From edf4290a5acde10c96dcc13c8a85ec72af653553 Mon Sep 17 00:00:00 2001
From: ConnorN <connor.needham2015@gmail.com>
Date: Sun, 2 Aug 2026 16:35:28 -0400
Subject: [PATCH 1/2] feat: drive throttle panel

---
 src/components/panels/DriveThrottlePanel.tsx | 199 +++++++++++++++++++
 src/components/panels/MosaicDashboard.tsx    |  11 +
 2 files changed, 210 insertions(+)
 create mode 100644 src/components/panels/DriveThrottlePanel.tsx

diff --git a/src/components/panels/DriveThrottlePanel.tsx b/src/components/panels/DriveThrottlePanel.tsx
new file mode 100644
index 0000000..5ebd43f
--- /dev/null
+++ b/src/components/panels/DriveThrottlePanel.tsx
@@ -0,0 +1,199 @@
+'use client';
+
+import React, { useEffect, useRef, useState } from 'react';
+import ROSLIB from 'roslib';
+import { useROS } from '@/ros/ROSContext';
+
+const DRIVE_THROTTLE_COOKIE = 'drive_throttle';
+const COOKIE_MAX_AGE_SECONDS = 60 * 60 * 24; // 1 day
+
+const clampThrottle = (value: number) => {
+  return Math.min(100, Math.max(0, value));
+};
+
+const getCookieNumber = (name: string, fallback: number) => {
+  const cookie = document.cookie
+    .split('; ')
+    .find((entry) => entry.startsWith(`${name}=`));
+
+  if (!cookie) return fallback;
+
+  const value = Number(decodeURIComponent(cookie.split('=')[1]));
+
+  if (!Number.isFinite(value)) return fallback;
+
+  return clampThrottle(value);
+};
+
+const setCookieNumber = (name: string, value: number) => {
+  document.cookie =
+    `${name}=${encodeURIComponent(value)}; ` +
+    `max-age=${COOKIE_MAX_AGE_SECONDS}; path=/; SameSite=Lax`;
+};
+
+const throttlePercentToFloat = (throttle: number) => {
+  return clampThrottle(throttle) / 100;
+};
+
+const DriveThrottlePanel: React.FC = () => {
+  const { ros } = useROS();
+
+  const [throttleValue, setThrottleValue] = useState(100);
+  const [cookiesLoaded, setCookiesLoaded] = useState(false);
+
+  const throttleTopicRef = useRef<ROSLIB.Topic | null>(null);
+
+  useEffect(() => {
+    setThrottleValue(getCookieNumber(DRIVE_THROTTLE_COOKIE, 100));
+    setCookiesLoaded(true);
+  }, []);
+
+  useEffect(() => {
+    if (!cookiesLoaded) return;
+
+    setCookieNumber(DRIVE_THROTTLE_COOKIE, throttleValue);
+  }, [cookiesLoaded, throttleValue]);
+
+  useEffect(() => {
+    if (!ros) {
+      throttleTopicRef.current = null;
+      return;
+    }
+
+    throttleTopicRef.current = new ROSLIB.Topic({
+      ros,
+      name: '/drive_throttle',
+      messageType: 'std_msgs/Float32',
+    });
+
+    return () => {
+      try {
+        throttleTopicRef.current?.unadvertise();
+      } catch {
+        // ignore cleanup errors
+      }
+
+      throttleTopicRef.current = null;
+    };
+  }, [ros]);
+
+  useEffect(() => {
+    if (!ros || !cookiesLoaded) return;
+
+    throttleTopicRef.current?.publish(
+      new ROSLIB.Message({
+        data: throttlePercentToFloat(throttleValue),
+      })
+    );
+  }, [ros, cookiesLoaded, throttleValue]);
+
+  const throttleOff = () => {
+    setThrottleValue(0);
+  };
+
+  return (
+    <div className="throttle-panel">
+      <div className="slider-container">
+        <label>Drive Throttle</label>
+
+        <div className="slider-wrapper">
+          <input
+            type="range"
+            min="0"
+            max="100"
+            value={throttleValue}
+            onChange={(e) => setThrottleValue(Number(e.target.value))}
+            className="vertical-slider"
+            disabled={!ros || !cookiesLoaded}
+          />
+        </div>
+
+        <span>
+          {throttleValue}% (
+          {throttlePercentToFloat(throttleValue).toFixed(2)})
+        </span>
+      </div>
+
+      <button
+        className="off-button"
+        onClick={throttleOff}
+        disabled={!ros || !cookiesLoaded}
+      >
+        Throttle Off
+      </button>
+
+      <style jsx>{`
+        .throttle-panel {
+          background: #1e1e1e;
+          color: #f1f1f1;
+          padding: 1rem;
+          border-radius: 8px;
+          height: 100%;
+          display: flex;
+          flex-direction: column;
+          align-items: center;
+          justify-content: space-between;
+          font-family: 'Segoe UI', Tahoma, Geneva, Verdana, sans-serif;
+        }
+
+        .slider-container {
+          flex: 1;
+          display: flex;
+          flex-direction: column;
+          align-items: center;
+          justify-content: center;
+          gap: 0.5rem;
+        }
+
+        .slider-wrapper {
+          height: 220px;
+          width: 50px;
+          display: flex;
+          align-items: center;
+          justify-content: center;
+        }
+
+        .vertical-slider {
+          width: 220px;
+          height: 40px;
+          transform: rotate(-90deg);
+          cursor: pointer;
+        }
+
+        .slider-container span {
+          font-family: ui-monospace, SFMono-Regular, Menlo, Monaco,
+            Consolas, 'Liberation Mono', 'Courier New', monospace;
+          color: #ccc;
+        }
+
+        .off-button {
+          width: 100%;
+          padding: 0.75rem;
+          background: #dc3545;
+          color: white;
+          border: none;
+          border-radius: 6px;
+          cursor: pointer;
+          font-size: 1rem;
+        }
+
+        .off-button:hover:enabled {
+          background: #b52a37;
+        }
+
+        .off-button:disabled {
+          background: #333;
+          cursor: not-allowed;
+          opacity: 0.8;
+        }
+
+        .vertical-slider:disabled {
+          cursor: not-allowed;
+          opacity: 0.5;
+        }
+      `}</style>
+    </div>
+  );
+};
+
+export default DriveThrottlePanel;
\ No newline at end of file
diff --git a/src/components/panels/MosaicDashboard.tsx b/src/components/panels/MosaicDashboard.tsx
index c68405b..176d44d 100644
--- a/src/components/panels/MosaicDashboard.tsx
+++ b/src/components/panels/MosaicDashboard.tsx
@@ -30,6 +30,7 @@ import HeadlightControlPanel from './HeadlightControlPanel';
 import MorseTransmissionPanel from './MorseTransmissionPanel';
 import RtpStats from './RtpStats';
 import TopicEchoPanel from './TopicEchoPanel';
+import DriveThrottlePanel from './DriveThrottlePanel';
 
 import { ROVER_IP } from '@/constants';
 
@@ -44,6 +45,7 @@ type TileType =
   | 'goalSetter'
   | 'networkHealthMonitor'
   | 'motorStatusPanel'
+  | 'driveThrottlePanel'
   | 'nodeStatusPanel'
   | 'antennaControlPanel'
   | 'scienceControlPanel'
@@ -65,6 +67,7 @@ const TILE_DISPLAY_NAMES: Record<TileType, string> = {
   waypointList: 'Waypoint List',
   videoControls: 'Video Stream',
   rtpStats: 'RTP Statistics',
+  driveThrottlePanel: 'Drive Throttle',
   gasSensor: 'Science',
   orientationDisplay: 'Rover Orientation',
   goalSetter: 'Nav2',
@@ -90,6 +93,7 @@ const ALL_TILE_TYPES: TileType[] = [
   'orientationDisplay',
   'videoControls',
   'rtpStats',
+  'driveThrottlePanel',
   'waypointList',
   'gasSensor',
   'goalSetter',
@@ -385,6 +389,13 @@ const MosaicDashboard: React.FC = () => {
           </MosaicWindow>
         );
 
+      case 'driveThrottlePanel':
+        return (
+          <MosaicWindow {...windowProps}>
+            <DriveThrottlePanel />
+          </MosaicWindow>
+        );
+
       case 'rosMonitor':
         return (
           <MosaicWindow {...windowProps}>

From fe42b21f2db8788ad0eac98d3bef438bd87aaad9 Mon Sep 17 00:00:00 2001
From: ConnorN <connor.needham2015@gmail.com>
Date: Sun, 2 Aug 2026 16:47:32 -0400
Subject: [PATCH 2/2] fix: arm stop button

---
 src/components/panels/ArmControlPanel.tsx | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/components/panels/ArmControlPanel.tsx b/src/components/panels/ArmControlPanel.tsx
index 50e866d..a56bc7d 100644
--- a/src/components/panels/ArmControlPanel.tsx
+++ b/src/components/panels/ArmControlPanel.tsx
@@ -290,7 +290,7 @@ const ArmControlPanel: React.FC = () => {
 
     const service = new ROSLIB.Service({
       ros,
-      name: '/stop_motion',
+      name: '/move_group_interface/stop',
       serviceType: 'std_srvs/srv/Trigger',
     });