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Science updates #31

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Merged
codeflight1 merged 2 commits into from
May 29, 2026
Merged

Science updates #31

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85e464e
New servo message
CPRTSoftwareLead May 21, 2026
6bc9623
feat: polarimeter control
codeflight1 May 26, 2026
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129 changes: 62 additions & 67 deletions src/components/panels/ScienceControlPanel.tsx
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Original file line number Diff line number Diff line change
Expand Up @@ -7,6 +7,13 @@ import ROSLIB from 'roslib';
// --------------------
// Types + Config
// --------------------

interface RunPolarimeterResponse {
success: boolean;
message: string;
file_path: string;
}

type DCMotorConfig = {
id: number;
name: string;
Expand All @@ -22,7 +29,6 @@ type ServoConfig = {
defaultPosition: number;
minPulseUs: number;
maxPulseUs: number;
periodUs: number;
maxDegrees: number;
frequency: number;
type: 'servo';
Expand All @@ -32,6 +38,7 @@ type MotorConfig = DCMotorConfig | ServoConfig;

type SendCommandFn = (
motorID: number,
type: number,
value: number,
duration?: number,
frequency?: number,
Expand All @@ -50,6 +57,9 @@ type ServoMotorProps = {
disabled: boolean;
};

const TYPE_DC = 0;
const TYPE_SERVO = 1;

function isDCMotor(motor: MotorConfig): motor is DCMotorConfig {
return motor.type === 'dc';
}
Expand All @@ -72,18 +82,6 @@ const motors: MotorConfig[] = [
defaultPosition: 90,
minPulseUs: 615,
maxPulseUs: 2495,
periodUs: 20000,
maxDegrees: 195,
frequency: 50,
type: 'servo',
},
{
id: 27,
name: 'Polar Servo',
defaultPosition: 45,
minPulseUs: 615,
maxPulseUs: 2495,
periodUs: 20000,
maxDegrees: 195,
frequency: 50,
type: 'servo',
Expand All @@ -94,7 +92,6 @@ const motors: MotorConfig[] = [
defaultPosition: 45,
minPulseUs: 350,
maxPulseUs: 2500,
periodUs: 20000,
maxDegrees: 360,
frequency: 50,
type: 'servo',
Expand All @@ -107,8 +104,12 @@ const motors: MotorConfig[] = [
const ScienceControlPanel: React.FC = () => {
const { ros } = useROS();

const [title, setTitle] = useState<string>("");
const [polarStatus, setPolarStatus] = useState<string>("");

const sendCommand: SendCommandFn = (
motorID,
type,
value,
duration,
frequency,
Expand All @@ -132,6 +133,7 @@ const ScienceControlPanel: React.FC = () => {
topic.publish(
new ROSLIB.Message({
pin: motorID,
type: type,
duty_cycle: dutyCycle,
duration: safeDurationMs,
frequency,
Expand All @@ -141,13 +143,33 @@ const ScienceControlPanel: React.FC = () => {

console.log('[SCIENCE PWM CMD]', {
pin: motorID,
type: type,
duty_cycle: dutyCycle,
duration: safeDurationMs,
frequency,
ramp,
});
};

const handlePolar = () => {
if (!ros) return;

setPolarStatus("Waiting...");

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

polarSrv.callService(
new ROSLIB.ServiceRequest({title: title}),
(response: RunPolarimeterResponse) => {
setPolarStatus(response.success ? "Success: " + response.message : "Failed");
},
);
};

return (
<div className="panel">
<h3>Science Control</h3>
Expand All @@ -170,6 +192,26 @@ const ScienceControlPanel: React.FC = () => {
/>
)
)}
<div className="motor">
<h4>Polarimeter</h4>

<label>
Title
<input
type="text"
value={title}
disabled={!ros}
onChange={(e) => setTitle(e.target.value)}
/>
</label>

<div className="buttons servo-buttons">
<button disabled={!ros} onClick={handlePolar}>
Go
</button>
{polarStatus}
</div>
</div>
</div>

<style jsx>{`
Expand Down Expand Up @@ -355,14 +397,14 @@ const DCMotor: React.FC<DCMotorProps> = ({
const safeTime = clamp(time, 0, 65.535);
const safeDuty = clamp(duty, 0, 100);

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

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

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

Expand Down Expand Up @@ -448,42 +490,19 @@ const ServoMotor: React.FC<ServoMotorProps> = ({
disabled,
}) => {
const [position, setPosition] = useState<number>(motor.defaultPosition);
const [remaining, setRemaining] = useState<number | null>(null);

const clamp = (val: number, min: number, max: number) =>
Math.min(Math.max(val, min), max);

useEffect(() => {
if (remaining === null) return;

if (remaining <= 0) {
setRemaining(null);
return;
}

const interval = window.setInterval(() => {
setRemaining((prev) => {
if (prev === null) return null;

const next = prev - 0.1;
return next <= 0 ? null : next;
});
}, 100);

return () => window.clearInterval(interval);
}, [remaining]);

const handleGo = () => {
const safePos = clamp(position, 0, motor.maxDegrees);

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

const dutyPercent = (pulseUs / motor.periodUs) * 100;

sendCommand(motor.id, dutyPercent, 0.5, motor.frequency, 0);
setRemaining(0.5);
const dutyPercent = (pulseUs * motor.frequency / 1000000) * 100;
sendCommand(motor.id, TYPE_SERVO, dutyPercent, 0, motor.frequency);
};

return (
Expand All @@ -503,37 +522,13 @@ const ServoMotor: React.FC<ServoMotorProps> = ({
/>
</label>

{remaining !== null && (
<>
<div className="countdown">{remaining.toFixed(1)}s remaining</div>

<div className="progress-bg">
<div
className="progress-fill"
style={{ width: `${(remaining / 0.5) * 100}%` }}
/>
</div>
</>
)}

<div className="buttons servo-buttons">
<button disabled={disabled || remaining !== null} onClick={handleGo}>
<button disabled={disabled} onClick={handleGo}>
Go
</button>

<button
className="reset"
disabled={disabled}
onClick={() => {
setPosition(motor.defaultPosition);
setRemaining(null);
}}
>
Reset
</button>
</div>
</div>
);
};

export default ScienceControlPanel;
export default ScienceControlPanel;
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