implemented minimal config (motors) updating

feetechDefinitions.js

@@ -1,45 +1,45 @@
 export class ServoMotor {
-  constructor(arg1, arg2, arg3, arg4) {
+    constructor(arg1, arg2, arg3, arg4) {
-    if (Array.isArray(arg1)) {
+        if (Array.isArray(arg1)) {
-      // Full payload constructor
+            // Full payload constructor
-      const payload = arg1;
+            const payload = arg1;
 
-      this.CHANNEL = payload[0];
+            this.CHANNEL = payload[0];
-      this.ID = payload[1];
+            this.ID = payload[1];
-      this.MODEL = getModelType(payload[3], payload[2]);
+            this.MODEL = getModelType(payload[3], payload[2]);
 
-      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];
-    } else {
+        } else {
-      // Simplified constructor
+            // Simplified constructor
-      this.CHANNEL = arg1;
+            this.CHANNEL = arg1;
-      this.ID = arg2;
+            this.ID = arg2;
 
-      this.MODEL = arg3 || 'Unknown Model';
+            this.MODEL = arg3 || 'Unknown Model';
 
-      this.NAME = arg4 || "UNKNOWN";
+            this.NAME = arg4 || "UNKNOWN";
+        }
     }
-  }
 }
 
 
@@ -112,71 +112,80 @@ const DataMap = Object.freeze({
 
 
 export function getModelType(major, minor) {
-    const modelList = new Map([
+
-        [combine(5, 0), "SCSXX"],
-        [combine(5, 4), "SCS009"],
-        [combine(5, 8), "SCS2332"],
-        [combine(5, 12), "SCS45"],
-        [combine(5, 15), "SCS15"],
-        [combine(5, 16), "SCS315"],
-        [combine(5, 25), "SCS115"],
-        [combine(5, 35), "SCS215"],
-        [combine(5, 40), "SCS40"],
-        [combine(5, 60), "SCS6560"],
-        [combine(5, 240), "SCDZZ"],
-        [combine(6, 0), "SMXX-360M"],
-        [combine(6, 3), "SM30-360M"],
-        [combine(6, 8), "SM60-360M"],
-        [combine(6, 12), "SM80-360M"],
-        [combine(6, 16), "SM100-360M"],
-        [combine(6, 20), "SM150-360M"],
-        [combine(6, 24), "SM85-360M"],
-        [combine(6, 26), "SM60-360M"],
-        [combine(8, 0), "SM30BL"],
-        [combine(8, 1), "SM30BL"],
-        [combine(8, 2), "SM30BL"],
-        [combine(8, 3), "SM30BL"],
-        [combine(8, 4), "SM30BL"],
-        [combine(8, 5), "SM30BL"],
-        [combine(8, 6), "SM30BL"],
-        [combine(8, 7), "SM30BL"],
-        [combine(8, 8), "SM30BL"],
-        [combine(8, 9), "SM30BL"],
-        [combine(8, 10), "SM30BL"],
-        [combine(8, 11), "SM30BL"],
-        [combine(8, 12), "SM30BL"],
-        [combine(8, 13), "SM30BL"],
-        [combine(8, 14), "SM30BL"],
-        [combine(8, 15), "SM30BL"],
-        [combine(8, 16), "SM30BL"],
-        [combine(8, 17), "SM30BL"],
-        [combine(8, 18), "SM30BL"],
-        [combine(8, 19), "SM30BL"],
-        [combine(8, 25), "SM29BL(LJ)"],
-        [combine(8, 29), "SM29BL(FT)"],
-        [combine(8, 30), "SM30BL(FT)"],
-        [combine(8, 20), "SM30BL(LJ)"],
-        [combine(8, 40), "SM40BLHV"],
-        [combine(8, 42), "SM45BLHV"],
-        [combine(8, 44), "SM85BLHV"],
-        [combine(8, 120), "SM120BLHV"],
-        [combine(8, 220), "SM200BLHV"],
-        [combine(9, 0), "STSXX"],
-        [combine(9, 2), "STS3032"],
-        [combine(9, 3), "STS3215"],
-        [combine(9, 4), "STS3040"],
-        [combine(9, 5), "STS3020"],
-        [combine(9, 6), "STS3046"],
-        [combine(9, 20), "SCSXX-2"],
-        [combine(9, 15), "SCS15-2"],
-        [combine(9, 35), "SCS225"],
-        [combine(9, 40), "SCS40-2"]
-    ]);
 
     const id = combine(major, minor);
     return modelList.get(id) || "Unknown Model";
 }
 
+const modelList = new Map([
+    [combine(5, 0), "SCSXX"],
+    [combine(5, 4), "SCS009"],
+    [combine(5, 8), "SCS2332"],
+    [combine(5, 12), "SCS45"],
+    [combine(5, 15), "SCS15"],
+    [combine(5, 16), "SCS315"],
+    [combine(5, 25), "SCS115"],
+    [combine(5, 35), "SCS215"],
+    [combine(5, 40), "SCS40"],
+    [combine(5, 60), "SCS6560"],
+    [combine(5, 240), "SCDZZ"],
+    [combine(6, 0), "SMXX-360M"],
+    [combine(6, 3), "SM30-360M"],
+    [combine(6, 8), "SM60-360M"],
+    [combine(6, 12), "SM80-360M"],
+    [combine(6, 16), "SM100-360M"],
+    [combine(6, 20), "SM150-360M"],
+    [combine(6, 24), "SM85-360M"],
+    [combine(6, 26), "SM60-360M"],
+    [combine(8, 0), "SM30BL"],
+    [combine(8, 1), "SM30BL"],
+    [combine(8, 2), "SM30BL"],
+    [combine(8, 3), "SM30BL"],
+    [combine(8, 4), "SM30BL"],
+    [combine(8, 5), "SM30BL"],
+    [combine(8, 6), "SM30BL"],
+    [combine(8, 7), "SM30BL"],
+    [combine(8, 8), "SM30BL"],
+    [combine(8, 9), "SM30BL"],
+    [combine(8, 10), "SM30BL"],
+    [combine(8, 11), "SM30BL"],
+    [combine(8, 12), "SM30BL"],
+    [combine(8, 13), "SM30BL"],
+    [combine(8, 14), "SM30BL"],
+    [combine(8, 15), "SM30BL"],
+    [combine(8, 16), "SM30BL"],
+    [combine(8, 17), "SM30BL"],
+    [combine(8, 18), "SM30BL"],
+    [combine(8, 19), "SM30BL"],
+    [combine(8, 25), "SM29BL(LJ)"],
+    [combine(8, 29), "SM29BL(FT)"],
+    [combine(8, 30), "SM30BL(FT)"],
+    [combine(8, 20), "SM30BL(LJ)"],
+    [combine(8, 40), "SM40BLHV"],
+    [combine(8, 42), "SM45BLHV"],
+    [combine(8, 44), "SM85BLHV"],
+    [combine(8, 120), "SM120BLHV"],
+    [combine(8, 220), "SM200BLHV"],
+    [combine(9, 0), "STSXX"],
+    [combine(9, 2), "STS3032"],
+    [combine(9, 3), "STS3215"],
+    [combine(9, 4), "STS3040"],
+    [combine(9, 5), "STS3020"],
+    [combine(9, 6), "STS3046"],
+    [combine(9, 20), "SCSXX-2"],
+    [combine(9, 15), "SCS15-2"],
+    [combine(9, 35), "SCS225"],
+    [combine(9, 40), "SCS40-2"]
+]);
+
+export const reverseModelMap = new Map();
+for (const [combined, model] of modelList.entries()) {
+    const minor = combined >> 8;
+    const major = combined & 0xFF;
+    reverseModelMap.set(model, { major, minor });
+}
+
 function combine(major, minor) {
     return (minor << 8) | major;
 }

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';
@@ -249,7 +249,7 @@ window.onload = () => {
 
     };
 
-    function clearDials(){        
+    function clearDials() {
         const dialArea = document.getElementById('dialArea');
         dialArea.innerHTML = ''; // Remove all child elements
         dials = [];
@@ -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 === 1) {
+                if (index === 21) {
-                    td.setAttribute('data-min', '0');
+                    td.setAttribute('data-type', 'text');
-                    td.setAttribute('data-max', '255');
-                } else if (index === 9) { // TORQUE ENABLE
-                    td.setAttribute('data-min', '0');
-                    td.setAttribute('data-max', '1');
-                } else if (index === 14) { // EEPROM LOCK
-                    td.setAttribute('data-min', '0');
-                    td.setAttribute('data-max', '1');
                 } 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) {
+                        td.setAttribute('data-min', '0');
+                        td.setAttribute('data-max', '1');
+                    } else if (index === 14) {
+                        td.setAttribute('data-min', '0');
+                        td.setAttribute('data-max', '1');
+                    }
                 }
 
                 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]));
     }