Alles verbessert

2026-05-21 19:30:33 +02:00
parent 5dccc8985e
commit 33b71416ff
19 changed files with 855 additions and 229 deletions
@@ -1,34 +1,154 @@
-# ExoMy - Software Repository
-This repository contains the software to run Exomy. The [wiki](https://github.com/esa-prl/ExoMy/wiki) explains you how to use it.
+# ExoMy CUNO — Software

-![ExoMy image](https://github.com/esa-prl/ExoMy/wiki/images/renderings/2020_02_25.JPG)
+ExoMy Mars-Rover auf Basis eines Raspberry Pi mit ROS1 Melodic, betrieben vollständig in einem Docker-Container.

-# ExoMy Project Structure
+---

-### [Website](https://esa-prl.github.io/ExoMy/)
-There is a website about ExoMy. It does not help you build it, but is still nice to look at.
+## Zugang zum Raspberry Pi

-### [Wiki](https://github.com/esa-prl/ExoMy/wiki)
-The [wiki](https://github.com/esa-prl/ExoMy/wiki) contains step by step instructions on how the 3D-printed rover ExoMy can be built, controlled and customized. 
+| | |
+|---|---|
+| **Hostname** | `cuno` |
+| **Benutzer** | `pi` |
+| **LAN-IP** | `192.168.1.83` |
+| **WLAN-IP** | `192.168.1.9` (bevorzugt) |
+| **Fallback-AP** | SSID `CUNO`, IP `192.168.50.1`, Passwort `astr0cun042` |

-### [Documentation Repository](https://github.com/esa-prl/ExoMy)
-This repository contains all the files of the documentation of ExoMy. Just click on [*Releases*](https://github.com/esa-prl/ExoMy/releases) and download the files of the latest release. They are explained further in the [wiki](https://github.com/esa-prl/ExoMy/wiki).
+```bash
+ssh pi@192.168.1.9
+```

-### Social Media
-<!-- Add icon library -->
-<link rel="stylesheet" href="https://use.fontawesome.com/releases/v5.13.1/css/all.css">
+---

-<!-- Add font awesome icons -->
-<p>
-    <img src="https://github.com/esa-prl/ExoMy/wiki/images/social_media_icons/discord-brands.svg" width="20px">
-    <a href="https://discord.gg/gZk62gg"> Join the Community!</a>  
-</p>
-<p>
-    <img src="https://github.com/esa-prl/ExoMy/wiki/images/social_media_icons/twitter-square-brands.svg" width="20px">
-    <a href="https://twitter.com/exomy_rover"> @ExoMy_Rover</a> 
-</p>
-<p>
-    <img src="https://github.com/esa-prl/ExoMy/wiki/images/social_media_icons/instagram-square-brands.svg" width="20px">
-    <a href="https://www.instagram.com/exomy_rover/"> @ExoMy_Rover</a>
-</p>
+## Architektur

+```
+Web-GUI (Port 8000)
+    │ WebSocket (Port 9090)
+    ▼
+rosbridge_websocket ──► /joy ──► joystick_parser_node ──► /rover_command
+                                                                │
+f710_joy_node ──────────────────────────────────────────────────┘
+(Logitech F710, /dev/input/js0)
+
+/rover_command ──► robot_node ──► /motor_commands ──► motor_node ──► PCA9685 PWM ──► Motoren
+```
+
+**Software auf dem Pi:** `/home/pi/ExoMy_Software/`  
+**ROS-Workspace im Container:** `/root/exomy_ws/src/exomy/`
+
+---
+
+## Systemd-Services auf dem Pi
+
+| Service | Beschreibung |
+|---|---|
+| `exomy-admin-api.service` | Admin-API (`exomy_admin_api.py`) |
+| `exomy-camera-stream.service` | MJPEG Kamera-Stream |
+| `exomy-wifi-fallback.service` | WLAN-Fallback auf eigenen Access Point |
+
+```bash
+# Status prüfen
+systemctl status exomy-admin-api.service
+```
+
+---
+
+## Docker-Container
+
+Der Container `exomy_autostart` (Image: `exomy`) startet automatisch beim Booten.
+
+```bash
+# Status
+docker ps
+
+# Logs
+docker logs exomy_autostart --tail=50
+
+# Shell im Container
+docker exec -it exomy_autostart bash
+```
+
+### ROS-Nodes im Container
+
+| Node | Beschreibung |
+|---|---|
+| `f710_joy_node.py` | Liest Logitech F710 von `/dev/input/js0`, publiziert auf `/joy` mit 20 Hz — **auch wenn der Joystick in Ruhe liegt** |
+| `joystick_parser_node.py` | Konvertiert `/joy` → `/rover_command`; priorisiert Web-GUI über physischen Controller |
+| `robot_node.py` | Berechnet Lenkwinkel und Geschwindigkeiten aus `/rover_command` |
+| `motor_node.py` | Setzt PWM-Werte über PCA9685; Watchdog stoppt Motoren nach 5 s ohne Befehl |
+| `rosbridge_websocket` | WebSocket-Bridge für die Web-GUI (Port 9090) |
+| `rosapi_node` | ROS-API für die Web-GUI |
+
+### Ports
+
+| Port | Verwendung |
+|---|---|
+| `8000` | Web-GUI |
+| `9090` | ROSBridge WebSocket |
+| `8082` | Admin-API |
+
+---
+
+## Deploy-Workflow
+
+Dateien lokal bearbeiten, dann auf den Pi und in den laufenden Container übertragen:
+
+```bash
+# Datei auf den Pi kopieren
+scp ExoMy_Software-master/src/meine_datei.py pi@192.168.1.9:/home/pi/ExoMy_Software/src/
+
+# In den Container kopieren
+ssh pi@192.168.1.9 "docker cp /home/pi/ExoMy_Software/src/meine_datei.py exomy_autostart:/root/exomy_ws/src/exomy/src/"
+
+# Container neu starten
+ssh pi@192.168.1.9 "docker restart exomy_autostart"
+```
+
+GUI-Dateien:
+
+```bash
+scp ExoMy_Software-master/gui/index.html pi@192.168.1.9:/home/pi/ExoMy_Software/gui/
+ssh pi@192.168.1.9 "docker cp /home/pi/ExoMy_Software/gui/index.html exomy_autostart:/root/exomy_ws/src/exomy/gui/"
+# Kein Neustart nötig — Browser-Reload genügt
+```
+
+---
+
+## Bekannte Probleme & Fixes
+
+### Web-GUI: Ruckartige Bewegung bei angeschlossenem Controller
+
+**Problem:** Der `f710_joy_node` sendet permanent mit 20 Hz auf `/joy`, auch wenn der Logitech F710 in Ruhe liegt (Nullwerte). Wenn die Web-GUI gleichzeitig steuert, wechseln sich Fahr- und Stopp-Befehle im 50-ms-Takt ab — der Rover bewegt sich ruckartig.
+
+**Fix:** `joystick_parser_node.py` ignoriert Nachrichten des physischen Controllers für 2 Sekunden, sobald eine Web-GUI-Nachricht eintrifft (erkennbar an `frame_id == "webgui"`). Danach übernimmt der physische Controller automatisch wieder.
+
+### SyntaxError in rover.py (Point-Turn-Modus)
+
+**Problem:** Überzählige schließende Klammer in `rover.py` Zeile 157 ließ `robot_node.py` beim Start abstürzen — der Rover war nicht steuerbar.
+
+```python
+# Falsch:
+math.atan((self.wheel_rx + self.wheel_fx) / self.wheel_ry)))
+# Richtig:
+math.atan((self.wheel_rx + self.wheel_fx) / self.wheel_ry))
+```
+
+---
+
+## Fahrmodi
+
+| Modus | Taste (Controller) | Taste (Web-GUI) |
+|---|---|---|
+| Ackermann | A | Schaltfläche „Ackermann" |
+| Point Turn (Drehen auf der Stelle) | X | Schaltfläche „Turn on Point" |
+| Crab (Seitwärtsfahrt) | Y | Schaltfläche „Crab" |
+| Motoren ein/aus | START | Schaltfläche „Motoren" |
+
+---
+
+## Originales ESA-Projekt
+
+- [Wiki](https://github.com/esa-prl/ExoMy/wiki) — Bauanleitung und Dokumentation
+- [Website](https://esa-prl.github.io/ExoMy/)
+- [Dokumentations-Repository](https://github.com/esa-prl/ExoMy)
@@ -38,8 +38,13 @@ steer_pwm_neutral_rr: 295
 # PWW range around steering neutral position
 steer_pwm_range: 250

-# PWM value for the stop position of driving motors
-drive_pwm_neutral: 307
+# PWM values for the stop position of driving motors
+drive_pwm_neutral_fl: 307
+drive_pwm_neutral_fr: 307
+drive_pwm_neutral_cl: 307
+drive_pwm_neutral_cr: 307
+drive_pwm_neutral_rl: 307
+drive_pwm_neutral_rr: 307

 # PWW range around driving neutral position
 drive_pwm_range: 100
@@ -38,8 +38,13 @@ steer_pwm_neutral_rr: 300
 # PWW range around steering neutral position
 steer_pwm_range: 250

-# PWM value for the stop position of driving motors
-drive_pwm_neutral: 307
+# PWM values for the stop position of driving motors
+drive_pwm_neutral_fl: 307
+drive_pwm_neutral_fr: 307
+drive_pwm_neutral_cl: 307
+drive_pwm_neutral_cr: 307
+drive_pwm_neutral_rl: 307
+drive_pwm_neutral_rr: 307

 # PWW range around driving neutral position
 drive_pwm_range: 100
@@ -10,15 +10,12 @@ RUN apt-get update && \

 # Install additional ros packages
 RUN apt-get update && apt-get install ros-melodic-rosbridge-server ros-melodic-joy -y
-RUN pip install adafruit-pca9685
+RUN apt-get update && apt-get install python-smbus -y
+RUN pip install adafruit-pureio
+RUN pip install Adafruit-GPIO==1.0.3 --no-deps
+RUN pip install Adafruit-PCA9685==1.0.1 --no-deps


-# Install packages for web application
-RUN curl -sL https://deb.nodesource.com/setup_12.x | bash -
-RUN apt-get update && \
-    apt-get install nodejs -y
-RUN npm install http-server -g
-
 # Install packages for camera use
 RUN apt-get update && \
    apt-get install ros-melodic-web-video-server ros-melodic-usb-cam -y
@@ -33,4 +30,5 @@ RUN mkdir -p $EXOMY_WS/src
 WORKDIR /root

 COPY ./entrypoint.sh /
+RUN chmod +x /entrypoint.sh
 ENTRYPOINT ["/entrypoint.sh"]
@@ -1,19 +1,55 @@
 #!/bin/bash
+set -eo pipefail
+
+cleanup() {
+	for pid_var in HTTP_PID ROSMASTER_PID ROSBRIDGE_PID ROSAPI_PID ROBOT_PID MOTOR_PID JOYSTICK_PID JOY_PID; do
+		if [[ -n "${!pid_var:-}" ]]; then
+			kill "${!pid_var}" 2>/dev/null || true
+		fi
+	done
+	wait || true
+}
+
 if [[ $1 == "config" ]]
 then
 	cd /root/exomy_ws/src/exomy/scripts
 	bash
 elif [[ $1 == "autostart" ]]
 then
+	trap cleanup EXIT INT TERM
 	source /opt/ros/melodic/setup.bash
 	cd /root/exomy_ws
 	catkin_make
-	http-server src/exomy/gui -p 8000 &
-
+	export ROS_MASTER_URI=http://localhost:11311
 	source devel/setup.bash
-	roslaunch exomy exomy.launch

-	bash
+	cd src/exomy/gui
+	python -m SimpleHTTPServer 8000 &
+	HTTP_PID=$!
+	cd /root/exomy_ws
+
+	rosmaster --core -p 11311 -w 3 > /tmp/rosmaster.log 2>&1 &
+	ROSMASTER_PID=$!
+	sleep 3
+
+	rosparam load /root/exomy_ws/src/exomy/config/exomy.yaml
+	rosparam set /controller logitech-F710
+
+	/opt/ros/melodic/lib/rosbridge_server/rosbridge_websocket > /tmp/rosbridge.log 2>&1 &
+	ROSBRIDGE_PID=$!
+	/opt/ros/melodic/lib/rosapi/rosapi_node > /tmp/rosapi.log 2>&1 &
+	ROSAPI_PID=$!
+	python /root/exomy_ws/src/exomy/src/f710_joy_node.py > /tmp/joy_node.log 2>&1 &
+	JOY_PID=$!
+	python /root/exomy_ws/src/exomy/src/robot_node.py > /tmp/robot_node.log 2>&1 &
+	ROBOT_PID=$!
+	python /root/exomy_ws/src/exomy/src/motor_node.py > /tmp/motor_node.log 2>&1 &
+	MOTOR_PID=$!
+	python /root/exomy_ws/src/exomy/src/joystick_parser_node.py > /tmp/joystick_parser.log 2>&1 &
+	JOYSTICK_PID=$!
+
+	wait -n "$HTTP_PID" "$ROSMASTER_PID" "$ROSBRIDGE_PID" "$ROSAPI_PID" "$ROBOT_PID" "$MOTOR_PID" "$JOYSTICK_PID" "$JOY_PID"
+	exit 1
 elif [[ $1 == "devel" ]]
 then
 	cd /root/exomy_ws
@@ -24,4 +60,3 @@ then
 else
 	bash
 fi
-
@@ -138,7 +138,7 @@
              </div>

              <p class="admin_copy motor_test_neutral_copy">
-                Das entspricht [config_drive_motor_neutral.py]: ein gemeinsamer `drive_pwm_neutral`-Wert für alle Fahrmotoren. Mit `-` und `+` sendest du den Stillstands-PWM direkt an alle Antriebe, bis wirklich alles steht.
+                Mit `-` und `+` stellst du den Stillstands-PWM jetzt pro Fahrmotor einzeln ein. `Speichern` schreibt alle sechs Werte dauerhaft in die `exomy.yaml`.
              </p>

              <div class="motor_test_neutral_toolbar">
@@ -146,22 +146,7 @@
                <button id="drive_neutral_save_button" class="button buttonA" onclick="saveDriveNeutralValue()">Speichern</button>
              </div>

-              <article class="drive_neutral_card" id="drive_neutral_card">
-                <div class="steering_neutral_card_header">
-                  <span class="info_label">Drive PWM Neutral</span>
-                  <strong>Alle Fahrmotoren</strong>
-                </div>
-
-                <div class="steering_neutral_value_row drive_neutral_value_row">
-                  <button class="button buttonWarm steering_neutral_adjust" onclick="adjustDriveNeutralValue(-5)">-</button>
-                  <strong id="drive_neutral_value" class="steering_neutral_value">-</strong>
-                  <button class="button buttonA steering_neutral_adjust" onclick="adjustDriveNeutralValue(5)">+</button>
-                </div>
-
-                <div class="steering_neutral_meta">
-                  <span id="drive_neutral_pins">Pins: -</span>
-                </div>
-              </article>
+              <div id="drive_neutral_grid" class="steering_neutral_grid"></div>
            </div>
          </section>
        </div>
@@ -188,9 +173,8 @@
    var activeMotorTestTab = 'impulse';
    var steeringNeutralValues = {};
    var steeringNeutralSavedValues = {};
-    var driveNeutralValue = null;
-    var driveNeutralSavedValue = null;
-    var driveNeutralPins = {};
+    var driveNeutralValues = {};
+    var driveNeutralSavedValues = {};
    var STEERING_NEUTRAL_STEP = 5;
    var WHEEL_ORDER = ['fl', 'fr', 'cl', 'cr', 'rl', 'rr'];

@@ -288,7 +272,7 @@
        loadSteeringNeutralValues();
      }

-      if (isDriveNeutral && driveNeutralValue === null) {
+      if (isDriveNeutral && !Object.keys(driveNeutralValues).length) {
        loadDriveNeutralValue();
      }
    }
@@ -348,38 +332,59 @@
      button.disabled = isNeutralLoading || isNeutralPreviewRunning || isNeutralSaving || !hasUnsavedNeutralChanges();
    }

-    function renderDriveNeutralCard() {
-      var valueNode = document.getElementById('drive_neutral_value');
-      var pinsNode = document.getElementById('drive_neutral_pins');
-      var card = document.getElementById('drive_neutral_card');
-
-      if (valueNode) {
-        valueNode.textContent = driveNeutralValue === null ? '-' : String(driveNeutralValue);
+    function renderDriveNeutralCards() {
+      var grid = document.getElementById('drive_neutral_grid');
+      if (!grid) {
+        return;
      }

-      if (pinsNode) {
-        var pinValues = WHEEL_ORDER
-          .filter(function (wheel) { return Object.prototype.hasOwnProperty.call(driveNeutralPins, wheel); })
-          .map(function (wheel) { return wheel.toUpperCase() + ':' + driveNeutralPins[wheel]; });
-        pinsNode.textContent = pinValues.length ? 'Pins: ' + pinValues.join(' ') : 'Pins: -';
-      }
+      var html = [];
+      WHEEL_ORDER.forEach(function (wheel) {
+        var entry = driveNeutralValues[wheel];
+        if (!entry) {
+          return;
+        }

-      if (card) {
-        var isDirty = driveNeutralValue !== null && driveNeutralSavedValue !== null && Number(driveNeutralValue) !== Number(driveNeutralSavedValue);
-        card.classList.toggle('is_dirty', isDirty);
-      }
+        var savedEntry = driveNeutralSavedValues[wheel];
+        var isDirty = !savedEntry || Number(savedEntry.value) !== Number(entry.value);
+        html.push(
+          '<article class="steering_neutral_card steering_neutral_card_compact' + (isDirty ? ' is_dirty' : '') + '">' +
+            '<div class="steering_neutral_compact_row">' +
+              '<div class="steering_neutral_card_header steering_neutral_card_header_compact">' +
+                '<strong class="steering_neutral_title">' + entry.wheel_label + '</strong>' +
+              '</div>' +
+              '<div class="steering_neutral_value_row steering_neutral_value_row_compact">' +
+                '<button class="button buttonWarm steering_neutral_adjust" onclick="adjustDriveNeutralValue(\'' + wheel + '\', -' + STEERING_NEUTRAL_STEP + ')">-</button>' +
+                '<strong class="steering_neutral_value">' + entry.value + '</strong>' +
+                '<button class="button buttonA steering_neutral_adjust" onclick="adjustDriveNeutralValue(\'' + wheel + '\', ' + STEERING_NEUTRAL_STEP + ')">+</button>' +
+              '</div>' +
+            '</div>' +
+          '</article>'
+        );
+      });

+      grid.innerHTML = html.join('');
      updateDriveNeutralSaveButton();
    }

+    function hasUnsavedDriveNeutralChanges() {
+      return WHEEL_ORDER.some(function (wheel) {
+        var currentEntry = driveNeutralValues[wheel];
+        var savedEntry = driveNeutralSavedValues[wheel];
+        if (!currentEntry || !savedEntry) {
+          return false;
+        }
+        return Number(currentEntry.value) !== Number(savedEntry.value);
+      });
+    }
+
    function updateDriveNeutralSaveButton() {
      var button = document.getElementById('drive_neutral_save_button');
      if (!button) {
        return;
      }

-      var hasChanges = driveNeutralValue !== null && driveNeutralSavedValue !== null && Number(driveNeutralValue) !== Number(driveNeutralSavedValue);
-      button.disabled = isDriveNeutralLoading || isDriveNeutralPreviewRunning || isDriveNeutralSaving || !hasChanges;
+      button.disabled = isDriveNeutralLoading || isDriveNeutralPreviewRunning || isDriveNeutralSaving || !hasUnsavedDriveNeutralChanges();
    }

    async function fetchMotorTestStatus() {
@@ -606,7 +611,7 @@

      isDriveNeutralLoading = true;
      updateDriveNeutralSaveButton();
-      setMotorTestStatus('Lade Fahr-Neutralwert...');
+      setMotorTestStatus('Lade Fahr-Neutralwerte...');

      try {
        var response = await fetch(adminApiBase + '/api/motor-test/drive-neutral');
@@ -616,37 +621,44 @@
          throw new Error(data.status || ('status ' + response.status));
        }

-        driveNeutralValue = Number(data.drive_neutral && data.drive_neutral.value);
-        driveNeutralSavedValue = driveNeutralValue;
-        driveNeutralPins = data.drive_neutral && data.drive_neutral.pins ? data.drive_neutral.pins : {};
-        renderDriveNeutralCard();
+        driveNeutralValues = data.drive_neutral && data.drive_neutral.values ? data.drive_neutral.values : {};
+        driveNeutralSavedValues = JSON.parse(JSON.stringify(driveNeutralValues));
+        renderDriveNeutralCards();
        renderContainerStatus(data);
-        setMotorTestStatus(data.status || 'Fahr-Neutralwert geladen');
+        setMotorTestStatus(data.status || 'Fahr-Neutralwerte geladen');
      } catch (error) {
        console.error(error);
        setMotorTestStatus('Fehler');
-        alert(error.message || 'Der Fahr-Neutralwert konnte nicht geladen werden.');
+        alert(error.message || 'Die Fahr-Neutralwerte konnten nicht geladen werden.');
      } finally {
        isDriveNeutralLoading = false;
        updateDriveNeutralSaveButton();
      }
    }

-    async function adjustDriveNeutralValue(delta) {
+    async function adjustDriveNeutralValue(wheel, delta) {
      if (isContainerActionRunning || isMotorTestRunning || isNeutralLoading || isNeutralPreviewRunning || isNeutralSaving || isDriveNeutralLoading || isDriveNeutralPreviewRunning || isDriveNeutralSaving) {
        return;
      }

-      if (driveNeutralValue === null) {
+      var entry = driveNeutralValues[wheel];
+      if (!entry) {
        return;
      }

-      driveNeutralValue = Math.max(0, Math.min(4095, Number(driveNeutralValue) + Number(delta)));
-      renderDriveNeutralCard();
+      entry.value = Math.max(0, Math.min(4095, Number(entry.value) + Number(delta)));
+      renderDriveNeutralCards();

      isDriveNeutralPreviewRunning = true;
      updateDriveNeutralSaveButton();
-      setMotorTestStatus('Fahre Fahr-Neutralwert an...');
+      setMotorTestStatus('Fahre Fahr-Neutralwerte an...');
+
+      var values = {};
+      WHEEL_ORDER.forEach(function (wheelKey) {
+        if (driveNeutralValues[wheelKey]) {
+          values[wheelKey] = Number(driveNeutralValues[wheelKey].value);
+        }
+      });

      try {
        var response = await fetch(adminApiBase + '/api/motor-test/drive-neutral/preview', {
@@ -655,7 +667,7 @@
            'Content-Type': 'application/json'
          },
          body: JSON.stringify({
-            value: driveNeutralValue
+            values: values
          })
        });
        var data = await response.json();
@@ -664,10 +676,10 @@
          throw new Error(data.status || ('status ' + response.status));
        }

-        driveNeutralPins = data.drive_neutral && data.drive_neutral.pins ? data.drive_neutral.pins : driveNeutralPins;
-        renderDriveNeutralCard();
+        driveNeutralValues = data.drive_neutral && data.drive_neutral.values ? data.drive_neutral.values : driveNeutralValues;
+        renderDriveNeutralCards();
        renderContainerStatus(data);
-        setMotorTestStatus(data.status || 'Fahr-Neutralwert angefahren');
+        setMotorTestStatus(data.status || 'Fahr-Neutralwerte angefahren');
      } catch (error) {
        console.error(error);
        setMotorTestStatus('Fehler');
@@ -683,13 +695,21 @@
        return;
      }

-      if (driveNeutralValue === null || driveNeutralSavedValue === null || Number(driveNeutralValue) === Number(driveNeutralSavedValue)) {
+      if (!hasUnsavedDriveNeutralChanges()) {
        return;
      }

      isDriveNeutralSaving = true;
      updateDriveNeutralSaveButton();
-      setMotorTestStatus('Speichere Fahr-Neutralwert...');
+      setMotorTestStatus('Speichere Fahr-Neutralwerte...');
+
+      var values = {};
+      WHEEL_ORDER.forEach(function (wheel) {
+        var entry = driveNeutralValues[wheel];
+        if (entry) {
+          values[entry.key] = Number(entry.value);
+        }
+      });

      try {
        var response = await fetch(adminApiBase + '/api/motor-test/drive-neutral/save', {
@@ -698,7 +718,7 @@
            'Content-Type': 'application/json'
          },
          body: JSON.stringify({
-            value: driveNeutralValue
+            values: values
          })
        });
        var data = await response.json();
@@ -707,16 +727,15 @@
          throw new Error(data.status || ('status ' + response.status));
        }

-        driveNeutralValue = Number(data.drive_neutral && data.drive_neutral.value);
-        driveNeutralSavedValue = driveNeutralValue;
-        driveNeutralPins = data.drive_neutral && data.drive_neutral.pins ? data.drive_neutral.pins : driveNeutralPins;
-        renderDriveNeutralCard();
+        driveNeutralValues = data.drive_neutral && data.drive_neutral.values ? data.drive_neutral.values : driveNeutralValues;
+        driveNeutralSavedValues = JSON.parse(JSON.stringify(driveNeutralValues));
+        renderDriveNeutralCards();
        renderContainerStatus(data);
-        setMotorTestStatus(data.status || 'Fahr-Neutralwert gespeichert');
+        setMotorTestStatus(data.status || 'Fahr-Neutralwerte gespeichert');
      } catch (error) {
        console.error(error);
        setMotorTestStatus('Fehler');
-        alert(error.message || 'Der Fahr-Neutralwert konnte nicht gespeichert werden.');
+        alert(error.message || 'Die Fahr-Neutralwerte konnten nicht gespeichert werden.');
      } finally {
        isDriveNeutralSaving = false;
        updateDriveNeutralSaveButton();
@@ -89,6 +89,10 @@
                <span class="info_label">CPU-Temperatur</span>
                <strong id="info_temp">-</strong>
              </div>
+              <div class="info_card">
+                <span class="info_label">Unterspannung</span>
+                <strong id="info_undervoltage" class="state_unknown">-</strong>
+              </div>
              <div class="info_card">
                <span class="info_label">Uptime</span>
                <strong id="info_uptime">-</strong>
@@ -145,12 +149,47 @@
      node.classList.add('state_unknown');
    }

+    function setUndervoltageState(id, text, state) {
+      var node = document.getElementById(id);
+      if (!node) {
+        return;
+      }
+
+      node.textContent = text || '-';
+      node.classList.remove('state_active', 'state_inactive', 'state_unknown');
+
+      if (state === 'active') {
+        node.classList.add('state_inactive');
+        node.style.animation = 'statusBlink 0.9s step-end infinite';
+        return;
+      }
+
+      node.style.animation = '';
+
+      if (state === 'past') {
+        node.classList.add('state_unknown');
+        return;
+      }
+
+      if (state === 'clear') {
+        node.classList.add('state_active');
+        return;
+      }
+
+      node.classList.add('state_unknown');
+    }
+
    function renderStatus(data) {
      setAdminStatus(data.status || 'Bereit');

      setText('info_ips', data.system && data.system.ips);
      setText('info_wifi', data.system && data.system.wifi);
      setText('info_temp', data.system && data.system.cpu_temperature);
+      setUndervoltageState(
+        'info_undervoltage',
+        data.system && data.system.undervoltage,
+        data.system && data.system.undervoltage_state
+      );
      setText('info_uptime', data.system && data.system.uptime);
      setText('info_disk', data.system && data.system.disk_free);

@@ -187,6 +187,12 @@ header {
  color: #fff;
  box-shadow: 0 0 24px rgba(0,136,255,.45), inset 0 0 16px rgba(255,255,255,.1);
 }
+@keyframes mode-flash {
+  0%   { box-shadow: 0 0 0px rgba(0,255,145,0),  background-color: var(--pri); }
+  30%  { box-shadow: 0 0 28px rgba(0,255,145,.9), background-color: #00ff91;   }
+  100% { box-shadow: 0 0 24px rgba(0,136,255,.45), background-color: var(--pri); }
+}
+.dbtn.flash { animation: mode-flash .5s ease-out forwards; }

 #cam-panel { flex: 1; display: flex; flex-direction: column; min-height: 0; }
 .cam-port {
@@ -205,19 +211,6 @@ header {
  background: #05070d;
  z-index: 1;
 }
-.c-scanlines {
-  position: absolute;
-  inset: 0;
-  pointer-events: none;
-  z-index: 5;
-  background: repeating-linear-gradient(
-    0deg,
-    transparent,
-    transparent 3px,
-    rgba(0,0,0,.09) 3px,
-    rgba(0,0,0,.09) 4px
-  );
-}
 .c-vignette {
  position: absolute;
  inset: 0;
@@ -230,42 +223,19 @@ header {
  top: 50%;
  left: 50%;
  transform: translate(-50%, -50%);
-  width: 50px;
-  height: 50px;
+  width: 180px;
+  height: 180px;
  z-index: 10;
+  pointer-events: none;
 }
-.c-xhair::before {
-  content: "";
-  position: absolute;
-  top: 50%;
-  left: 0;
-  right: 0;
-  height: 1px;
-  background: rgba(0,255,145,.45);
-  transform: translateY(-50%);
+@keyframes xh-spin { to { transform: rotate(360deg); } }
+@keyframes xh-pulse {
+  0%   { transform: scale(1);   opacity: .7; }
+  100% { transform: scale(2.8); opacity: 0;  }
 }
-.c-xhair::after {
-  content: "";
-  position: absolute;
-  left: 50%;
-  top: 0;
-  bottom: 0;
-  width: 1px;
-  background: rgba(0,255,145,.45);
-  transform: translateX(-50%);
-}
-.xc {
-  position: absolute;
-  width: 9px;
-  height: 9px;
-  border-color: rgba(0,255,145,.7);
-  border-style: solid;
-  border-width: 0;
-}
-.xc.tl { top: 0; left: 0; border-top-width: 1.5px; border-left-width: 1.5px; }
-.xc.tr { top: 0; right: 0; border-top-width: 1.5px; border-right-width: 1.5px; }
-.xc.bl { bottom: 0; left: 0; border-bottom-width: 1.5px; border-left-width: 1.5px; }
-.xc.br { bottom: 0; right: 0; border-bottom-width: 1.5px; border-right-width: 1.5px; }
+.xh-rot     { animation: xh-spin 14s linear infinite;         transform-box: fill-box; transform-origin: center; }
+.xh-rot-rev { animation: xh-spin 8s  linear infinite reverse; transform-box: fill-box; transform-origin: center; }
+.xh-pulse   { animation: xh-pulse 2.5s ease-out infinite;     transform-box: fill-box; transform-origin: center; }
 .c-rec {
  position: absolute;
  top: 13px;
@@ -328,11 +298,20 @@ header {
 .sval.g { color: var(--ok); }
 .sval.o { color: var(--sec); }
 .sval.b { color: var(--pri); }
+.sval.alert {
+  color: #D50000;
+  animation: uv-blink 0.9s step-end infinite;
+}
+.sval.warntext { color: var(--sec); }
 .sval-conn { display: flex; align-items: center; gap: 5px; color: var(--ok); font-size: 10px; }
 .sbar-wrap { display: flex; align-items: center; gap: 8px; }
 .sbar { width: 52px; height: 3px; background: rgba(0,136,255,.12); border-radius: 1px; overflow: hidden; }
 .sbar-i { height: 100%; border-radius: 1px; background: var(--pri); }
 .sbar-i.w { background: var(--sec); }
+@keyframes uv-blink {
+  0%, 100% { opacity: 1; }
+  50% { opacity: 0.2; }
+}

 #joy-panel .p-hdr { padding: 14px 12px; }
 .mode-toggle { display: flex; gap: 2px; margin-left: auto; }
@@ -563,10 +542,41 @@ header {
          STREAM: 8081
        </div>
        <div class="c-xhair">
-          <div class="xc tl"></div><div class="xc tr"></div>
-          <div class="xc bl"></div><div class="xc br"></div>
+          <svg viewBox="-90 -90 180 180" xmlns="http://www.w3.org/2000/svg" width="180" height="180">
+            <!-- äußerer rotierender Strichelring -->
+            <circle class="xh-rot" cx="0" cy="0" r="82" fill="none" stroke="rgba(0,255,145,.2)" stroke-width="1" stroke-dasharray="4 10"/>
+            <!-- mittlerer Ring, Gegenrichtung -->
+            <circle class="xh-rot-rev" cx="0" cy="0" r="60" fill="none" stroke="rgba(0,255,145,.15)" stroke-width=".75" stroke-dasharray="2 16"/>
+            <!-- innerer fester Ring -->
+            <circle cx="0" cy="0" r="16" fill="none" stroke="rgba(0,255,145,.3)" stroke-width=".75"/>
+            <!-- Kreuzlinien mit Lücke in der Mitte -->
+            <line x1="-86" y1="0" x2="-19" y2="0" stroke="rgba(0,255,145,.6)" stroke-width="1"/>
+            <line x1="19"  y1="0" x2="86"  y2="0" stroke="rgba(0,255,145,.6)" stroke-width="1"/>
+            <line x1="0" y1="-86" x2="0" y2="-19" stroke="rgba(0,255,145,.6)" stroke-width="1"/>
+            <line x1="0" y1="19"  x2="0" y2="86"  stroke="rgba(0,255,145,.6)" stroke-width="1"/>
+            <!-- Skalenstriche bei r=60 -->
+            <line x1="-60" y1="-6" x2="-60" y2="6" stroke="rgba(0,255,145,.45)" stroke-width=".75"/>
+            <line x1="60"  y1="-6" x2="60"  y2="6" stroke="rgba(0,255,145,.45)" stroke-width=".75"/>
+            <line x1="-6" y1="-60" x2="6" y2="-60" stroke="rgba(0,255,145,.45)" stroke-width=".75"/>
+            <line x1="-6" y1="60"  x2="6" y2="60"  stroke="rgba(0,255,145,.45)" stroke-width=".75"/>
+            <!-- Skalenstriche bei r=38 -->
+            <line x1="-38" y1="-3.5" x2="-38" y2="3.5" stroke="rgba(0,255,145,.3)" stroke-width=".5"/>
+            <line x1="38"  y1="-3.5" x2="38"  y2="3.5" stroke="rgba(0,255,145,.3)" stroke-width=".5"/>
+            <line x1="-3.5" y1="-38" x2="3.5" y2="-38" stroke="rgba(0,255,145,.3)" stroke-width=".5"/>
+            <line x1="-3.5" y1="38"  x2="3.5" y2="38"  stroke="rgba(0,255,145,.3)" stroke-width=".5"/>
+            <!-- Eckklammern -->
+            <path d="M-74,-58 L-74,-74 L-58,-74" fill="none" stroke="rgba(0,255,145,.75)" stroke-width="1.5"/>
+            <path d="M58,-74  L74,-74  L74,-58"  fill="none" stroke="rgba(0,255,145,.75)" stroke-width="1.5"/>
+            <path d="M-74,58  L-74,74  L-58,74"  fill="none" stroke="rgba(0,255,145,.75)" stroke-width="1.5"/>
+            <path d="M58,74   L74,74   L74,58"   fill="none" stroke="rgba(0,255,145,.75)" stroke-width="1.5"/>
+            <!-- pulsierender Ring -->
+            <circle class="xh-pulse" cx="0" cy="0" r="6" fill="none" stroke="rgba(0,255,145,.7)" stroke-width="1"/>
+            <!-- Mittelpunkt -->
+            <circle cx="0" cy="0" r="2.5" fill="rgba(0,255,145,.9)"/>
+            <circle cx="0" cy="0" r="1"   fill="rgba(255,255,255,.7)"/>
+          </svg>
        </div>
-        <div class="c-scanlines"></div>
+
        <div class="c-vignette"></div>
      </div>
    </div>
@@ -633,6 +643,10 @@ header {
          <span class="slbl">IP Adressen</span>
          <span class="sval b" id="stat-ips">--</span>
        </div>
+        <div class="srow warn">
+          <span class="slbl">Unterspannung</span>
+          <span class="sval b" id="stat-undervoltage">--</span>
+        </div>
        <div class="srow info">
          <span class="slbl">Uptime Pi</span>
          <span class="sval b" id="stat-uptime">--</span>
@@ -704,6 +718,7 @@ header {
 var hostUrl = window.location.hostname;
 var ros = null;
 var joyListener = null;
+var roverCommandListener = null;
 var publishTimer = null;
 var statusTimer = null;
 var axes = [0, 0, 0, 0, 0, 0];
@@ -771,6 +786,45 @@ function updateModeDisplay() {
  setText("stat-mode", label);
 }

+function applyDriveMode(mode, flash) {
+  var changed = mode !== driveMode;
+  driveMode = mode;
+  document.querySelectorAll(".dbtn[data-mode]").forEach(function (btn) {
+    var isActive = btn.dataset.mode === mode;
+    btn.classList.toggle("active", isActive);
+    if (isActive && changed && flash) {
+      btn.classList.remove("flash");
+      void btn.offsetWidth;
+      btn.classList.add("flash");
+    }
+  });
+  updateModeDisplay();
+  updateControlLocks();
+}
+
+function mirrorJoyThumb(x, y) {
+  if (dragging || inputMode !== "joystick") return;
+  var data = joyMetrics();
+  var dx = x * data.maxD;
+  var dy = -y * data.maxD;
+  var thumb = document.getElementById("jthumb");
+  thumb.style.transition = "left .05s, top .05s";
+  thumb.style.left = "calc(50% + " + dx + "px)";
+  thumb.style.top  = "calc(50% + " + dy + "px)";
+  thumb.style.transform = "translate(-50%,-50%)";
+  updateAxesDisplay(x, y);
+}
+
+function locomotionModeToUi(modeValue) {
+  if (modeValue === 2) {
+    return "turn-on-point";
+  }
+  if (modeValue === 3) {
+    return "crab";
+  }
+  return "ackermann";
+}
+
 function updateMotorDisplay() {
  setText("stat-motors", motorsEnabled ? "Aktiv" : "Aus");
 }
@@ -787,11 +841,35 @@ function setRosStatus(text) {
  setText("mission-state", text === "Verbunden" ? "Nominal" : text);
 }

+function updateUndervoltageDisplay(text, state) {
+  var el = document.getElementById("stat-undervoltage");
+  if (!el) {
+    return;
+  }
+  el.textContent = text || "--";
+  el.classList.remove("b", "g", "o", "alert", "warntext");
+
+  if (state === "active") {
+    el.classList.add("alert");
+    return;
+  }
+  if (state === "past") {
+    el.classList.add("warntext");
+    return;
+  }
+  if (state === "clear") {
+    el.classList.add("g");
+    return;
+  }
+  el.classList.add("b");
+}
+
 function updateServiceState(payload) {
  var system = payload.system || {};
  var services = payload.services || {};
  setText("stat-wifi", system.wifi || "unbekannt");
  setText("stat-ips", system.ips || "unbekannt");
+  updateUndervoltageDisplay(system.undervoltage || "unbekannt", system.undervoltage_state || "unknown");
  setText("stat-uptime", system.uptime || "unbekannt");
  setText("stat-disk", system.disk_free || "unbekannt");
  setText("val-cpu", system.cpu_usage || "--");
@@ -832,10 +910,10 @@ function publishJoy() {
 }

 function startPublishing() {
-  publishJoy();
  if (publishTimer) {
-    clearInterval(publishTimer);
+    return;
  }
+  publishJoy();
  publishTimer = window.setInterval(publishJoy, 50);
 }

@@ -868,12 +946,7 @@ function pulseButton(buttonIndex) {
 }

 function selectDriveMode(mode, buttonIndex) {
-  driveMode = mode;
-  document.querySelectorAll(".dbtn[data-mode]").forEach(function (btn) {
-    btn.classList.toggle("active", btn.dataset.mode === mode);
-  });
-  updateModeDisplay();
-  updateControlLocks();
+  applyDriveMode(mode);
  pulseButton(buttonIndex);
 }

@@ -940,6 +1013,7 @@ function moveThumb(clientX, clientY) {
  var nx = dx / data.maxD;
  var ny = -dy / data.maxD;
  setAxes(nx, ny);
+  publishJoy();
  startPublishing();
 }

@@ -1013,6 +1087,30 @@ window.addEventListener("load", function () {
    messageType: "sensor_msgs/Joy"
  });

+  roverCommandListener = new ROSLIB.Topic({
+    ros: ros,
+    name: "/rover_command",
+    messageType: "exomy/RoverCommand"
+  });
+
+  roverCommandListener.subscribe(function (message) {
+    applyDriveMode(locomotionModeToUi(message.locomotion_mode), true);
+    motorsEnabled = !!message.motors_enabled;
+    updateMotorDisplay();
+  });
+
+  var joySubscriber = new ROSLIB.Topic({
+    ros: ros,
+    name: "/joy",
+    messageType: "sensor_msgs/Joy"
+  });
+  joySubscriber.subscribe(function (message) {
+    if (message.header.frame_id === "webgui") return;
+    var x = (message.axes[0] || 0);
+    var y = -(message.axes[1] || 0);
+    mirrorJoyThumb(x, y);
+  });
+
  document.querySelectorAll(".dbtn[data-mode]").forEach(function (button) {
    button.addEventListener("click", function () {
      selectDriveMode(button.dataset.mode, parseInt(button.dataset.button, 10));
@@ -455,6 +455,15 @@ h2 {
  color: #8a6b35;
 }

+@keyframes statusBlink {
+  0%, 100% {
+    opacity: 1;
+  }
+  50% {
+    opacity: 0.25;
+  }
+}
+
 .admin-page {
  color: #1b2730;
  overflow-y: auto;
@@ -54,6 +54,15 @@ DRIVE_PIN_KEYS = {
    'rr': 'pin_drive_rr',
 }

+DRIVE_NEUTRAL_KEYS = {
+    'fl': 'drive_pwm_neutral_fl',
+    'fr': 'drive_pwm_neutral_fr',
+    'cl': 'drive_pwm_neutral_cl',
+    'cr': 'drive_pwm_neutral_cr',
+    'rl': 'drive_pwm_neutral_rl',
+    'rr': 'drive_pwm_neutral_rr',
+}
+
 ACTION_SETTINGS = {
    'steer_left': {
        'kind': 'steer',
@@ -94,7 +103,10 @@ class PCA9685Direct:
        try:
            import smbus
        except ImportError as exc:
-            raise RuntimeError('smbus ist nicht installiert.') from exc
+            try:
+                import smbus2 as smbus
+            except ImportError as inner_exc:
+                raise RuntimeError('smbus ist nicht installiert.') from inner_exc

        self.address = address
        self.bus = smbus.SMBus(busnum)
@@ -176,7 +188,10 @@ class MotorTester:
        self.config = _load_config(self.config_path)
        self.pwm.set_pwm_freq(50)
        self.steer_pwm_range = int(self.config['steer_pwm_range'])
-        self.drive_pwm_neutral = int(self.config['drive_pwm_neutral'])
+        self.drive_pwm_neutral = {
+            wheel: int(self.config[DRIVE_NEUTRAL_KEYS[wheel]])
+            for wheel in WHEELS
+        }
        self.drive_pwm_range = int(self.config['drive_pwm_range'])

    def _steer_pin(self, wheel):
@@ -188,10 +203,12 @@ class MotorTester:
    def _drive_pin(self, wheel):
        return int(self.config[DRIVE_PIN_KEYS[wheel]])

-    def set_drive_neutral_pwm(self, pwm_value):
-        duty_cycle = int(pwm_value)
+    def _drive_neutral(self, wheel):
+        return int(self.drive_pwm_neutral[wheel])
+
+    def set_drive_neutral_pwm(self, values):
        for wheel in WHEELS:
-            self.pwm.set_pwm(self._drive_pin(wheel), 0, duty_cycle)
+            self.pwm.set_pwm(self._drive_pin(wheel), 0, int(values[wheel]))
            time.sleep(0.03)

    def center_all_steering(self):
@@ -201,7 +218,7 @@ class MotorTester:

    def stop_all_driving(self):
        for wheel in WHEELS:
-            self.pwm.set_pwm(self._drive_pin(wheel), 0, self.drive_pwm_neutral)
+            self.pwm.set_pwm(self._drive_pin(wheel), 0, self._drive_neutral(wheel))
            time.sleep(0.03)

    def set_steering_angle(self, wheel, angle):
@@ -237,12 +254,12 @@ class MotorTester:
    def test_driving(self, wheel, speed, duration):
        self.pwm.set_pwm(self._steer_pin(wheel), 0, self._steer_neutral(wheel))
        duty_cycle = int(
-            self.drive_pwm_neutral +
+            self._drive_neutral(wheel) +
            speed / 100.0 * self.drive_pwm_range * WHEEL_DIRECTIONS[wheel]
        )
        self.pwm.set_pwm(self._drive_pin(wheel), 0, duty_cycle)
        time.sleep(duration)
-        self.pwm.set_pwm(self._drive_pin(wheel), 0, self.drive_pwm_neutral)
+        self.pwm.set_pwm(self._drive_pin(wheel), 0, self._drive_neutral(wheel))

    def execute(self, wheel, action):
        if wheel not in WHEELS:
@@ -418,30 +435,61 @@ def save_steering_neutral_values(values, config_path=None):

 def get_drive_neutral_value(config_path=None):
    tester = MotorTester(config_path=config_path)
+    values = {}
+    for wheel in WHEELS:
+        key = DRIVE_NEUTRAL_KEYS[wheel]
+        values[wheel] = {
+            'wheel': wheel,
+            'wheel_label': WHEEL_LABELS[wheel],
+            'key': key,
+            'value': int(tester.config[key]),
+            'pin': tester._drive_pin(wheel),
+        }
    return {
        'config_path': tester.config_path,
-        'value': int(tester.config['drive_pwm_neutral']),
-        'pins': {wheel: tester._drive_pin(wheel) for wheel in WHEELS},
+        'values': values,
    }


-def preview_drive_neutral_value(pwm_value, config_path=None):
+def preview_drive_neutral_value(values, config_path=None):
    tester = MotorTester(config_path=config_path)
-    value = int(pwm_value)
+    preview_values = {}
+    for wheel in WHEELS:
+        if wheel not in values:
+            raise ValueError(f'Fahr-Neutralwert fehlt: {DRIVE_NEUTRAL_KEYS[wheel]}')
+        preview_values[wheel] = int(values[wheel])
+
    tester.center_all_steering()
-    tester.set_drive_neutral_pwm(value)
+    tester.set_drive_neutral_pwm(preview_values)
    return {
-        'value': value,
-        'pins': {wheel: tester._drive_pin(wheel) for wheel in WHEELS},
+        'values': {
+            wheel: {
+                'wheel': wheel,
+                'wheel_label': WHEEL_LABELS[wheel],
+                'key': DRIVE_NEUTRAL_KEYS[wheel],
+                'value': preview_values[wheel],
+                'pin': tester._drive_pin(wheel),
+            }
+            for wheel in WHEELS
+        },
    }


-def save_drive_neutral_value(pwm_value, config_path=None):
+def save_drive_neutral_value(values, config_path=None):
    tester = MotorTester(config_path=config_path)
-    value = int(pwm_value)
-    _update_config_values(tester.config_path, {'drive_pwm_neutral': value})
+    updates = {}
+    for wheel in WHEELS:
+        key = DRIVE_NEUTRAL_KEYS[wheel]
+        if key not in values:
+            raise ValueError(f'Fahr-Neutralwert fehlt: {key}')
+        updates[key] = int(values[key])
+
+    _update_config_values(tester.config_path, updates)
    tester.config = _load_config(tester.config_path)
-    tester.drive_pwm_neutral = int(tester.config['drive_pwm_neutral'])
+    tester.drive_pwm_neutral = {
+        wheel: int(tester.config[DRIVE_NEUTRAL_KEYS[wheel]])
+        for wheel in WHEELS
+    }
    tester.center_all_steering()
    tester.set_drive_neutral_pwm(tester.drive_pwm_neutral)
    return get_drive_neutral_value(config_path=tester.config_path)
@@ -4,31 +4,29 @@ import time
 import os

 config_filename = '../config/exomy.yaml'
+WHEELS = ('fl', 'fr', 'cl', 'cr', 'rl', 'rr')


 def get_driving_pins():
-    pin_list = []
    with open(config_filename, 'r') as file:
        param_dict = yaml.load(file)

-    for key, value in param_dict.items():
-        if('pin_drive_' in str(key)):
-            pin_list.append(value)
-    return pin_list
+    return [param_dict['pin_drive_' + wheel] for wheel in WHEELS]

-def get_drive_pwm_neutral():
-     
+def get_drive_pwm_neutral_values():
    with open(config_filename, 'r') as file:
        param_dict = yaml.load(file)

-    for key, value in param_dict.items():
-        if('drive_pwm_neutral' in str(key)):
-            return value                    
-
-    default_value = 300
-    print('The parameter drive_pwm_neutral could not be found in the exomy.yaml \n')
-    print('It was set to the default value: '+ default_value + '\n')
-    return default_value
+    values = {}
+    for wheel in WHEELS:
+        key = 'drive_pwm_neutral_' + wheel
+        if key not in param_dict:
+            print('The parameter ' + key + ' could not be found in the exomy.yaml \n')
+            print('It was set to the default value: 300\n')
+            values[wheel] = 300
+        else:
+            values[wheel] = param_dict[key]
+    return values

 if __name__ == "__main__":
    print(
@@ -62,7 +60,7 @@ On each motor you have to turn the correction screw until the motor really stand
    pwm = Adafruit_PCA9685.PCA9685()

    '''
-    The drive_pwm_neutral value is determined from the exomy.yaml file.
+    The drive_pwm_neutral values are determined from the exomy.yaml file.
    But it can be also calculated from the values of the PWM board and motors, 
    like shown in the following calculation:

@@ -83,11 +81,11 @@ On each motor you have to turn the correction screw until the motor really stand
    value = int(duty_cycle*4096.0) # 307
    '''

-    value = get_drive_pwm_neutral()
+    value_dict = get_drive_pwm_neutral_values()
    pin_list = get_driving_pins()

-    for pin in pin_list:
-        pwm.set_pwm(pin, 0, value)
+    for index, pin in enumerate(pin_list):
+        pwm.set_pwm(pin, 0, value_dict[WHEELS[index]])
        time.sleep(0.1)

    raw_input('Press any button if you are done to complete configuration\n')
@@ -0,0 +1,13 @@
+[Unit]
+Description=ExoMy WLAN Fallback Manager
+After=NetworkManager.service
+Wants=NetworkManager.service
+
+[Service]
+Type=simple
+ExecStart=/usr/local/bin/exomy-wifi-fallback-manager.sh
+Restart=always
+RestartSec=5
+
+[Install]
+WantedBy=multi-user.target
@@ -72,6 +72,41 @@ def read_memory_usage():
        return 'unbekannt'


+def read_undervoltage_status():
+    stdout, _, returncode = run_command(['vcgencmd', 'get_throttled'])
+    if returncode != 0 or not stdout or '=' not in stdout:
+        return {
+            'text': 'unbekannt',
+            'state': 'unknown',
+        }
+
+    try:
+        throttled_value = int(stdout.split('=', 1)[1].strip(), 16)
+    except ValueError:
+        return {
+            'text': 'unbekannt',
+            'state': 'unknown',
+        }
+
+    undervoltage_now = bool(throttled_value & 0x1)
+    undervoltage_occurred = bool(throttled_value & 0x10000)
+
+    if undervoltage_now:
+        return {
+            'text': 'Ja, aktuell',
+            'state': 'active',
+        }
+    if undervoltage_occurred:
+        return {
+            'text': 'Früher erkannt',
+            'state': 'past',
+        }
+    return {
+        'text': 'Nein',
+        'state': 'clear',
+    }
+
+
 def format_uptime():
    try:
        with open('/proc/uptime', 'r', encoding='utf-8') as handle:
@@ -100,11 +135,25 @@ def format_disk_free():


 def get_ip_addresses():
+    stdout, _, returncode = run_command(['ip', '-4', '-o', 'addr', 'show', 'dev', 'wlan0', 'scope', 'global'])
+    if returncode == 0 and stdout:
+        for line in stdout.splitlines():
+            parts = line.split()
+            if 'inet' in parts:
+                inet_index = parts.index('inet')
+                if inet_index + 1 < len(parts):
+                    return parts[inet_index + 1].split('/')[0]
+
    stdout, _, returncode = run_command(['hostname', '-I'])
    if returncode != 0 or not stdout:
        return 'unbekannt'
-    ips = [item for item in stdout.split() if item]
-    return ', '.join(ips) if ips else 'unbekannt'
+
+    ipv4_addresses = []
+    for item in stdout.split():
+        if item.count('.') == 3 and not item.startswith('172.17.'):
+            ipv4_addresses.append(item)
+
+    return ipv4_addresses[0] if ipv4_addresses else 'unbekannt'


 def get_wifi_status():
@@ -149,11 +198,14 @@ def get_motor_test_container_status():


 def collect_status():
+    undervoltage = read_undervoltage_status()
    return {
        'status': 'Bereit',
        'system': {
            'wifi': get_wifi_status(),
            'ips': get_ip_addresses(),
+            'undervoltage': undervoltage['text'],
+            'undervoltage_state': undervoltage['state'],
            'cpu_temperature': read_cpu_temperature(),
            'cpu_usage': read_cpu_usage(),
            'memory_usage': read_memory_usage(),
@@ -315,17 +367,17 @@ def get_drive_neutral_status():
    try:
        result = get_drive_neutral_value()
        return 200, {
-            'status': 'Fahr-Neutralwert geladen',
+            'status': 'Fahr-Neutralwerte geladen',
            'drive_neutral': result,
            'container_status': container_status,
        }
    except FileNotFoundError:
        return 500, {'status': 'Motor-Konfiguration fehlt'}
    except Exception:
-        return 500, {'status': 'Fahr-Neutralwert konnte nicht geladen werden'}
+        return 500, {'status': 'Fahr-Neutralwerte konnten nicht geladen werden'}


-def preview_drive_neutral_action(value):
+def preview_drive_neutral_action(values):
    from admin_motor_test import preview_drive_neutral_value

    container_status = get_motor_test_container_status()
@@ -336,9 +388,9 @@ def preview_drive_neutral_action(value):
        }

    try:
-        result = preview_drive_neutral_value(int(value))
+        result = preview_drive_neutral_value(values)
        return 200, {
-            'status': f"Fahr-Neutralwert: PWM {result['value']}",
+            'status': 'Fahr-Neutralwerte angefahren',
            'drive_neutral': result,
            'container_status': container_status,
        }
@@ -350,7 +402,7 @@ def preview_drive_neutral_action(value):
        return 500, {'status': 'Fahr-Vorschau fehlgeschlagen'}


-def save_drive_neutral_action(value):
+def save_drive_neutral_action(values):
    from admin_motor_test import save_drive_neutral_value

    container_status = get_motor_test_container_status()
@@ -361,9 +413,9 @@ def save_drive_neutral_action(value):
        }

    try:
-        result = save_drive_neutral_value(int(value))
+        result = save_drive_neutral_value(values)
        return 200, {
-            'status': 'Fahr-Neutralwert gespeichert',
+            'status': 'Fahr-Neutralwerte gespeichert',
            'drive_neutral': result,
            'container_status': container_status,
        }
@@ -374,7 +426,7 @@ def save_drive_neutral_action(value):
    except FileNotFoundError:
        return 500, {'status': 'Motor-Konfiguration fehlt'}
    except Exception:
-        return 500, {'status': 'Fahr-Neutralwert konnte nicht gespeichert werden'}
+        return 500, {'status': 'Fahr-Neutralwerte konnten nicht gespeichert werden'}


 class Handler(http.server.BaseHTTPRequestHandler):
@@ -431,7 +483,12 @@ class Handler(http.server.BaseHTTPRequestHandler):
                self.write_json(400, {'status': 'Ungültige Anfrage'})
                return

-            status_code, response = preview_drive_neutral_action(payload.get('value', 0))
+            values = payload.get('values')
+            if not isinstance(values, dict):
+                self.write_json(400, {'status': 'Fahr-Neutralwerte fehlen'})
+                return
+
+            status_code, response = preview_drive_neutral_action(values)
            self.write_json(status_code, response)
            return

@@ -449,7 +506,12 @@ class Handler(http.server.BaseHTTPRequestHandler):
                self.write_json(400, {'status': 'Ungültige Anfrage'})
                return

-            status_code, response = save_drive_neutral_action(payload.get('value', 0))
+            values = payload.get('values')
+            if not isinstance(values, dict):
+                self.write_json(400, {'status': 'Fahr-Neutralwerte fehlen'})
+                return
+
+            status_code, response = save_drive_neutral_action(values)
            self.write_json(status_code, response)
            return

@@ -0,0 +1,49 @@
+#!/bin/bash
+set -euo pipefail
+
+WIFI_IFACE="wlan0"
+PRIMARY_CONN="netplan-wlan0-eskimue.de"
+SECONDARY_CONN="4pi"
+FALLBACK_AP_CONN="CUNO-AP"
+CHECK_INTERVAL=20
+
+get_active_connection() {
+  nmcli -t -f GENERAL.CONNECTION device show "$WIFI_IFACE" 2>/dev/null | head -n 1 | cut -d: -f2-
+}
+
+activate_connection() {
+  local connection_name="$1"
+  nmcli --wait 15 connection up "$connection_name" ifname "$WIFI_IFACE" >/dev/null 2>&1
+}
+
+ensure_best_connection() {
+  local active_connection
+  active_connection="$(get_active_connection)"
+
+  if [[ "$active_connection" == "$PRIMARY_CONN" ]]; then
+    return
+  fi
+
+  if activate_connection "$PRIMARY_CONN"; then
+    return
+  fi
+
+  active_connection="$(get_active_connection)"
+  if [[ "$active_connection" == "$SECONDARY_CONN" ]]; then
+    return
+  fi
+
+  if activate_connection "$SECONDARY_CONN"; then
+    return
+  fi
+
+  active_connection="$(get_active_connection)"
+  if [[ "$active_connection" != "$FALLBACK_AP_CONN" ]]; then
+    activate_connection "$FALLBACK_AP_CONN" || true
+  fi
+}
+
+while true; do
+  ensure_best_connection
+  sleep "$CHECK_INTERVAL"
+done
@@ -0,0 +1,99 @@
+#!/usr/bin/env python
+import errno
+import os
+import select
+import struct
+import time
+
+import rospy
+from sensor_msgs.msg import Joy
+
+
+DEVICE_PATH = '/dev/input/js0'
+AXIS_COUNT = 8
+BUTTON_COUNT = 12
+PUBLISH_RATE_HZ = 20.0
+
+JS_EVENT_BUTTON = 0x01
+JS_EVENT_AXIS = 0x02
+JS_EVENT_INIT = 0x80
+EVENT_SIZE = struct.calcsize('IhBB')
+
+
+def open_device():
+    while not rospy.is_shutdown():
+        try:
+            fd = os.open(DEVICE_PATH, os.O_RDONLY | os.O_NONBLOCK)
+            rospy.loginfo('Joystick verbunden: %s', DEVICE_PATH)
+            return fd
+        except OSError as exc:
+            if exc.errno != errno.ENOENT:
+                rospy.logwarn('Joystick kann nicht geoeffnet werden: %s', exc)
+            rospy.sleep(1.0)
+    return None
+
+
+def close_device(fd):
+    if fd is None:
+        return
+    try:
+        os.close(fd)
+    except OSError:
+        pass
+
+
+if __name__ == '__main__':
+    rospy.init_node('f710_joy_node')
+
+    publisher = rospy.Publisher('/joy', Joy, queue_size=5)
+    rate = rospy.Rate(PUBLISH_RATE_HZ)
+
+    axes = [0.0] * AXIS_COUNT
+    buttons = [0] * BUTTON_COUNT
+    joystick_fd = None
+
+    while not rospy.is_shutdown():
+        if joystick_fd is None:
+            joystick_fd = open_device()
+            axes = [0.0] * AXIS_COUNT
+            buttons = [0] * BUTTON_COUNT
+            if joystick_fd is None:
+                break
+
+        try:
+            readable, _, _ = select.select([joystick_fd], [], [], 0.0)
+            if readable:
+                event = os.read(joystick_fd, EVENT_SIZE)
+                while event and len(event) == EVENT_SIZE:
+                    _, value, event_type, number = struct.unpack('IhBB', event)
+                    event_type &= ~JS_EVENT_INIT
+
+                    if event_type == JS_EVENT_AXIS and number < len(axes):
+                        axes[number] = max(-1.0, min(1.0, value / 32767.0))
+                    elif event_type == JS_EVENT_BUTTON and number < len(buttons):
+                        buttons[number] = 1 if value else 0
+
+                    try:
+                        event = os.read(joystick_fd, EVENT_SIZE)
+                    except OSError as exc:
+                        if exc.errno in (errno.EAGAIN, errno.EWOULDBLOCK):
+                            break
+                        raise
+
+            message = Joy()
+            message.header.stamp = rospy.Time.now()
+            message.axes = list(axes)
+            message.buttons = list(buttons)
+            publisher.publish(message)
+            rate.sleep()
+
+        except OSError as exc:
+            if exc.errno in (errno.ENODEV, errno.EIO, errno.ENXIO, errno.EBADF):
+                rospy.logwarn('Joystick getrennt, warte auf Neuverbindung.')
+            else:
+                rospy.logwarn('Joystick-Lesefehler: %s', exc)
+            close_device(joystick_fd)
+            joystick_fd = None
+            time.sleep(1.0)
+
+    close_device(joystick_fd)
@@ -14,6 +14,8 @@ locomotion_mode = LocomotionMode.ACKERMANN.value
 motors_enabled = True
 AXIS_DEADZONE = 0.1
 last_start_button_pressed = False
+last_webgui_time = None
+WEBGUI_PRIORITY_TIMEOUT = 2.0

 VELOCITY_EXPO = 2.0

@@ -23,6 +25,7 @@ CONTROLLER_FUNCTION_MAPS = {
        "x_axis": 0,
        "y_axis": 1,
        "invert_x_axis": True,
+        "invert_y_axis": False,
        "X_button": 0,
        "Y_button": 3,
        "A_button": 1,
@@ -34,7 +37,8 @@ CONTROLLER_FUNCTION_MAPS = {
    "logitech-F710": {
        "x_axis": 0,
        "y_axis": 1,
-        "invert_x_axis": False,
+        "invert_x_axis": True,
+        "invert_y_axis": True,
        "X_button": 0,
        "Y_button": 3,
        "A_button": 1,
@@ -47,6 +51,7 @@ CONTROLLER_FUNCTION_MAPS = {
        "x_axis": 0,
        "y_axis": 1,
        "invert_x_axis": False,
+        "invert_y_axis": False,
        "X_button": 2,
        "Y_button": 3,
        "A_button": 0,
@@ -94,6 +99,15 @@ def callback(data):
    global locomotion_mode
    global motors_enabled
    global last_start_button_pressed
+    global last_webgui_time
+
+    is_webgui = data.header.frame_id == "webgui"
+    now = rospy.Time.now()
+
+    if is_webgui:
+        last_webgui_time = now
+    elif last_webgui_time is not None and (now - last_webgui_time).to_sec() < WEBGUI_PRIORITY_TIMEOUT:
+        return

    rover_cmd = RoverCommand()

@@ -118,6 +132,8 @@ def callback(data):

    if controller_function_map["invert_x_axis"]:
        x *= -1
+    if controller_function_map["invert_y_axis"]:
+        y *= -1

    # Reading out button data to set locomotion mode
    # X Button
@@ -53,7 +53,7 @@ class Motors():
        self.pins['steer'][self.RR] = rospy.get_param("pin_steer_rr")

        # PWM characteristics
-        self.pwm = Adafruit_PCA9685.PCA9685()
+        self.pwm = Adafruit_PCA9685.PCA9685(busnum=1)
        self.pwm.set_pwm_freq(50)  # Hz

        self.steering_pwm_neutral = [None] * 6
@@ -67,7 +67,13 @@ class Motors():
        self.steering_pwm_range = rospy.get_param("steer_pwm_range")

        self.driving_pwm_low_limit = 100
-        self.driving_pwm_neutral = rospy.get_param("drive_pwm_neutral")
+        self.driving_pwm_neutral = [None] * 6
+        self.driving_pwm_neutral[self.FL] = rospy.get_param("drive_pwm_neutral_fl")
+        self.driving_pwm_neutral[self.FR] = rospy.get_param("drive_pwm_neutral_fr")
+        self.driving_pwm_neutral[self.CL] = rospy.get_param("drive_pwm_neutral_cl")
+        self.driving_pwm_neutral[self.CR] = rospy.get_param("drive_pwm_neutral_cr")
+        self.driving_pwm_neutral[self.RL] = rospy.get_param("drive_pwm_neutral_rl")
+        self.driving_pwm_neutral[self.RR] = rospy.get_param("drive_pwm_neutral_rr")
        self.driving_pwm_upper_limit = 500
        self.driving_pwm_range = rospy.get_param("drive_pwm_range")

@@ -111,14 +117,11 @@ class Motors():
    def setDriving(self, driving_command):
        # Loop through pin dictionary. The items key is the wheel_name and the value the pin.
        for wheel_name, motor_pin in self.pins['drive'].items():
-            duty_cycle = int(self.driving_pwm_neutral +
+            duty_cycle = int(self.driving_pwm_neutral[wheel_name] +
                             driving_command[wheel_name]/100.0 * self.driving_pwm_range * self.wheel_directions[wheel_name])

            self.pwm.set_pwm(motor_pin, 0, duty_cycle)

    def stopMotors(self):
-        # Set driving wheels to neutral position to stop them
-        duty_cycle = int(self.driving_pwm_neutral)
-
        for wheel_name, motor_pin in self.pins['drive'].items():
-            self.pwm.set_pwm(motor_pin, 0, duty_cycle)
+            self.pwm.set_pwm(motor_pin, 0, int(self.driving_pwm_neutral[wheel_name]))
@@ -24,6 +24,7 @@ class Rover():
        self.wheel_ry = 20.3
        self.wheel_fx = 16.0
        self.wheel_fy = 20.3
+        self.point_turn_max_angle = 45

        max_steering_angle = 45
        self.ackermann_r_max = 250
@@ -152,10 +153,14 @@ class Rover():
            return steering_angles

        if(self.locomotion_mode == LocomotionMode.POINT_TURN.value):
-            point_turn_angle = int(math.degrees(
-                math.atan((self.wheel_rx + self.wheel_fx) / self.wheel_ry)))
-            point_turn_angle_center = int(math.degrees(
-                math.atan((((self.wheel_rx + self.wheel_fx) / 2) - self.wheel_fx) / (self.wheel_ry / 2))))
+            raw_point_turn_angle = math.degrees(
+                math.atan((self.wheel_rx + self.wheel_fx) / self.wheel_ry))
+            raw_point_turn_angle_center = math.degrees(
+                math.atan((((self.wheel_rx + self.wheel_fx) / 2) - self.wheel_fx) / (self.wheel_ry / 2)))
+
+            point_turn_angle = int(min(self.point_turn_max_angle, raw_point_turn_angle))
+            center_scale = 0.0 if raw_point_turn_angle == 0 else abs(raw_point_turn_angle_center / raw_point_turn_angle)
+            point_turn_angle_center = int(point_turn_angle * center_scale)

            steering_angles[self.FL] = point_turn_angle
            steering_angles[self.FR] = -point_turn_angle
@@ -1,10 +1,10 @@
 # ExoMy Setup-Status

-Stand: 2026-05-18
+Stand: 2026-05-21

 ## Raspberry Pi

- Hostname: `cuno`
+- Hostname: `ExoMyCuno`
 - Benutzer: `pi`
 - LAN-IP: `192.168.1.83`
 - WLAN-IP: `192.168.1.9`
@@ -30,6 +30,7 @@ Stand: 2026-05-18
 - Bekannte WLANs:
  - `eskimue.de`
  - `4pi`
+- Passwort `4pi`: `st89Saf6H86n`
 - Fallback-Access-Point:
  - SSID: `CUNO`
  - Passwort: `astr0cun042`
@@ -46,6 +47,10 @@ Stand: 2026-05-18
 - Wenn `eskimue.de` erreichbar ist, verbindet sich der Pi bevorzugt damit.
 - Wenn `eskimue.de` nicht erreichbar ist, aber `4pi` sichtbar ist, verbindet sich der Pi mit `4pi`.
 - Wenn keines der beiden WLANs erreichbar ist, soll `CUNO` als eigener Access Point einspringen.
+- Ein Host-Dienst prueft laufend die Reihenfolge:
+  - erst `eskimue.de`
+  - dann `4pi`
+  - sonst `CUNO`
 - Das alte WLAN-Profil `FRITZ!Box 6660 Cable AI` ist nicht mehr auf Autoverbindung gesetzt.

 ## Aktueller Aufbau