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Motor Configuration Download/Upload Specification

Overview

This feature allows users to download all motor settings to a text file and upload previously saved configurations to restore motor parameters.

Download Functionality

Button Placement

  • Located next to the Save button in the CardHeader
  • Visible only when serial?.mode === "binary"
  • Small outlined button to match the Save button style

File Format

  • Filename: motor_<motorKey>_config_<timestamp>.txt
    • Example: motor_0_config_20250624_143022.txt
  • Format: Plain text, key-value pairs
  • Structure: 
    # Motor Configuration Export
# Motor: <motorKey>
# Date: <ISO timestamp>
#

MOTOR_KEY=<motorKey>
ENABLE=<0|1>

# Control Parameters
CONTROL_TYPE=<value>
TARGET=<value>
MOTION_DOWNSAMPLE=<value>

# Velocity PID
VELOCITY_P=<value>
VELOCITY_I=<value>
VELOCITY_D=<value>
VELOCITY_RAMP=<value>
VELOCITY_LIMIT=<value>
VELOCITY_FILTER=<value>

# Angle PID
ANGLE_P=<value>
ANGLE_I=<value>
ANGLE_D=<value>
ANGLE_RAMP=<value>
ANGLE_LIMIT=<value>
ANGLE_FILTER=<value>

# Motor Parameters
VOLTAGE_LIMIT=<value>
CURRENT_LIMIT=<value>
DRIVER_VOLTAGE_LIMIT=<value>
PWM_FREQUENCY=<value>
DRIVER_VOLTAGE_PSU=<value>
POLE_PAIRS=<value>
PHASE_RESISTANCE=<value>
KV=<value>
INDUCTANCE=<value>

Download Process

  1. User clicks Download button
  2. System reads all current register values for the motor
  3. Formats data into text file
  4. Browser downloads file with generated filename
  5. No server communication required (client-side only)

Upload Functionality

Button Placement

  • Located next to the Download button in the CardHeader
  • Visible only when serial?.mode === "binary"
  • Small outlined button to match other buttons

File Selection

  • Opens browser file picker
  • Accepts .txt files
  • No file size restrictions (configs should be small)

Upload Process

  1. User clicks Upload button
  2. File picker opens
  3. User selects a config file
  4. System parses the file:
    • Validates format
    • Extracts key-value pairs
    • Ignores comments (lines starting with #)
    • Ignores empty lines
  5. For each valid parameter:
    • Maps parameter name to register ID
    • Writes value to the appropriate register
    • Uses serial.writeRegister() for binary mode
  6. Shows success/error feedback

Validation Rules

  • File must be plain text
  • Parameter names must match expected format
  • Values must be valid numbers (except MOTOR_KEY, ENABLE)
  • Unknown parameters are ignored (logged to console)
  • Invalid values skip that parameter (logged to console)

Error Handling

  • Invalid file format: Alert user with error message
  • Missing parameters: Continue with available parameters
  • Invalid values: Skip parameter, log warning
  • Serial communication errors: Alert user

Register Mapping

Registers included in configuration export/import are defined in src/lib/registerMap.ts using the includeInConfig: true property.

Currently supported registers:

  • Control Parameters: MOTION_DOWNSAMPLE
  • Velocity PID: VEL_PID_P, VEL_PID_I, VEL_PID_D, VEL_PID_LIM, VEL_PID_RAMP, VEL_LPF_T
  • Angle PID: ANG_PID_P, ANG_PID_I, ANG_PID_D, ANG_PID_LIM, ANG_PID_RAMP, ANG_LPF_T
  • Motor Parameters: VOLTAGE_LIMIT, CURRENT_LIMIT, VELOCITY_LIMIT, DRIVER_VOLTAGE_LIMIT, PWM_FREQUENCY, DRIVER_VOLTAGE_PSU, POLE_PAIRS, PHASE_RESISTANCE, KV, INDUCTANCE

Excluded from config (runtime state, not persisted):

  • ENABLE - Motor enable state
  • TARGET - Current target value
  • CONTROL_MODE - Control mode selector
  • TORQUE_MODE - Torque mode selector

To add/remove registers from config export, modify the includeInConfig property in REGISTER_DEFINITIONS.

User Experience

Success Feedback

  • Download: File downloads automatically
  • Upload: Brief success message or toast notification

Error Feedback

  • File parse errors: Alert with specific error
  • Communication errors: Alert with error details
  • Console logs for debugging

Security Considerations

  • All file operations are client-side only
  • No server upload/storage
  • User has full control over file location
  • File contents are plain text (human-readable and editable)

Future Enhancements (Not in Initial Implementation)

  • Export/import all motors at once
  • JSON format option
  • Configuration presets library
  • Diff view before applying uploaded config