sl-webui
f71dad5344
Architecture change (2026-04-03): Mamba F722S (STM32F722) and BlackPill replaced by ESP32 BALANCE (PID loop) and ESP32 IO (motors/sensors/comms). - Update CLAUDE.md, docs, chassis BOM/ASSEMBLY, pinout, power-budget, wiring-diagram, TEAM.md, AUTONOMOUS_ARMING.md, docker-compose - Update all ROS2 package comments, config labels, launch args (stm32_port→esp32_port, /dev/stm32-bridge→/dev/esp32-bridge) - Update WebUI: stm32Mode→esp32Mode, stm32Version→esp32Version, "STM32 State/Mode" labels → "ESP32 State/Mode" (ControlMode, SettingsPanel) - Add TODO(esp32-migration) markers on stm32_protocol.py and mamba_protocol.py binary frame layouts — pending ESP32 protocol spec from max - Fix roslib CDN 1.3.0→1.4.0 in all 11 HTML panels (fixes ROS2 Humble rosbridge "Received a message without an op" incompatibility) Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
230 lines
8.4 KiB
HTML
230 lines
8.4 KiB
HTML
<!DOCTYPE html>
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<html lang="en">
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<head>
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<meta charset="UTF-8">
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<meta name="viewport" content="width=device-width, initial-scale=1.0, maximum-scale=1.0">
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<title>Saltybot — VESC Motor Dashboard</title>
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<link rel="stylesheet" href="vesc_panel.css">
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<script src="https://cdn.jsdelivr.net/npm/roslib@1.4.0/build/roslib.min.js"></script>
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</head>
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<body>
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<!-- ── Header ── -->
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<div id="header">
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<div class="logo">⚡ SALTYBOT — VESC MOTORS</div>
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<div id="conn-bar">
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<div id="conn-dot"></div>
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<input id="ws-input" type="text" value="ws://localhost:9090" placeholder="ws://robot-ip:9090" />
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<button id="btn-connect" class="hdr-btn">CONNECT</button>
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<span id="conn-label" style="color:#4b5563;font-size:10px">Not connected</span>
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</div>
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<div id="header-right">
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<span id="hz-label" class="meta-label">— Hz</span>
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<span style="color:#374151">|</span>
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<span id="stamp-label" class="meta-label">No data</span>
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</div>
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</div>
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<!-- ── Status bar ── -->
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<div id="status-bar">
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<span style="color:#6b7280;font-size:10px">LEFT</span>
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<span class="sys-badge badge-stale" id="badge-left">OFFLINE</span>
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<span style="color:#4b5563">│</span>
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<span style="color:#6b7280;font-size:10px">RIGHT</span>
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<span class="sys-badge badge-stale" id="badge-right">OFFLINE</span>
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<span style="color:#4b5563">│</span>
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<span style="color:#6b7280;font-size:10px">BATTERY</span>
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<span class="sys-badge badge-stale" id="badge-batt">—</span>
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<span style="color:#4b5563">│</span>
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<span style="color:#6b7280;font-size:10px">TOTAL DRAW</span>
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<span class="sys-badge badge-stale" id="badge-total">—</span>
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<button id="btn-estop" class="estop-btn">⛔ E-STOP</button>
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</div>
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<!-- ── Dashboard ── -->
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<div id="dashboard">
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<!-- ╔═════════ LEFT MOTOR ═════════╗ -->
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<div class="card motor-card" id="card-left">
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<div class="card-title">
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LEFT MOTOR
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<span class="fault-badge" id="fault-left">OK</span>
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</div>
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<!-- Arc gauge + direction -->
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<div class="gauge-row-top">
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<div class="arc-wrap">
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<canvas id="rpm-arc-left" width="140" height="100"></canvas>
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<div class="arc-dir" id="dir-left">—</div>
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</div>
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<div class="motor-stats">
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<div class="stat-row">
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<span class="stat-label">CURRENT (MTR)</span>
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<span class="stat-val" id="cur-left">—</span>
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</div>
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<div class="bar-track"><div class="bar-fill" id="cur-bar-left"></div></div>
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<div class="stat-row" style="margin-top:6px">
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<span class="stat-label">CURRENT (IN)</span>
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<span class="stat-val" id="curin-left">—</span>
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</div>
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<div class="bar-track"><div class="bar-fill" id="curin-bar-left"></div></div>
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<div class="stat-row" style="margin-top:6px">
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<span class="stat-label">DUTY CYCLE</span>
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<span class="stat-val" id="duty-left">—</span>
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</div>
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<div class="bar-track"><div class="bar-fill" id="duty-bar-left"></div></div>
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</div>
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</div>
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<!-- Temperatures -->
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<div class="temp-row">
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<div class="temp-box" id="tbox-fet-left">
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<div class="temp-label">FET TEMP</div>
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<div class="temp-val" id="tfet-left">—</div>
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<div class="bar-track mini"><div class="bar-fill" id="tfet-bar-left"></div></div>
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</div>
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<div class="temp-box" id="tbox-mot-left">
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<div class="temp-label">MOTOR TEMP</div>
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<div class="temp-val" id="tmot-left">—</div>
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<div class="bar-track mini"><div class="bar-fill" id="tmot-bar-left"></div></div>
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</div>
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</div>
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<!-- Sparklines -->
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<div class="spark-section">
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<div class="spark-label">RPM · 60s</div>
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<canvas class="sparkline" id="spark-rpm-left" height="40"></canvas>
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<div class="spark-label" style="margin-top:4px">CURRENT · 60s</div>
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<canvas class="sparkline" id="spark-cur-left" height="40"></canvas>
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</div>
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</div>
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<!-- ╔═════════ RIGHT MOTOR ═════════╗ -->
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<div class="card motor-card" id="card-right">
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<div class="card-title">
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RIGHT MOTOR
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<span class="fault-badge" id="fault-right">OK</span>
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</div>
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<div class="gauge-row-top">
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<div class="arc-wrap">
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<canvas id="rpm-arc-right" width="140" height="100"></canvas>
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<div class="arc-dir" id="dir-right">—</div>
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</div>
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<div class="motor-stats">
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<div class="stat-row">
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<span class="stat-label">CURRENT (MTR)</span>
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<span class="stat-val" id="cur-right">—</span>
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</div>
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<div class="bar-track"><div class="bar-fill" id="cur-bar-right"></div></div>
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<div class="stat-row" style="margin-top:6px">
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<span class="stat-label">CURRENT (IN)</span>
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<span class="stat-val" id="curin-right">—</span>
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</div>
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<div class="bar-track"><div class="bar-fill" id="curin-bar-right"></div></div>
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<div class="stat-row" style="margin-top:6px">
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<span class="stat-label">DUTY CYCLE</span>
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<span class="stat-val" id="duty-right">—</span>
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</div>
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<div class="bar-track"><div class="bar-fill" id="duty-bar-right"></div></div>
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</div>
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</div>
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<div class="temp-row">
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<div class="temp-box" id="tbox-fet-right">
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<div class="temp-label">FET TEMP</div>
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<div class="temp-val" id="tfet-right">—</div>
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<div class="bar-track mini"><div class="bar-fill" id="tfet-bar-right"></div></div>
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</div>
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<div class="temp-box" id="tbox-mot-right">
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<div class="temp-label">MOTOR TEMP</div>
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<div class="temp-val" id="tmot-right">—</div>
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<div class="bar-track mini"><div class="bar-fill" id="tmot-bar-right"></div></div>
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</div>
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</div>
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<div class="spark-section">
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<div class="spark-label">RPM · 60s</div>
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<canvas class="sparkline" id="spark-rpm-right" height="40"></canvas>
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<div class="spark-label" style="margin-top:4px">CURRENT · 60s</div>
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<canvas class="sparkline" id="spark-cur-right" height="40"></canvas>
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</div>
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</div>
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<!-- ╔═════════ BATTERY / COMBINED ═════════╗ -->
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<div class="card" id="card-batt">
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<div class="card-title">
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BATTERY — 4S LiPo (12.0–16.8 V)
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<span class="meta-label" id="batt-stamp">—</span>
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</div>
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<div class="batt-row">
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<!-- Big voltage -->
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<div class="batt-metric">
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<div class="batt-metric-label">VOLTAGE</div>
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<div class="big-num" id="batt-voltage">—</div>
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<div class="batt-unit">V</div>
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</div>
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<div class="batt-metric">
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<div class="batt-metric-label">TOTAL DRAW</div>
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<div class="big-num" id="batt-total-cur" style="color:#06b6d4">—</div>
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<div class="batt-unit">A</div>
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</div>
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<div class="batt-metric">
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<div class="batt-metric-label">LEFT RPM</div>
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<div class="big-num" id="batt-rpm-l" style="color:#a855f7;font-size:20px">—</div>
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</div>
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<div class="batt-metric">
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<div class="batt-metric-label">RIGHT RPM</div>
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<div class="big-num" id="batt-rpm-r" style="color:#a855f7;font-size:20px">—</div>
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</div>
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</div>
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<!-- Voltage bar -->
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<div>
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<div class="stat-row">
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<span class="stat-label">Voltage (12.0–16.8 V)</span>
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<span class="stat-val" id="batt-volt-pct">—</span>
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</div>
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<div class="bar-track"><div class="bar-fill" id="batt-volt-bar"></div></div>
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</div>
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<!-- Total current bar -->
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<div>
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<div class="stat-row">
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<span class="stat-label">Total Current (0–120 A)</span>
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<span class="stat-val" id="batt-cur-pct">—</span>
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</div>
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<div class="bar-track"><div class="bar-fill" id="batt-cur-bar"></div></div>
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</div>
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<div style="font-size:9px;color:#374151">
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Voltage zones: <13.2V warn · <12.4V critical · FET >70°C warn · Motor >85°C warn
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</div>
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</div>
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</div>
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<!-- ── Footer ── -->
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<div id="footer">
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<span>rosbridge: <code id="footer-ws">ws://localhost:9090</code></span>
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<span>topics: /vesc/left/state · /vesc/right/state · /vesc/combined (std_msgs/String JSON)</span>
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<span>vesc motor dashboard — issue #653</span>
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</div>
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<script src="vesc_panel.js"></script>
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<script>
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document.getElementById('ws-input').addEventListener('input', (e) => {
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document.getElementById('footer-ws').textContent = e.target.value;
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});
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</script>
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</body>
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</html>
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