> ## Documentation Index
> Fetch the complete documentation index at: https://docs.researchanddesire.com/llms.txt
> Use this file to discover all available pages before exploring further.

# Gold Motor Programming Tool

> Program your Gold Motor using the browser-based programming tool

export const GoldMotorControl = () => {
  const [isConnected, setIsConnected] = useState(false);
  const [showAdvanced, setShowAdvanced] = useState(false);
  const [feedback, setFeedback] = useState({
    message: "",
    type: ""
  });
  const [writeStatus, setWriteStatus] = useState({
    message: "",
    faded: false
  });
  const [registerOutput, setRegisterOutput] = useState([]);
  const portRef = useRef(null);
  const readerRef = useRef(null);
  const writerRef = useRef(null);
  const writtenRegistersRef = useRef([]);
  const [formValues, setFormValues] = useState({
    steps_per_revolution: 800,
    max_output: 600,
    speed_kp: 3000,
    position_kp: 3000,
    direction_polarity: true,
    hack_the_planet: false,
    modbus_enable: 0,
    drive_output_enable: 7,
    motor_target_speed: 1500,
    motor_acceleration: 50000,
    weak_magnetic_angle: 495,
    speed_loop_integration_time: 10,
    speed_feed: 3900,
    electronic_gear_molecules: 32768,
    target_location_low: 0,
    target_location_high: 0,
    alarm_code: 0,
    system_current: 0,
    motor_current_speed: 0,
    system_voltage: 0,
    system_temperature: 0,
    system_pwm_output: 0,
    parameter_saving_flag: 0,
    device_address: 1,
    absolute_position_low: 0,
    absolute_position_high: 0,
    specific_function: 0
  });
  const updateFormValue = (key, value) => {
    setFormValues(prev => ({
      ...prev,
      [key]: value
    }));
  };
  const resetDefaults = () => {
    setFormValues({
      steps_per_revolution: 800,
      max_output: 600,
      speed_kp: 3000,
      position_kp: 3000,
      direction_polarity: true,
      hack_the_planet: false,
      modbus_enable: 0,
      drive_output_enable: 7,
      motor_target_speed: 1500,
      motor_acceleration: 50000,
      weak_magnetic_angle: 495,
      speed_loop_integration_time: 10,
      speed_feed: 3900,
      electronic_gear_molecules: 32768,
      target_location_low: 0,
      target_location_high: 0,
      alarm_code: 0,
      system_current: 0,
      motor_current_speed: 0,
      system_voltage: 0,
      system_temperature: 0,
      system_pwm_output: 0,
      parameter_saving_flag: 0,
      device_address: 1,
      absolute_position_low: 0,
      absolute_position_high: 0,
      specific_function: 0
    });
  };
  const calculateCRC = buffer => {
    let crc = 0xffff;
    for (let pos = 0; pos < buffer.length; pos++) {
      crc ^= buffer[pos];
      for (let i = 8; i !== 0; i--) {
        if ((crc & 0x0001) !== 0) {
          crc >>= 1;
          crc ^= 0xa001;
        } else {
          crc >>= 1;
        }
      }
    }
    return (crc & 0xff00) >> 8 | (crc & 0x00ff) << 8;
  };
  const createModbusCommand = (register, value, read = false) => {
    const buffer = new ArrayBuffer(8);
    const view = new DataView(buffer);
    view.setUint8(0, 0x01);
    view.setUint8(1, read ? 0x03 : 0x06);
    view.setUint16(2, register, false);
    view.setUint16(4, value, false);
    const crc = calculateCRC(new Uint8Array(buffer.slice(0, 6)));
    view.setUint16(6, crc, false);
    return new Uint8Array(buffer);
  };
  const parseModbusResponse = buffer => {
    const view = new DataView(buffer.buffer);
    const functionCode = view.getUint8(1);
    if (functionCode & 0x80) {
      const exceptionCode = view.getUint8(2);
      throw new Error(`Modbus exception code ${exceptionCode}`);
    }
    const byteCount = view.getUint8(2);
    const data = [];
    for (let i = 0; i < byteCount / 2; i++) {
      data.push(view.getUint16(3 + i * 2, false));
    }
    return data.length === 1 ? data[0] : data;
  };
  const parseModbusWriteResponse = buffer => {
    const view = new DataView(buffer.buffer);
    const functionCode = view.getUint8(1);
    if (functionCode === 0x06) {
      return true;
    } else if (functionCode & 0x80) {
      const exceptionCode = view.getUint8(2);
      throw new Error(`Modbus exception code ${exceptionCode}`);
    }
    return false;
  };
  const concatenate = (buffer1, buffer2) => {
    const tmp = new Uint8Array(buffer1.length + buffer2.length);
    tmp.set(buffer1, 0);
    tmp.set(buffer2, buffer1.length);
    return tmp;
  };
  const displayFeedback = (message, type) => {
    setFeedback({
      message,
      type
    });
  };
  const writeRegister = async (register, value) => {
    const writer = writerRef.current;
    const reader = readerRef.current;
    if (writer && reader) {
      const command = createModbusCommand(register, value, false);
      await writer.write(command);
      displayFeedback(`Sent write command for register 0x${register.toString(16)} with value ${value}`, "info");
      try {
        let responseBuffer = new Uint8Array();
        while (true) {
          const {value, done} = await reader.read();
          if (done) break;
          responseBuffer = concatenate(responseBuffer, new Uint8Array(value));
          if (responseBuffer.length >= 8) break;
        }
        if (responseBuffer.length >= 8) {
          const success = parseModbusWriteResponse(responseBuffer);
          if (success) {
            displayFeedback(`Write successful for register 0x${register.toString(16)}`, "success");
          } else {
            displayFeedback(`Write failed for register 0x${register.toString(16)}`, "error");
          }
        } else {
          displayFeedback(`Incomplete write response for register 0x${register.toString(16)}`, "error");
        }
      } catch (error) {
        displayFeedback(`Error writing register 0x${register.toString(16)}: ${error}`, "error");
      }
    } else {
      displayFeedback("No connection to motor", "error");
    }
  };
  const readRegister = async register => {
    const writer = writerRef.current;
    const reader = readerRef.current;
    if (writer && reader) {
      const command = createModbusCommand(register, 1, true);
      await writer.write(command);
      try {
        let responseBuffer = new Uint8Array();
        while (true) {
          const {value, done} = await reader.read();
          if (done) break;
          responseBuffer = concatenate(responseBuffer, new Uint8Array(value));
          if (responseBuffer.length >= 7) break;
        }
        if (responseBuffer.length >= 7) {
          return parseModbusResponse(responseBuffer);
        } else {
          return null;
        }
      } catch (error) {
        displayFeedback(`Error reading register 0x${register.toString(16)}: ${error}`, "error");
        return null;
      }
    }
    return null;
  };
  const registerMap = {
    0x00: "MODBUS_ENABLE",
    0x01: "DRIVE_OUTPUT_ENABLE",
    0x02: "MOTOR_TARGET_SPEED",
    0x03: "MOTOR_ACCELERATION",
    0x04: "WEAK_MAGNETIC_ANGLE",
    0x05: "SPEED_RING_PROPORTIONAL_RATIO_COEFFICIENT",
    0x06: "SPEED_LOOP_INTEGRATION_TIME",
    0x07: "POSITION_RING_PROPORTIONAL_COEFFICIENT",
    0x08: "SPEED_FEED",
    0x09: "DIR_POLARITY",
    0x0a: "ELECTRONIC_GEAR_MOLECULES",
    0x0b: "ELECTRONIC_GEAR_DENOMINATOR",
    0x0c: "TARGET_LOCATION_IS_16_BITS_LOWER",
    0x0d: "TARGET_POSITION_IS_16_BITS_HIGH",
    0x0e: "ALARM_CODE",
    0x0f: "SYSTEM_CURRENT",
    0x10: "MOTOR_CURRENT_SPEED",
    0x11: "SYSTEM_VOLTAGE",
    0x12: "SYSTEM_TEMPERATURE",
    0x13: "THE_PWM_OF_THE_SYSTEM_OUTPUT",
    0x14: "PARAMETER_SAVING_FLAG",
    0x15: "DEVICE_ADDRESS",
    0x16: "ABSOLUTE_POSITION_IS_16_BITS_LOWER",
    0x17: "ABSOLUTE_POSITION_IS_16_BITS_HIGHER",
    0x18: "STILL_MAXIMUM_ALLOWED_OUTPUT",
    0x19: "SPECIFIC_FUNCTION"
  };
  const handleConnect = async () => {
    try {
      displayFeedback("Requesting port...", "info");
      const port = await navigator.serial.requestPort();
      displayFeedback("Port selected. Opening...", "info");
      await port.open({
        baudRate: 19200,
        dataBits: 8,
        stopBits: 1,
        parity: "none"
      });
      portRef.current = port;
      writerRef.current = port.writable.getWriter();
      readerRef.current = port.readable.getReader();
      setIsConnected(true);
      displayFeedback("Connected to motor", "success");
    } catch (error) {
      displayFeedback(`Failed to connect: ${error}`, "error");
    }
  };
  const handleDisconnect = async () => {
    try {
      if (readerRef.current) {
        await readerRef.current.cancel();
        readerRef.current.releaseLock();
      }
      if (writerRef.current) {
        writerRef.current.releaseLock();
      }
      if (portRef.current) {
        await portRef.current.close();
      }
      portRef.current = null;
      readerRef.current = null;
      writerRef.current = null;
      setIsConnected(false);
      setRegisterOutput([]);
      displayFeedback("Disconnected from motor", "info");
    } catch (error) {
      displayFeedback(`Failed to disconnect: ${error}`, "error");
    }
  };
  const handleRead = async () => {
    try {
      displayFeedback("Reading registers...", "info");
      const output = [];
      for (const [address, name] of Object.entries(registerMap)) {
        const value = await readRegister(parseInt(address));
        const isHighlighted = writtenRegistersRef.current.includes(parseInt(address));
        output.push({
          name,
          address: parseInt(address),
          value: value !== null && value !== undefined ? value : "null",
          highlighted: isHighlighted
        });
      }
      setRegisterOutput(output);
      const highlightCount = output.filter(r => r.highlighted).length;
      if (highlightCount > 0) {
        displayFeedback(`${highlightCount} value${highlightCount === 1 ? "" : "s"} updated`, "success");
      } else {
        displayFeedback("Registers read successfully", "success");
      }
    } catch (error) {
      displayFeedback(`Failed to read registers: ${error}`, "error");
    }
  };
  const handleWrite = async () => {
    try {
      const settings = [{
        register: 0x0b,
        value: formValues.steps_per_revolution
      }, {
        register: 0x18,
        value: formValues.max_output
      }, {
        register: 0x05,
        value: formValues.speed_kp
      }, {
        register: 0x07,
        value: formValues.position_kp
      }, {
        register: 0x09,
        value: formValues.direction_polarity ? 1 : 0
      }, {
        register: 0x14,
        value: 1
      }];
      if (showAdvanced) {
        settings.unshift({
          register: 0x14,
          value: formValues.parameter_saving_flag
        }, {
          register: 0x19,
          value: formValues.specific_function
        }, {
          register: 0x08,
          value: formValues.speed_feed
        }, {
          register: 0x0a,
          value: formValues.electronic_gear_molecules
        }, {
          register: 0x0e,
          value: formValues.alarm_code
        }, {
          register: 0x15,
          value: formValues.device_address
        }, {
          register: 0x00,
          value: formValues.modbus_enable
        }, {
          register: 0x01,
          value: formValues.drive_output_enable
        }, {
          register: 0x02,
          value: formValues.motor_target_speed
        }, {
          register: 0x03,
          value: formValues.motor_acceleration
        }, {
          register: 0x04,
          value: formValues.weak_magnetic_angle
        }, {
          register: 0x06,
          value: formValues.speed_loop_integration_time
        });
      }
      const repeatCount = 3;
      setWriteStatus({
        message: `Writing settings ${repeatCount} times for reliability...`,
        faded: false
      });
      writtenRegistersRef.current = settings.map(s => s.register);
      setWriteStatus({
        message: "Enabling Modbus and disabling motor power output",
        faded: false
      });
      await writeRegister(0x00, 1);
      await writeRegister(0x01, 0);
      for (let i = 0; i < repeatCount; i++) {
        setWriteStatus({
          message: `Writing settings... Loop #${i + 1}/${repeatCount}`,
          faded: false
        });
        for (const setting of settings) {
          await writeRegister(setting.register, setting.value);
        }
      }
      await writeRegister(0x01, 1);
      setWriteStatus({
        message: "Write complete",
        faded: true
      });
      displayFeedback("Settings written successfully. Refreshing register values...", "success");
      await handleRead();
    } catch (error) {
      setWriteStatus({
        message: "",
        faded: true
      });
      displayFeedback(`Failed to write settings: ${error}`, "error");
    }
  };
  const NumberInput = ({label, regLabel, id, disabled = false, min, max}) => <div className="flex flex-col">
      <label className="text-sm font-medium text-zinc-700 dark:text-zinc-300 mb-1">
        {label}
      </label>
      <span className="text-xs text-zinc-500 dark:text-zinc-500 mb-1">
        {regLabel}
        {disabled && <span className="text-red-500 ml-1 text-xs">UNSUPPORTED</span>}
      </span>
      <input type="number" value={formValues[id]} onChange={e => updateFormValue(id, parseInt(e.target.value) || 0)} disabled={disabled} min={min} max={max} className="px-3 py-2 rounded-lg border border-zinc-300 dark:border-zinc-600 bg-white dark:bg-zinc-800 text-zinc-900 dark:text-zinc-100 text-sm disabled:bg-zinc-100 dark:disabled:bg-zinc-900 disabled:text-zinc-500" />
    </div>;
  const ToggleSwitch = ({label, regLabel, id}) => <div className="flex flex-col">
      <label className="text-sm font-medium text-zinc-700 dark:text-zinc-300 mb-1">
        {label}
      </label>
      <span className="text-xs text-zinc-500 dark:text-zinc-500 mb-1">
        {regLabel}
      </span>
      <button type="button" onClick={() => updateFormValue(id, !formValues[id])} className={`relative w-14 h-7 rounded-full transition-colors ${formValues[id] ? "bg-violet-500" : "bg-zinc-300 dark:bg-zinc-600"}`}>
        <span className={`absolute top-1 w-5 h-5 rounded-full bg-white shadow transition-transform ${formValues[id] ? "translate-x-8" : "translate-x-1"}`} />
      </button>
    </div>;
  return <div className="p-4 border dark:border-zinc-700 rounded-xl not-prose bg-zinc-50 dark:bg-zinc-900">
      <div className="max-w-2xl mx-auto">
        {}
        <div className="text-center py-3 mb-4 bg-zinc-200 dark:bg-zinc-800 rounded-lg">
          <h2 className="text-lg font-semibold text-zinc-800 dark:text-zinc-200">
            Gold Motor Control
          </h2>
        </div>

        {}
        {!isConnected && <div className="bg-zinc-100 dark:bg-zinc-800 border border-zinc-300 dark:border-zinc-600 rounded-lg p-4 mb-4">
            <p className="font-semibold text-zinc-800 dark:text-zinc-200 mb-2">
              Connection Instructions:
            </p>
            <p className="text-sm text-zinc-600 dark:text-zinc-400 mb-2">
              Connect the motor using an{" "}
              <strong>RS485 USB adapter</strong> that provides 5V+, GND, A, B.{" "}
              <a href="https://www.amazon.com/CERRXIAN-Terminal-Converter-Serial-Windows/dp/B09JMT9D59" target="_blank" rel="noopener noreferrer" className="text-violet-600 dark:text-violet-400 underline">
                Example
              </a>
            </p>
            <p className="text-sm text-zinc-600 dark:text-zinc-400 mb-2">
              The motor must have <strong>20-36V DC</strong> supplied, which can
              come from the OSSM Reference Board or external power source.
            </p>
            <p className="text-sm text-red-600 dark:text-red-400 mt-3">
              <strong>Important:</strong> The OSSM Reference Board 4-Pin Signal
              Plug must be <strong>disconnected</strong> while programming.
            </p>
          </div>}

        {}
        <div className="flex justify-center gap-4 mb-4">
          {!isConnected ? <button onClick={handleConnect} className="px-6 py-2 bg-violet-500 hover:bg-violet-600 text-white font-medium rounded-full transition-colors">
              Connect to Motor
            </button> : <button onClick={handleDisconnect} className="px-6 py-2 bg-zinc-500 hover:bg-zinc-600 text-white font-medium rounded-full transition-colors">
              Disconnect
            </button>}
        </div>

        {}
        {isConnected && <div>
            <h3 className="text-md font-semibold text-zinc-800 dark:text-zinc-200 mb-3">
              Motor Settings
            </h3>

            <button onClick={resetDefaults} className="mb-4 px-4 py-1.5 text-sm bg-zinc-200 dark:bg-zinc-700 hover:bg-zinc-300 dark:hover:bg-zinc-600 text-zinc-700 dark:text-zinc-300 rounded-lg transition-colors">
              Reset fields to OSSM Standard
            </button>

            {}
            <div className="grid grid-cols-2 gap-4 mb-4">
              <NumberInput label="Electronic Gear Denominator (Steps per Revolution)" regLabel="0x0B" id="steps_per_revolution" />
              <NumberInput label="Still Maximum Allowed Output" regLabel="0x18" id="max_output" />
              <NumberInput label="Speed Ring Proportional Ratio Coefficient (KP)" regLabel="0x05" id="speed_kp" />
              <NumberInput label="Position Ring Proportional Coefficient (KP)" regLabel="0x07" id="position_kp" />
              <ToggleSwitch label="Direction Polarity" regLabel="0x09" id="direction_polarity" />
              <ToggleSwitch label="Hack the planet?" regLabel="" id="hack_the_planet" />
            </div>

            {}
            <button onClick={() => setShowAdvanced(!showAdvanced)} className="mb-4 px-4 py-1.5 text-sm bg-zinc-200 dark:bg-zinc-700 hover:bg-zinc-300 dark:hover:bg-zinc-600 text-zinc-700 dark:text-zinc-300 rounded-lg transition-colors">
              {showAdvanced ? "Hide" : "Show"} Advanced Settings
            </button>

            {}
            {showAdvanced && <div className="bg-red-50 dark:bg-red-900/20 border border-red-300 dark:border-red-700 rounded-lg p-4 mb-4">
                <p className="text-red-700 dark:text-red-400 font-semibold">
                  Warning:
                </p>
                <p className="text-sm text-red-600 dark:text-red-400">
                  Advanced settings are experimental. Changing these values may
                  make your motor unusable until settings are restored.
                </p>
                <p className="text-sm text-zinc-700 dark:text-zinc-300 mt-1">
                  Please save your current settings somewhere safe before making
                  changes.
                </p>
              </div>}

            {}
            {showAdvanced && <div className="grid grid-cols-2 gap-4 mb-4">
                <NumberInput label="MODBUS Enable" regLabel="0x00" id="modbus_enable" min={0} max={1} />
                <NumberInput label="Drive Output Enable" regLabel="0x01" id="drive_output_enable" min={0} max={7} />
                <NumberInput label="Motor Target Speed" regLabel="0x02" id="motor_target_speed" />
                <NumberInput label="Motor Acceleration" regLabel="0x03" id="motor_acceleration" />
                <NumberInput label="Weak Magnetic Angle" regLabel="0x04" id="weak_magnetic_angle" />
                <NumberInput label="Speed Loop Integration Time" regLabel="0x06" id="speed_loop_integration_time" />
                <NumberInput label="Speed Feed" regLabel="0x08" id="speed_feed" />
                <NumberInput label="Electronic Gear Molecules" regLabel="0x0A" id="electronic_gear_molecules" />
                <NumberInput label="Target Location is 16 bits Lower" regLabel="0x0C" id="target_location_low" disabled />
                <NumberInput label="Target Position is 16 bits High" regLabel="0x0D" id="target_location_high" disabled />
                <NumberInput label="Alarm Code" regLabel="0x0E" id="alarm_code" />
                <NumberInput label="System Current" regLabel="0x0F" id="system_current" disabled />
                <NumberInput label="Motor Current Speed" regLabel="0x10" id="motor_current_speed" disabled />
                <NumberInput label="System Voltage" regLabel="0x11" id="system_voltage" disabled />
                <NumberInput label="System Temperature" regLabel="0x12" id="system_temperature" disabled />
                <NumberInput label="The PWM of the System Output" regLabel="0x13" id="system_pwm_output" disabled />
                <NumberInput label="Parameter Saving Flag" regLabel="0x14" id="parameter_saving_flag" />
                <NumberInput label="Device Address" regLabel="0x15" id="device_address" />
                <NumberInput label="Absolute Position is 16 bits Lower" regLabel="0x16" id="absolute_position_low" disabled />
                <NumberInput label="Absolute Position is 16 bits Higher" regLabel="0x17" id="absolute_position_high" disabled />
                <NumberInput label="Specific Function" regLabel="0x19" id="specific_function" />
              </div>}

            {}
            <div className="flex justify-center gap-4 mb-4">
              <button onClick={handleWrite} className="px-6 py-2 bg-violet-500 hover:bg-violet-600 text-white font-medium rounded-full transition-colors">
                Write Settings
              </button>
              <button onClick={handleRead} className="px-6 py-2 bg-zinc-500 hover:bg-zinc-600 text-white font-medium rounded-full transition-colors">
                Read Registers
              </button>
            </div>

            {}
            {registerOutput.length > 0 && <div className="mb-4">
                <h3 className="text-md font-semibold text-zinc-800 dark:text-zinc-200 mb-2">
                  Register Values
                </h3>
                <div className="bg-zinc-900 dark:bg-black rounded-lg p-3 max-h-48 overflow-auto font-mono text-xs">
                  {registerOutput.map((reg, idx) => <div key={idx} className={reg.highlighted ? "text-green-400" : "text-zinc-300"}>
                      {reg.name} (0x{reg.address.toString(16)}): {reg.value}
                    </div>)}
                </div>
              </div>}
          </div>}

        {}
        {writeStatus.message && <div className={`text-sm mb-2 ${writeStatus.faded ? "text-zinc-500" : "text-zinc-700 dark:text-zinc-300"}`}>
            {writeStatus.message}
          </div>}

        {}
        {feedback.message && <div className={`p-3 rounded-lg text-sm ${feedback.type === "success" ? "bg-green-100 dark:bg-green-900/30 text-green-800 dark:text-green-300 border border-green-300 dark:border-green-700" : feedback.type === "error" ? "bg-red-100 dark:bg-red-900/30 text-red-800 dark:text-red-300 border border-red-300 dark:border-red-700" : "bg-zinc-100 dark:bg-zinc-800 text-zinc-700 dark:text-zinc-300 border border-zinc-300 dark:border-zinc-600"}`}>
            {feedback.message}
          </div>}

        {}
        <div className="text-center text-zinc-500 dark:text-zinc-500 text-sm mt-6">
          Gold Motor Programming Utility
          <br />
          <strong>v2.0 alpha</strong>
        </div>
      </div>
    </div>;
};

<GoldMotorControl />