commit f6bf7a57cc6c040398ff6a411b534f5409fb8b82
author Niko Sohmers <nikolai@sohmers.com> Wed Dec 20 21:04:52 2023 -0800
committer Niko Sohmers <nikolai@sohmers.com> Sun Dec 31 18:26:34 2023 -0800
tree f36ba4002ea4c31d0a7ca8d6bc326236d5eb997d
parent 76f47565c098fad54faf0fee9011f1d2f77bd2ae

Add Zeroing Info to Debug Webpage

Signed-off-by: Niko Sohmers <nikolai@sohmers.com>
Change-Id: I3e95a2a1665dc08d396c9448684023ceb02aeb8c

y2023/www/field_handler.ts

diff --git a/y2023/www/field_handler.ts b/y2023/www/field_handler.ts
index b478538..d6ff479 100644
--- a/y2023/www/field_handler.ts
+++ b/y2023/www/field_handler.ts
@@ -56,6 +56,8 @@
       (document.getElementById('end_effector_state') as HTMLElement);
   private wrist: HTMLElement =
       (document.getElementById('wrist') as HTMLElement);
+  private wristAbsoluteEncoder: HTMLElement =
+      (document.getElementById('wrist_encoder') as HTMLElement);
   private armState: HTMLElement =
       (document.getElementById('arm_state') as HTMLElement);
   private gamePiece: HTMLElement =
@@ -72,6 +74,18 @@
       (document.getElementById('arm_proximal') as HTMLElement);
   private distal: HTMLElement =
       (document.getElementById('arm_distal') as HTMLElement);
+  private rollPotentiometer: HTMLElement =
+      (document.getElementById('arm_roll_pot') as HTMLElement);
+  private rollAbsoluteEncoder: HTMLElement =
+      (document.getElementById('arm_roll_encoder') as HTMLElement);
+  private proximalPotentiometer: HTMLElement =
+      (document.getElementById('arm_proximal_pot') as HTMLElement);
+  private proximalAbsoluteEncoder: HTMLElement =
+      (document.getElementById('arm_proximal_encoder') as HTMLElement);
+  private distalPotentiometer: HTMLElement =
+      (document.getElementById('arm_distal_pot') as HTMLElement);
+  private distalAbsoluteEncoder: HTMLElement =
+      (document.getElementById('arm_distal_encoder') as HTMLElement);
   private zeroingFaults: HTMLElement =
       (document.getElementById('zeroing_faults') as HTMLElement);
 
@@ -426,6 +440,8 @@
             this.superstructureStatus.wrist().estimatorState().position(),
             1e-3);
       }
+      this.wristAbsoluteEncoder.innerHTML = this.superstructureStatus.wrist()
+                                            .estimatorState().position().toString();
       this.armState.innerHTML =
           ArmState[this.superstructureStatus.arm().state()];
       this.gamePiece.innerHTML = Class[this.superstructureStatus.gamePiece()];
@@ -439,6 +455,14 @@
                                 .rollJointEstimatorState()
                                 .position()
                                 .toFixed(2);
+      this.rollPotentiometer.innerHTML = this.superstructureStatus.arm()
+                                    .rollJointEstimatorState()
+                                    .potPosition()
+                                    .toString();
+      this.rollAbsoluteEncoder.innerHTML = this.superstructureStatus.arm()
+                                    .rollJointEstimatorState()
+                                    .absolutePosition()
+                                    .toString();
       this.proximal.innerHTML = this.superstructureStatus.arm()
                                     .proximalEstimatorState()
                                     .position()
@@ -447,6 +471,22 @@
                                   .distalEstimatorState()
                                   .position()
                                   .toFixed(2);
+      this.proximalPotentiometer.innerHTML = this.superstructureStatus.arm()
+                                                .proximalEstimatorState()
+                                                .potPosition()
+                                                .toString();
+      this.proximalAbsoluteEncoder.innerHTML = this.superstructureStatus.arm()
+                                                .proximalEstimatorState()
+                                                .absolutePosition()
+                                                .toString();
+      this.distalPotentiometer.innerHTML = this.superstructureStatus.arm()
+                                                .distalEstimatorState()
+                                                .potPosition()
+                                                .toString();
+      this.distalAbsoluteEncoder.innerHTML = this.superstructureStatus.arm()
+                                                .distalEstimatorState()
+                                                .absolutePosition()
+                                                .toString();
       let zeroingErrors: string = 'Roll Joint Errors:' +
           '<br/>';
       for (let i = 0; i < this.superstructureStatus.arm()