Add support for Addon Motor 5 in Gluetex machine, including state management and UI integration

electron/src/machines/properties.ts

@@ -866,6 +866,27 @@ export const gluetex: MachineProperties = {
         },
       ],
     },
+    {
+      role: 11,
+      role_label: "Addon Motor 5",
+      allowed_devices: [
+        {
+          vendor_id: 2,
+          product_id: 0x1b773052,
+          revision: 0x1a0000,
+        },
+        {
+          vendor_id: 2,
+          product_id: 0x1b773052,
+          revision: 0x190000,
+        },
+        {
+          vendor_id: 2,
+          product_id: 0x1b773052,
+          revision: 0x10001e,
+        },
+      ],
+    },
   ],
 };
 

electron/src/machines/winder/gluetex/GluetexAddonsPage.tsx

@@ -27,6 +27,7 @@ export function GluetexAddonsPage() {
     isDisabled,
     setStepper3Mode,
     setStepper4Mode,
+    setStepper5Mode,
     setHeatingMode,
     temperature1,
     temperature2,
@@ -43,6 +44,8 @@ export function GluetexAddonsPage() {
     setStepper3Slave,
     setStepper4Master,
     setStepper4Slave,
+    setStepper5Master,
+    setStepper5Slave,
   } = useGluetex();
 
   // Calculate max speed based on gear ratio (same as main puller)
@@ -98,6 +101,28 @@ export function GluetexAddonsPage() {
               }}
             />
           </Label>
+          <Label label="Stepper 5">
+            <SelectionGroup<StepperMode>
+              value={state?.stepper_state?.stepper5_mode}
+              disabled={isDisabled}
+              loading={isLoading}
+              onChange={setStepper5Mode}
+              orientation="horizontal"
+              className="grid grid-cols-2 gap-2"
+              options={{
+                Standby: {
+                  children: "Standby",
+                  icon: "lu:Power",
+                  isActiveClassName: "bg-green-600",
+                },
+                Run: {
+                  children: "Run",
+                  icon: "lu:Play",
+                  isActiveClassName: "bg-green-600",
+                },
+              }}
+            />
+          </Label>
         </ControlCard>
 
         <ControlCard className="bg-red" title="Heating Mode">
@@ -320,6 +345,17 @@ export function GluetexAddonsPage() {
               }}
             />
           </Label>
+          <Label label="Stepper 5 Ratio">
+            <RatioInput
+              master={state?.motor_ratios_state?.stepper5_master}
+              slave={state?.motor_ratios_state?.stepper5_slave}
+              title="Stepper 5 Motor Ratio"
+              onRatioChange={(master, slave) => {
+                setStepper5Master(master);
+                setStepper5Slave(slave);
+              }}
+            />
+          </Label>
         </ControlCard>
 
         <ControlCard title="Addon Tension Arm">

electron/src/machines/winder/gluetex/GluetexOverviewPage.tsx

@@ -200,7 +200,7 @@ export function GluetexOverviewPage() {
             {/* Addon Motors Status Grid */}
             <div>
               <h3 className="mb-2 text-lg font-semibold">Addon Motors</h3>
-              <div className="grid grid-cols-2 gap-2">
+              <div className="grid grid-cols-3 gap-2">
                 <div className="flex flex-col items-center gap-2 rounded-lg border p-3">
                   <span className="text-sm font-medium">Stepper 3</span>
                   <div
@@ -225,6 +225,18 @@ export function GluetexOverviewPage() {
                     {state?.stepper_state?.stepper4_mode || "Standby"}
                   </span>
                 </div>
+                <div className="flex flex-col items-center gap-2 rounded-lg border p-3">
+                  <span className="text-sm font-medium">Stepper 5</span>
+                  <div
+                    className={cn(
+                      "h-8 w-8 rounded-full",
+                      getStepperColor(state?.stepper_state?.stepper5_mode),
+                    )}
+                  />
+                  <span className="text-xs">
+                    {state?.stepper_state?.stepper5_mode || "Standby"}
+                  </span>
+                </div>
               </div>
             </div>
           </div>

electron/src/machines/winder/gluetex/gluetexNamespace.ts

@@ -305,6 +305,7 @@ export const stateEventDataSchema = z.object({
   connected_machine_state: connectedMachineStateSchema,
   addon_motor_3_state: addonMotorStateSchema,
   addon_motor_4_state: addonMotorStateSchema,
+  addon_motor_5_state: addonMotorStateSchema,
   slave_puller_state: slavePullerStateSchema,
   addon_tension_arm_state: tensionArmStateSchema,
   tension_arm_monitor_state: tensionArmMonitorStateSchema,
@@ -331,11 +332,14 @@ export type MotorRatiosState = {
   stepper3_slave: number;
   stepper4_master: number;
   stepper4_slave: number;
+  stepper5_master: number;
+  stepper5_slave: number;
 };
 
 export type StepperState = {
   stepper3_mode: StepperMode;
   stepper4_mode: StepperMode;
+  stepper5_mode: StepperMode;
 };
 
 /**
@@ -344,12 +348,15 @@ export type StepperState = {
 function getMotorRatiosFromBackend(
   motor3: z.infer<typeof addonMotorStateSchema>,
   motor4: z.infer<typeof addonMotorStateSchema>,
+  motor5: z.infer<typeof addonMotorStateSchema>,
 ): MotorRatiosState {
   return {
     stepper3_master: motor3.master_ratio,
     stepper3_slave: motor3.slave_ratio,
     stepper4_master: motor4.master_ratio,
     stepper4_slave: motor4.slave_ratio,
+    stepper5_master: motor5.master_ratio,
+    stepper5_slave: motor5.slave_ratio,
   };
 }
 
@@ -371,6 +378,15 @@ function getStepper4ModeFromBackend(
   return motor4.enabled ? "Run" : "Standby";
 }
 
+/**
+ * Helper to determine stepper5 mode from backend enabled state
+ */
+function getStepper5ModeFromBackend(
+  motor5: z.infer<typeof addonMotorStateSchema>,
+): StepperMode {
+  return motor5.enabled ? "Run" : "Standby";
+}
+
 /**
  * Helper to determine heating mode from backend enabled state
  */
@@ -516,10 +532,13 @@ const DEFAULT_ADDON_STATE = {
     stepper3_slave: 1.0,
     stepper4_master: 1.0,
     stepper4_slave: 1.0,
+    stepper5_master: 1.0,
+    stepper5_slave: 1.0,
   },
   stepper_state: {
     stepper3_mode: "Standby" as StepperMode,
     stepper4_mode: "Standby" as StepperMode,
+    stepper5_mode: "Standby" as StepperMode,
   },
   heating_state: {
     heating_mode: "Standby" as HeatingMode,
@@ -607,6 +626,7 @@ export function gluetexMessageHandler(
           const motorRatiosState = getMotorRatiosFromBackend(
             stateEvent.data.addon_motor_3_state,
             stateEvent.data.addon_motor_4_state,
+            stateEvent.data.addon_motor_5_state,
           );
 
           // Derive stepper modes from backend enabled state
@@ -616,6 +636,9 @@ export function gluetexMessageHandler(
           const stepper4Mode = getStepper4ModeFromBackend(
             stateEvent.data.addon_motor_4_state,
           );
+          const stepper5Mode = getStepper5ModeFromBackend(
+            stateEvent.data.addon_motor_5_state,
+          );
 
           // Derive heating mode from backend enabled state
           const heatingMode = getHeatingModeFromBackend(
@@ -631,6 +654,7 @@ export function gluetexMessageHandler(
             stepper_state: {
               stepper3_mode: stepper3Mode,
               stepper4_mode: stepper4Mode,
+              stepper5_mode: stepper5Mode,
             },
             heating_state: {
               heating_mode: heatingMode,

electron/src/machines/winder/gluetex/useGluetex.ts

@@ -218,6 +218,17 @@ export function useGluetex() {
     z.object({ SetAddonMotor4SlaveRatio: z.number() }),
   );
 
+  // Addon Motor 5 mutations
+  const { request: requestAddonMotor5SetEnabled } = useMachineMutation(
+    z.object({ SetAddonMotor5Enabled: z.boolean() }),
+  );
+  const { request: requestAddonMotor5SetMasterRatio } = useMachineMutation(
+    z.object({ SetAddonMotor5MasterRatio: z.number() }),
+  );
+  const { request: requestAddonMotor5SetSlaveRatio } = useMachineMutation(
+    z.object({ SetAddonMotor5SlaveRatio: z.number() }),
+  );
+
   // Slave Puller mutations
   const { request: requestSlavePullerSetEnabled } = useMachineMutation(
     z.object({ SetSlavePullerEnabled: z.boolean() }),
@@ -818,6 +829,47 @@ export function useGluetex() {
     );
   };
 
+  const setStepper5Mode = (mode: StepperMode) => {
+    const enabled = mode === "Run";
+    updateStateOptimistically(
+      (current) => {
+        current.data.stepper_state.stepper5_mode = mode;
+      },
+      () => {
+        requestAddonMotor5SetEnabled({
+          machine_identification_unique: machineIdentification,
+          data: { SetAddonMotor5Enabled: enabled },
+        });
+      },
+    );
+  };
+
+  const setStepper5Master = (value: number) => {
+    updateStateOptimistically(
+      (current) => {
+        current.data.motor_ratios_state.stepper5_master = value;
+      },
+      () =>
+        requestAddonMotor5SetMasterRatio({
+          machine_identification_unique: machineIdentification,
+          data: { SetAddonMotor5MasterRatio: value },
+        }),
+    );
+  };
+
+  const setStepper5Slave = (value: number) => {
+    updateStateOptimistically(
+      (current) => {
+        current.data.motor_ratios_state.stepper5_slave = value;
+      },
+      () =>
+        requestAddonMotor5SetSlaveRatio({
+          machine_identification_unique: machineIdentification,
+          data: { SetAddonMotor5SlaveRatio: value },
+        }),
+    );
+  };
+
   // ========== Slave Puller Functions ==========
 
   const setSlavePullerEnabled = (enabled: boolean) => {
@@ -1194,6 +1246,7 @@ export function useGluetex() {
     // Addon action functions (local only)
     setStepper3Mode,
     setStepper4Mode,
+    setStepper5Mode,
     setHeatingMode,
     setTemperature1Min,
     setTemperature1Max,
@@ -1203,5 +1256,7 @@ export function useGluetex() {
     setStepper3Slave,
     setStepper4Master,
     setStepper4Slave,
+    setStepper5Master,
+    setStepper5Slave,
   };
 }

machines/src/gluetex/act.rs

@@ -21,6 +21,7 @@ impl MachineAct for Gluetex {
         // sync addon motor speeds
         self.sync_addon_motor_3_speed(now);
         self.sync_addon_motor_4_speed(now);
+        self.sync_addon_motor_5_speed(now);
 
         // sync the traverse speed
         self.sync_traverse_speed();

machines/src/gluetex/api.rs

@@ -139,10 +139,13 @@ pub enum Mutation {
     // Addon Motors
     SetAddonMotor3Enabled(bool),
     SetAddonMotor4Enabled(bool),
+    SetAddonMotor5Enabled(bool),
     SetAddonMotor3MasterRatio(f64),
     SetAddonMotor3SlaveRatio(f64),
     SetAddonMotor4MasterRatio(f64),
     SetAddonMotor4SlaveRatio(f64),
+    SetAddonMotor5MasterRatio(f64),
+    SetAddonMotor5SlaveRatio(f64),
 
     // Slave Puller
     SetSlavePullerEnabled(bool),
@@ -235,6 +238,8 @@ pub struct StateEvent {
     pub addon_motor_3_state: AddonMotorState,
     /// addon motor 4 state
     pub addon_motor_4_state: AddonMotorState,
+    /// addon motor 5 state
+    pub addon_motor_5_state: AddonMotorState,
     /// slave puller state
     pub slave_puller_state: SlavePullerState,
     /// addon tension arm state
@@ -563,6 +568,18 @@ impl MachineApi for Gluetex {
                 self.addon_motor_4_controller.set_slave_ratio(ratio);
                 self.emit_state();
             }
+            Mutation::SetAddonMotor5Enabled(enabled) => {
+                self.addon_motor_5_controller.set_enabled(enabled);
+                self.emit_state();
+            }
+            Mutation::SetAddonMotor5MasterRatio(ratio) => {
+                self.addon_motor_5_controller.set_master_ratio(ratio);
+                self.emit_state();
+            }
+            Mutation::SetAddonMotor5SlaveRatio(ratio) => {
+                self.addon_motor_5_controller.set_slave_ratio(ratio);
+                self.emit_state();
+            }
             Mutation::SetSlavePullerEnabled(enabled) => {
                 self.slave_puller_user_enabled = enabled;
                 // Re-apply the current mode to update the controller state

machines/src/gluetex/emit.rs

@@ -450,6 +450,11 @@ impl Gluetex {
                 master_ratio: self.addon_motor_4_controller.get_master_ratio(),
                 slave_ratio: self.addon_motor_4_controller.get_slave_ratio(),
             },
+            addon_motor_5_state: api::AddonMotorState {
+                enabled: self.addon_motor_5_controller.is_enabled(),
+                master_ratio: self.addon_motor_5_controller.get_master_ratio(),
+                slave_ratio: self.addon_motor_5_controller.get_slave_ratio(),
+            },
             slave_puller_state: api::SlavePullerState {
                 enabled: self.slave_puller_user_enabled,
                 forward: self.slave_puller_speed_controller.get_forward(),

machines/src/gluetex/mod.rs

@@ -144,6 +144,7 @@ pub struct Gluetex {
     // addon motors
     pub addon_motor_3: StepperVelocityEL70x1,
     pub addon_motor_4: StepperVelocityEL70x1,
+    pub addon_motor_5: StepperVelocityEL70x1,
 
     // controllers
     pub traverse_controller: TraverseController,
@@ -152,6 +153,7 @@ pub struct Gluetex {
     // addon motor controllers
     pub addon_motor_3_controller: AddonMotorController,
     pub addon_motor_4_controller: AddonMotorController,
+    pub addon_motor_5_controller: AddonMotorController,
 
     // temperature controllers (PID-controlled heaters with temperature sensors)
     pub temperature_controller_1: TemperatureController,
@@ -424,6 +426,14 @@ impl Gluetex {
             .sync_motor_speed(&mut self.addon_motor_4, puller_angular_velocity);
     }
 
+    /// Sync addon motor 5 speed based on puller angular velocity and ratio
+    /// called by `act`
+    pub fn sync_addon_motor_5_speed(&mut self, t: Instant) {
+        let puller_angular_velocity = self.puller_speed_controller.calc_angular_velocity(t);
+        self.addon_motor_5_controller
+            .sync_motor_speed(&mut self.addon_motor_5, puller_angular_velocity);
+    }
+
     /// Sync slave puller speed based on master puller speed and slave tension arm
     /// called by `act`
     pub fn sync_slave_puller_speed(&mut self, t: Instant) {

machines/src/gluetex/new.rs

@@ -333,6 +333,40 @@ impl MachineNewTrait for Gluetex {
                 device.0
             };
 
+            // Role 11: Addon Motor 5 EL7031-0030
+            let el7031_addon5 = {
+                let device = get_ethercat_device::<EL7031_0030>(
+                    hardware,
+                    params,
+                    11,
+                    vec![EL7031_0030_IDENTITY_A, EL7031_IDENTITY_A, EL7031_IDENTITY_B],
+                )
+                .await?;
+
+                let el7031_0030_config = EL7031_0030Configuration {
+                    stm_features: el7031_0030::coe::StmFeatures {
+                        operation_mode: EL70x1OperationMode::DirectVelocity,
+                        speed_range: shared_config::el70x1::EL70x1SpeedRange::Steps1000,
+                        ..Default::default()
+                    },
+                    stm_motor: StmMotorConfiguration {
+                        max_current: 1500,
+                        ..Default::default()
+                    },
+                    pdo_assignment: EL7031_0030PredefinedPdoAssignment::VelocityControlCompact,
+                    ..Default::default()
+                };
+
+                device
+                    .0
+                    .write()
+                    .await
+                    .write_config(&device.1, &el7031_0030_config)
+                    .await?;
+
+                device.0
+            };
+
             // Digital outputs for SSR control (24V to external SSRs for 60W heaters)
             let heater_ssr_1 = DigitalOutput::new(el2008.clone(), EL2008Port::DO1);
             let heater_ssr_2 = DigitalOutput::new(el2008.clone(), EL2008Port::DO2);
@@ -468,6 +502,10 @@ impl MachineNewTrait for Gluetex {
                         el7031_addon4.clone(),
                         EL7031_0030StepperPort::STM1,
                     ),
+                    addon_motor_5: StepperVelocityEL70x1::new(
+                        el7031_addon5,
+                        EL7031_0030StepperPort::STM1,
+                    ),
                     addon_tension_arm: TensionArm::new(AnalogInput::new(
                         el7031_addon4,
                         EL7031_0030AnalogInputPort::AI1,
@@ -476,6 +514,8 @@ impl MachineNewTrait for Gluetex {
                         super::addon_motor_controller::AddonMotorController::new(200),
                     addon_motor_4_controller:
                         super::addon_motor_controller::AddonMotorController::new(200),
+                    addon_motor_5_controller:
+                        super::addon_motor_controller::AddonMotorController::new(200),
                     tension_arm: TensionArm::new(AnalogInput::new(
                         el7031_0030,
                         EL7031_0030AnalogInputPort::AI1,