Alles verbessert

ExoMy_Software-master/README.md

@@ -1,34 +1,154 @@
-# ExoMy - Software Repository
+# ExoMy CUNO — Software
-This repository contains the software to run Exomy. The [wiki](https://github.com/esa-prl/ExoMy/wiki) explains you how to use it.
 
-![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/)
+## Zugang zum Raspberry Pi
-There is a website about ExoMy. It does not help you build it, but is still nice to look at.
 
-### [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)
+```bash
-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).
+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 -->
+## Architektur
-<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>
 
+```
+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)

ExoMy_Software-master/config/exomy.remote.yaml

@@ -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
+# PWM values for the stop position of driving motors
-drive_pwm_neutral: 307
+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

ExoMy_Software-master/config/exomy.yaml.template

@@ -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
+# PWM values for the stop position of driving motors
-drive_pwm_neutral: 307
+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

ExoMy_Software-master/docker/Dockerfile

@@ -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"]

ExoMy_Software-master/docker/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
-

ExoMy_Software-master/gui/admin-motor-test.html

@@ -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 id="drive_neutral_grid" class="steering_neutral_grid"></div>
-                <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>
           </section>
         </div>
@@ -188,9 +173,8 @@
     var activeMotorTestTab = 'impulse';
     var steeringNeutralValues = {};
     var steeringNeutralSavedValues = {};
-    var driveNeutralValue = null;
+    var driveNeutralValues = {};
-    var driveNeutralSavedValue = null;
+    var driveNeutralSavedValues = {};
-    var driveNeutralPins = {};
     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() {
+    function renderDriveNeutralCards() {
-      var valueNode = document.getElementById('drive_neutral_value');
+      var grid = document.getElementById('drive_neutral_grid');
-      var pinsNode = document.getElementById('drive_neutral_pins');
+      if (!grid) {
-      var card = document.getElementById('drive_neutral_card');
+        return;
-
-      if (valueNode) {
-        valueNode.textContent = driveNeutralValue === null ? '-' : String(driveNeutralValue);
       }
 
-      if (pinsNode) {
+      var html = [];
-        var pinValues = WHEEL_ORDER
+      WHEEL_ORDER.forEach(function (wheel) {
-          .filter(function (wheel) { return Object.prototype.hasOwnProperty.call(driveNeutralPins, wheel); })
+        var entry = driveNeutralValues[wheel];
-          .map(function (wheel) { return wheel.toUpperCase() + ':' + driveNeutralPins[wheel]; });
+        if (!entry) {
-        pinsNode.textContent = pinValues.length ? 'Pins: ' + pinValues.join(' ') : 'Pins: -';
+          return;
-      }
+        }
 
-      if (card) {
+        var savedEntry = driveNeutralSavedValues[wheel];
-        var isDirty = driveNeutralValue !== null && driveNeutralSavedValue !== null && Number(driveNeutralValue) !== Number(driveNeutralSavedValue);
+        var isDirty = !savedEntry || Number(savedEntry.value) !== Number(entry.value);
-        card.classList.toggle('is_dirty', isDirty);
+        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 || !hasUnsavedDriveNeutralChanges();
-      button.disabled = isDriveNeutralLoading || isDriveNeutralPreviewRunning || isDriveNeutralSaving || !hasChanges;
     }
 
     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);
+        driveNeutralValues = data.drive_neutral && data.drive_neutral.values ? data.drive_neutral.values : {};
-        driveNeutralSavedValue = driveNeutralValue;
+        driveNeutralSavedValues = JSON.parse(JSON.stringify(driveNeutralValues));
-        driveNeutralPins = data.drive_neutral && data.drive_neutral.pins ? data.drive_neutral.pins : {};
+        renderDriveNeutralCards();
-        renderDriveNeutralCard();
         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)));
+      entry.value = Math.max(0, Math.min(4095, Number(entry.value) + Number(delta)));
-      renderDriveNeutralCard();
+      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;
+        driveNeutralValues = data.drive_neutral && data.drive_neutral.values ? data.drive_neutral.values : driveNeutralValues;
-        renderDriveNeutralCard();
+        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);
+        driveNeutralValues = data.drive_neutral && data.drive_neutral.values ? data.drive_neutral.values : driveNeutralValues;
-        driveNeutralSavedValue = driveNeutralValue;
+        driveNeutralSavedValues = JSON.parse(JSON.stringify(driveNeutralValues));
-        driveNeutralPins = data.drive_neutral && data.drive_neutral.pins ? data.drive_neutral.pins : driveNeutralPins;
+        renderDriveNeutralCards();
-        renderDriveNeutralCard();
         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();

ExoMy_Software-master/gui/admin.html

@@ -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);
 

ExoMy_Software-master/gui/index.html

@@ -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;
+  width: 180px;
-  height: 50px;
+  height: 180px;
   z-index: 10;
+  pointer-events: none;
 }
-.c-xhair::before {
+@keyframes xh-spin { to { transform: rotate(360deg); } }
-  content: "";
+@keyframes xh-pulse {
-  position: absolute;
+  0%   { transform: scale(1);   opacity: .7; }
-  top: 50%;
+  100% { transform: scale(2.8); opacity: 0;  }
-  left: 0;
-  right: 0;
-  height: 1px;
-  background: rgba(0,255,145,.45);
-  transform: translateY(-50%);
 }
-.c-xhair::after {
+.xh-rot     { animation: xh-spin 14s linear infinite;         transform-box: fill-box; transform-origin: center; }
-  content: "";
+.xh-rot-rev { animation: xh-spin 8s  linear infinite reverse; transform-box: fill-box; transform-origin: center; }
-  position: absolute;
+.xh-pulse   { animation: xh-pulse 2.5s ease-out infinite;     transform-box: fill-box; transform-origin: center; }
-  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; }
 .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>
+          <svg viewBox="-90 -90 180 180" xmlns="http://www.w3.org/2000/svg" width="180" height="180">
-          <div class="xc bl"></div><div class="xc br"></div>
+            <!-- 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;
+  applyDriveMode(mode);
-  document.querySelectorAll(".dbtn[data-mode]").forEach(function (btn) {
-    btn.classList.toggle("active", btn.dataset.mode === mode);
-  });
-  updateModeDisplay();
-  updateControlLocks();
   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));

ExoMy_Software-master/gui/style.css

@@ -455,6 +455,15 @@ h2 {
   color: #8a6b35;
 }
 
+@keyframes statusBlink {
+  0%, 100% {
+    opacity: 1;
+  }
+  50% {
+    opacity: 0.25;
+  }
+}
+
 .admin-page {
   color: #1b2730;
   overflow-y: auto;

ExoMy_Software-master/scripts/admin_motor_test.py

@@ -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):
+    def _drive_neutral(self, wheel):
-        duty_cycle = int(pwm_value)
+        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']),
+        'values': values,
-        'pins': {wheel: tester._drive_pin(wheel) for wheel in WHEELS},
     }
 
 
-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,
+        'values': {
-        'pins': {wheel: tester._drive_pin(wheel) for wheel in WHEELS},
+            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)
+    updates = {}
-    _update_config_values(tester.config_path, {'drive_pwm_neutral': value})
+    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)

ExoMy_Software-master/scripts/config_drive_motor_neutral.py

@@ -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():
+    return [param_dict['pin_drive_' + wheel] for wheel in WHEELS]
-        if('pin_drive_' in str(key)):
-            pin_list.append(value)
-    return pin_list
 
-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():
+    values = {}
-        if('drive_pwm_neutral' in str(key)):
+    for wheel in WHEELS:
-            return value                    
+        key = 'drive_pwm_neutral_' + wheel
-
+        if key not in param_dict:
-    default_value = 300
+            print('The parameter ' + key + ' could not be found in the exomy.yaml \n')
-    print('The parameter drive_pwm_neutral could not be found in the exomy.yaml \n')
+            print('It was set to the default value: 300\n')
-    print('It was set to the default value: '+ default_value + '\n')
+            values[wheel] = 300
-    return default_value
+        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:
+    for index, pin in enumerate(pin_list):
-        pwm.set_pwm(pin, 0, value)
+        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')

ExoMy_Software-master/scripts/exomy-wifi-fallback.service

@@ -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

ExoMy_Software-master/scripts/exomy_admin_api.py

@@ -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
 

ExoMy_Software-master/scripts/wifi_fallback_manager.sh

@@ -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

ExoMy_Software-master/src/f710_joy_node.py

@@ -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)

ExoMy_Software-master/src/joystick_parser_node.py

@@ -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

ExoMy_Software-master/src/motors.py

@@ -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]))

ExoMy_Software-master/src/rover.py

@@ -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(
+            raw_point_turn_angle = math.degrees(
-                math.atan((self.wheel_rx + self.wheel_fx) / self.wheel_ry)))
+                math.atan((self.wheel_rx + self.wheel_fx) / self.wheel_ry))
-            point_turn_angle_center = int(math.degrees(
+            raw_point_turn_angle_center = math.degrees(
-                math.atan((((self.wheel_rx + self.wheel_fx) / 2) - self.wheel_fx) / (self.wheel_ry / 2))))
+                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

exomy-setup-status.md

@@ -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