 
 
 
@@ -771,7 +859,8 @@ window.onload = () => {
             motor.TEMPERATURE,
             motor.MOVING,
             motor.CURRENT_CURRENT,
-            motor.VOLTAGE
+            motor.VOLTAGE,
+            motor.NAME
         ];
 
         const modelType = motor.MODEL.startsWith('SCS') ? 'SCS' :
@@ -792,18 +881,23 @@ window.onload = () => {
                 td.setAttribute('contenteditable', 'true');
                 td.setAttribute('data-type', 'number');
 
+                if (index === 21) {
+                    td.setAttribute('data-type', 'text');
+                } else {
+                    td.setAttribute('data-type', 'number');
+                    td.setAttribute('data-min', rangeMin.toString());
+                    td.setAttribute('data-max', rangeMax.toString());
+
                     if (index === 1) {
                         td.setAttribute('data-min', '0');
                         td.setAttribute('data-max', '255');
-                } else if (index === 9) { // TORQUE ENABLE
+                    } else if (index === 9) {
                         td.setAttribute('data-min', '0');
                         td.setAttribute('data-max', '1');
-                } else if (index === 14) { // EEPROM LOCK
+                    } else if (index === 14) {
                         td.setAttribute('data-min', '0');
                         td.setAttribute('data-max', '1');
-                } else {
+                    }
-                    td.setAttribute('data-min', rangeMin.toString());
-                    td.setAttribute('data-max', rangeMax.toString());
                 }
 
                 td.addEventListener('input', function () {

serial.js

@@ -14,6 +14,7 @@ const CMD_PLAY_FILE = 0x08;
 const CMD_SCAN_CHANNEL = 0x09;
 const CMD_WRITE_DATA = 0x10;
 const CMD_READ_DATA = 0x11;
+const CMD_WRITE_CONFIG_UPDATE = 0x12;
 const CMD_START_POSITION_STREAM = 0x14;
 const POSITION_STREAM = 0x15;
 
@@ -96,6 +97,11 @@ export class SerialManager {
         await this.send(CMD_WRITE_DATA, payload);
     }
 
+    async sendConfigUpdate(payload) {
+        console.log(payload);
+        await this.send(CMD_WRITE_CONFIG_UPDATE, payload);
+    }
+
     async requestPositionStreaming(stream) { //stream true/false
         await this.send(CMD_START_POSITION_STREAM, new Uint8Array([stream]));
     }