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Odrive error display #28

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Merged
ConnorNeed merged 2 commits into from
May 17, 2026
Merged

Odrive error display #28

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64df2a3
Add ODrive error messages and arm motors to motor status panel
codeflight1 May 17, 2026
765b141
motor errors: add status led
codeflight1 May 17, 2026
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77 changes: 65 additions & 12 deletions src/components/panels/MotorStatusPanel.tsx
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Original file line number Diff line number Diff line change
Expand Up @@ -6,23 +6,56 @@ import { useROS } from '@/ros/ROSContext';

type MotorStatus = {
velocity: number;
temperature: number;
output_current: number;
active_errors: number;
};

const MOTORS = {
fl_d: { label: 'FLeft_Drive', topic: '/Left_front_wheel_joint/status' },
fr_d: { label: 'FRight_Drive', topic: '/Right_front_wheel_joint/status' },
rl_d: { label: 'BLeft_Drive', topic: '/Left_back_wheel_joint/status' },
rr_d: { label: 'BRight_Drive', topic: '/Right_back_wheel_joint/status' },
fl_s: { label: 'FLeft_Steer', topic: '/Left_front_wheel_arm_joint/status' },
fr_s: { label: 'FRight_Steer', topic: '/Right_front_wheel_arm_joint/status' },
rl_s: { label: 'BLeft_Steer', topic: '/Left_back_wheel_arm_joint/status' },
rr_s: { label: 'BRight_Steer', topic: '/Right_back_wheel_arm_joint/status' },
fl_d: { label: 'FLeft Drive', topic: '/Left_front_wheel_joint/status' },
fr_d: { label: 'FRight Drive', topic: '/Right_front_wheel_joint/status' },
rl_d: { label: 'BLeft Drive', topic: '/Left_back_wheel_joint/status' },
rr_d: { label: 'BRight Drive', topic: '/Right_back_wheel_joint/status' },
fl_s: { label: 'FLeft Steer', topic: '/Left_front_wheel_arm_joint/status' },
fr_s: { label: 'FRight Steer', topic: '/Right_front_wheel_arm_joint/status' },
rl_s: { label: 'BLeft Steer', topic: '/Left_back_wheel_arm_joint/status' },
rr_s: { label: 'BRight Steer', topic: '/Right_back_wheel_arm_joint/status' },
j1: { label: 'Base', topic: '/Joint_1/status'},
j2: { label: 'Shoulder', topic: '/Joint_2/status'},
j3: { label: 'Elbow Pivot', topic: '/Joint_3/status'},
j4: { label: 'Elbow Spin', topic: '/Joint_4/status'},
j5: { label: 'Wrist Pivot', topic: '/Joint_5/status'},
j6: { label: 'Wrist Spin', topic: '/Joint_6/status'},
eef: { label: 'End Effector', topic: '/end_effector/status'},
} as const;

type MotorKey = keyof typeof MOTORS;

const MotorError: Record<string, number> = {
INITIALIZING: 1,
SYSTEM_LEVEL: 2,
TIMING_ERROR: 4,
MISSING_ESTIMATE: 8,
BAD_CONFIG: 16,
DRV_FAULT: 32,
MISSING_INPUT: 64,
DC_BUS_OVER_VOLTAGE: 256,
DC_BUS_UNDER_VOLTAGE: 512,
DC_BUS_OVER_CURRENT: 1024,
DC_BUS_OVER_REGEN_CURRENT: 2048,
CURRENT_LIMIT_VIOLATION: 4096,
MOTOR_OVER_TEMP: 8192,
INVERTER_OVER_TEMP: 16384,
VELOCITY_LIMIT_VIOLATION: 32768,
POSITION_LIMIT_VIOLATION: 65536,
REQUESTED_CURRENT_TOO_HIGH: 131072,
WATCHDOG_TIMER_EXPIRED: 16777216,
ESTOP_REQUESTED: 33554432,
SPINOUT_DETECTED: 67108864,
BRAKE_RESISTOR_DISARMED: 134217728,
THERMISTOR_DISCONNECTED: 268435456,
CALIBRATION_ERROR: 1073741824,
};

const MotorStatusPanel: React.FC = () => {
const { ros } = useROS();

Expand All @@ -37,6 +70,13 @@ const MotorStatusPanel: React.FC = () => {
fr_s: null,
rl_s: null,
rr_s: null,
j1: null,
j2: null,
j3: null,
j4: null,
j5: null,
j6: null,
eef: null,
});

useEffect(() => {
Expand All @@ -57,8 +97,8 @@ const MotorStatusPanel: React.FC = () => {
...prev,
[key]: {
velocity: msg.velocity,
temperature: msg.temperature,
output_current: msg.output_current,
active_errors: msg.active_errors
},
}));
};
Expand All @@ -77,21 +117,27 @@ const MotorStatusPanel: React.FC = () => {
<tr>
<th>Motor</th>
<th>Vel.</th>
<th>Temp.</th>
<th>Curr.</th>
<th>Errors</th>
</tr>
</thead>
<tbody>
{(Object.entries(MOTORS) as [MotorKey, typeof MOTORS[MotorKey]][]).map(
([key, { label }]) => {
const stat = motorStats[key];
var errorStr = '-';
if (stat) {
var errNames: string[] = [];
Object.keys(MotorError).forEach((key: string) => { if (stat.active_errors & MotorError[key]) errNames.push(key) })
errorStr = errNames.length ? errNames.join(', ') : "NONE";
}

return (
<tr key={key}>
<td>{label}</td>
<td>{stat ? stat.velocity.toFixed(2) : '-'}</td>
<td>{stat ? `${stat.temperature.toFixed(2)}°C` : '-'}</td>
<td>{stat ? `${stat.output_current.toFixed(2)}A` : '-'}</td>
<td><span className="status-led" style={{ backgroundColor: errorStr == "NONE" ? "#22c55e" : "#ef4444" }}/><span style={{ paddingLeft: "8px" }}>{errorStr}</span></td>
</tr>
);
}
Expand Down Expand Up @@ -134,6 +180,13 @@ const MotorStatusPanel: React.FC = () => {
.motor-table tbody tr:hover {
background-color: #262626;
}

.status-led {
width: 12px;
height: 12px;
border-radius: 50%;
display: inline-block;
}
`}</style>
</div>
);
Expand Down
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