basic robot config class holds motors and assignments, curves are generated on load (all simulated only so far)

curveEditor.js

@@ -42,15 +42,15 @@ export class CurveEditor {
         this.panStart = { x: 0, y: 0 };
 
         // Default curve
-        this.setCurves([
+        // this.setCurves([
-            {
+        //     {
-                startPoint: { x: this.valueToX(0), y: this.valueToY(0) },
+        //         startPoint: { x: this.valueToX(0), y: this.valueToY(0) },
-                startPointHandle: { x: this.valueToX(timelineLength / 2), y: this.valueToY(0.5) },
+        //         startPointHandle: { x: this.valueToX(timelineLength / 2), y: this.valueToY(0.5) },
-                endPointHandle: { x: this.valueToX(timelineLength / 2), y: this.valueToY(-0.5) },
+        //         endPointHandle: { x: this.valueToX(timelineLength / 2), y: this.valueToY(-0.5) },
-                endPoint: { x: this.valueToX(timelineLength), y: this.valueToY(0) }
+        //         endPoint: { x: this.valueToX(timelineLength), y: this.valueToY(0) }
-            }
+        //     }
-        ]);
+        // ]);
-        this.curveSets[this.selectedMotorID] = this.curves;
+        // this.curveSets[this.selectedMotorID] = this.curves;
 
         // let othercurves = [
         //     {
@@ -73,13 +73,25 @@ export class CurveEditor {
         // this.curveSets[7] = othercurves;
 
 
-        this.setSelectedMotor(4);
+        //this.setSelectedMotor(4);
 
         this.initEvents();
         this.draw();
         console.log(this.curveSets);
     }
 
+    addChannel(motorID){
+        this.setCurves([
+            {
+                startPoint: { x: this.valueToX(0), y: this.valueToY(0) },
+                startPointHandle: { x: this.valueToX(this.timelineLength / 2), y: this.valueToY(0.5) },
+                endPointHandle: { x: this.valueToX(this.timelineLength / 2), y: this.valueToY(-0.5) },
+                endPoint: { x: this.valueToX(this.timelineLength), y: this.valueToY(0) }
+            }
+        ]);
+        this.curveSets[motorID] = this.curves;
+    }
+
     setLength(endTime) {
         this.timelineLength = endTime / this.pixelsPerSecond;
         console.log("new endtime: " + endTime);
@@ -685,7 +697,7 @@ export class CurveEditor {
             this.dragControlPoint(curve, 'endPointHandle', curve.endPointHandle.x, curve.endPointHandle.y, index);
 
             const nextCurve = this.curves[index + 1];
-            console.log(curve.endPoint.y);
+            //console.log(curve.endPoint.y);
             if (nextCurve) {
                 nextCurve.startPoint.x = curve.endPoint.x;
                 nextCurve.startPoint.y = curve.endPoint.y;

feetechDefinitions.js

@@ -1,35 +1,42 @@
 export class ServoMotor {
-    constructor(payload) {
+  constructor(arg1, arg2, arg3) {
-        this.CHANNEL = payload[0];
+    if (Array.isArray(arg1)) {
-        this.ID = payload[1];
+      // Full payload constructor
+      const payload = arg1;
 
-        this.MODEL = getModelType(payload[3], payload[2]); // minor, major
+      this.CHANNEL = payload[0];
+      this.ID = payload[1];
+      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.CCW_DEAD_ZONE = payload[11];
+      this.OFFSET = (payload[12] << 8) | payload[13];
+      this.MODE = payload[14];
+      this.TORQUE_ENABLE = payload[15];
+      this.ACCELERATION = payload[16];
+      this.GOAL_POSITION = (payload[17] << 8) | payload[18];
+      this.GOAL_TIME = (payload[19] << 8) | payload[20];
+      this.GOAL_SPEED = (payload[21] << 8) | payload[22];
+      this.LOCK = payload[23];
 
-        this.CW_DEAD_ZONE = payload[10];
+      const rawSpeed = (payload[24] << 8) | payload[25];
-        this.CCW_DEAD_ZONE = payload[11];
+      this.CURRENT_SPEED = rawSpeed > 0x7FFF ? rawSpeed - 0x10000 : rawSpeed;
-        this.OFFSET = (payload[12] << 8) | payload[13];
-        this.MODE = payload[14];
-        this.TORQUE_ENABLE = payload[15];
-        this.ACCELERATION = payload[16];
 
-        this.GOAL_POSITION = (payload[17] << 8) | payload[18];
+      this.CURRENT_LOAD = (payload[26] << 8) | payload[27];
-        this.GOAL_TIME = (payload[19] << 8) | payload[20];
+      this.TEMPERATURE = payload[28];
-        this.GOAL_SPEED = (payload[21] << 8) | payload[22];
+      this.MOVING = payload[29];
-        this.LOCK = payload[23];
+      this.CURRENT_CURRENT = (payload[30] << 8) | payload[31];
-
+      this.VOLTAGE = payload[32];
-        const rawSpeed = (payload[24] << 8) | payload[25];
+    } else {
-        this.CURRENT_SPEED = rawSpeed > 0x7FFF ? rawSpeed - 0x10000 : rawSpeed;
+      // Simplified constructor
-
+      this.CHANNEL = arg1;
-        this.CURRENT_LOAD = (payload[26] << 8) | payload[27];
+      this.ID = arg2;
-        this.TEMPERATURE = payload[28];
+      this.MODEL = arg3 || 'Unknown Model';
-        this.MOVING = payload[29];
-        this.CURRENT_CURRENT = (payload[30] << 8) | payload[31];
-        this.VOLTAGE = payload[32];
     }
+  }
 }
 
 

index.html

@@ -38,7 +38,7 @@
 
     <!-- Tab content -->
     <div class="tab-content" id="myTabContent">
-      <div class="tab-pane fade show active" id="motors" role="tabpanel" aria-labelledby="motors-tab">
+      <div class="tab-pane fade" id="motors" role="tabpanel" aria-labelledby="motors-tab">
 
 
 
@@ -154,7 +154,7 @@
 
 
 
-      <div class="tab-pane fade" id="animation" role="tabpanel" aria-labelledby="animation-tab">
+      <div class="tab-pane fade  show active" id="animation" role="tabpanel" aria-labelledby="animation-tab">
         <canvas id="curveCanvas" width="900" height="600"></canvas>
         <div style="margin-top: 10px; text-align: center;">
           <input type="range" id="timeSlider" min="0" step="1" style="width: 80%;">

robot.js

@@ -0,0 +1,46 @@
+import { ServoMotor } from './feetechDefinitions.js';
+
+export class Robot {
+  constructor(name, firmwareVersionId) {
+    this.name = name;
+    this.firmwareVersionId = firmwareVersionId;
+
+    // Map of position ID → ServoMotor
+    this.positionMap = new Map();
+  }
+
+  // Assign a motor to a position
+  assignMotor(positionId, motor) {
+    if (!(motor instanceof ServoMotor)) {
+      throw new Error('Assigned motor must be a ServoMotor instance');
+    }
+    this.positionMap.set(positionId, motor);
+  }
+
+  // Get motor assigned to a position
+  getMotor(positionId) {
+    return this.positionMap.get(positionId);
+  }
+
+  // Remove motor from a position
+  removeMotor(positionId) {
+    this.positionMap.delete(positionId);
+  }
+
+  // Get all position assignments
+  getAllAssignments() {
+    const assignments = [];
+    for (const [position, motor] of this.positionMap.entries()) {
+      assignments.push({ position, motor });
+    }
+    return assignments;
+  }
+
+  // Optional: Find position by motor ID
+  findPositionByMotorId(id) {
+    for (const [position, motor] of this.positionMap.entries()) {
+      if (motor.ID === id) return position;
+    }
+    return null;
+  }
+}

script.js

@@ -1,10 +1,14 @@
 import { SerialManager } from './serial.js';
 import { ServoMotor, getModelType, writeData } from './feetechDefinitions.js';
 import { CurveEditor } from './curveEditor.js';
+import { Robot } from './robot.js';
 
 
 
 window.onload = () => {
+
+
+
     const serial = new SerialManager();
     const servoMotors = [[], []]; // index 0 = channel 0, index 1 = channel 1
     const statusText = document.getElementById('statusText');
@@ -25,6 +29,9 @@ window.onload = () => {
     let selectedDial = null;
     let draggingKeyframe = null; // { dialIndex, originalFrame }
     let isDragging = false;
+
+
+
     const dialColors = ['red', 'green', 'blue', 'orange', 'purple'];
 
     const dials = [];
@@ -47,6 +54,36 @@ window.onload = () => {
 
     let selectedFile = null;
 
+
+    let connectedRobot = GenerateTestRobot();
+
+    console.log(connectedRobot);
+    for (const [position, motor] of connectedRobot.positionMap.entries()) {
+        console.log(`Assigning ${position} motor with ID ${motor.ID}`);
+        curveEditor.addChannel(motor.ID);
+    }
+    curveEditor.setSelectedMotor(10);
+
+    // TODO: Info should all be loaded on connect from handshake packet
+    function GenerateTestRobot() {
+        const robot = new Robot('Atlas', 'FW-2.0.1');
+
+        // Create motors manually
+        let testMotors = [];
+        let positions = ["eyelids", "headtilt", "neckrotate", "rightshoulder", "rightforearm"];
+        for (let i = 0; i < 5; i++) {
+            let motor = new ServoMotor(0, 10 + i, "SCS009")
+            robot.assignMotor(positions[i], motor);
+        }
+
+        // Retrieve motor by position
+        //console.log(robot.getMotor('eyelids'));
+
+        // List all assignments
+        console.log(robot.getAllAssignments());
+        return robot;
+    }
+
     function clearFileList() {
         fileListElement.innerHTML = '';
         selectedFile = null;
@@ -568,7 +605,7 @@ window.onload = () => {
             view.setUint16(offset, seg.endTime, true); offset += 2;
             view.setInt16(offset, curveEditor.yToExportRange(seg.startPointY), true); offset += 2;
 
-        console.log(curveEditor.yToExportRange(seg.startPointY));
+            console.log(curveEditor.yToExportRange(seg.startPointY));
             view.setUint16(offset, seg.startHandleX, true); offset += 2;
             view.setInt16(offset, curveEditor.yToExportRange(seg.startHandleY), true); offset += 2;
             view.setUint16(offset, seg.endHandleX, true); offset += 2;