From c140afc7aa6bff6d73970c413f5726ec26f0c8f6 Mon Sep 17 00:00:00 2001
From: PAJohnson <pajohns4@ncsu.edu>
Date: Wed, 23 Sep 2020 19:00:10 -0400
Subject: [PATCH] Refactoring getVal, putVal into odrive_utils.js

---
 GUI/src/components/actions/Action.vue         | 19 +---
 GUI/src/components/clearErrors.vue            | 21 +----
 GUI/src/components/controls/CtrlBoolean.vue   | 33 ++-----
 GUI/src/components/controls/CtrlFunction.vue  | 38 +-------
 GUI/src/components/controls/CtrlNumeric.vue   | 37 ++------
 GUI/src/components/controls/CtrlSlider.vue    | 37 +-------
 .../components/wizard/choices/wizardEnd.vue   | 25 +-----
 .../wizard/choices/wizardInputFiltered.vue    | 15 +---
 .../wizard/choices/wizardInputTrajectory.vue  | 41 ++-------
 .../wizard/choices/wizardInputVelRamp.vue     | 15 +---
 .../components/wizard/choices/wizardMisc.vue  | 24 ++----
 .../components/wizard/choices/wizardMotor.vue | 86 ++-----------------
 .../page_components/wizardMotorMeasure.vue    | 21 +----
 GUI/src/odrive_utils.js                       | 67 +++++++++++++++
 GUI/src/views/Wizard.vue                      | 78 +++--------------
 15 files changed, 133 insertions(+), 424 deletions(-)
 create mode 100644 GUI/src/odrive_utils.js

diff --git a/GUI/src/components/actions/Action.vue b/GUI/src/components/actions/Action.vue
index d8595c12..a02bab8b 100644
--- a/GUI/src/components/actions/Action.vue
+++ b/GUI/src/components/actions/Action.vue
@@ -10,7 +10,7 @@
 </template>
 
 <script>
-const axios = require("axios");
+import { putVal } from "../../odrive_utils.js";
 
 export default {
   name: "Action",
@@ -40,24 +40,9 @@ export default {
       this.$store.commit("setActionVal", {dashID: this.dashID, actionID: this.id, val: this.value});
     },
     putVal: function () {
-      var params = new URLSearchParams();
       let keys = this.path.split(".");
       keys.shift();
-      for (const key of keys) {
-        params.append("key", key);
-      }
-      params.append("val", this.value);
-      params.append("type", "number");
-      console.log(params.toString());
-      let request = {
-        params: params,
-      };
-      console.log(request);
-      axios.put(
-        this.$store.state.odriveServerAddress + "/api/property",
-        null,
-        request
-      );
+      putVal(keys.join('.'), this.value);
     },
     deleteAction: function() {
       // commit a mutation to remove this action from the dashboard
diff --git a/GUI/src/components/clearErrors.vue b/GUI/src/components/clearErrors.vue
index 05830403..c61d5842 100644
--- a/GUI/src/components/clearErrors.vue
+++ b/GUI/src/components/clearErrors.vue
@@ -5,7 +5,8 @@
 </template>
 
 <script>
-const axios = require("axios");
+import { putVal } from "../odrive_utils.js";
+
 export default {
   name: "clearErrors.vue",
   props: {
@@ -23,23 +24,7 @@ export default {
         "odrive0." + this.data.axis + ".controller.error",
       ];
       for (const path of paths) {
-        var params = new URLSearchParams();
-        let keys = path.split(".");
-        for (const key of keys) {
-          params.append("key", key);
-        }
-        params.append("val", 0);
-        params.append("type", "number");
-        console.log(params.toString());
-        let request = {
-          params: params,
-        };
-        console.log(request);
-        axios.put(
-          this.$store.state.odriveServerAddress + "/api/property",
-          null,
-          request
-        );
+        putVal(path, 0);
       }
     },
   },
diff --git a/GUI/src/components/controls/CtrlBoolean.vue b/GUI/src/components/controls/CtrlBoolean.vue
index f9e6f140..341d6d32 100644
--- a/GUI/src/components/controls/CtrlBoolean.vue
+++ b/GUI/src/components/controls/CtrlBoolean.vue
@@ -16,7 +16,7 @@
 </template>
 
 <script>
-const axios = require("axios");
+import { getVal, getReadonly, putVal } from "../../odrive_utils.js";
 
 export default {
   name: "CtrlBoolean",
@@ -30,11 +30,7 @@ export default {
     value: function () {
       let keys = this.path.split(".");
       keys.shift(); // don't need first key here
-      let odriveObj = this.odrives;
-      for (const key of keys) {
-        odriveObj = odriveObj[key];
-      }
-      return odriveObj["val"];
+      return getVal(keys.join('.'));
     },
     name: function () {
       let keys = this.path.split(".");
@@ -44,33 +40,14 @@ export default {
     writeAccess: function () {
       let keys = this.path.split(".");
       keys.shift(); // don't need first key here
-      let odriveObj = this.odrives;
-      for (const key of keys) {
-        odriveObj = odriveObj[key];
-      }
-      return odriveObj["readonly"] == false;
+      return getReadonly(keys.join('.')) == false;
     },
   },
   methods: {
     putVal: function (e) {
-      console.log(e.target.checked);
-      var params = new URLSearchParams();
-      let keys = this.path.split(".");
+      let keys = this.path.split('.');
       keys.shift();
-      for (const key of keys) {
-        params.append("key", key);
-      }
-      params.append("val", e.target.checked);
-      params.append("type", "boolean");
-      console.log(params.toString());
-      let request = {
-        params: params,
-      };
-      axios.put(
-        this.$store.state.odriveServerAddress + "/api/property",
-        null,
-        request
-      );
+      putVal(keys.join('.'), e.target.checked);
     },
     deleteCtrl: function() {
       // commit a mutation in the store with the relevant information
diff --git a/GUI/src/components/controls/CtrlFunction.vue b/GUI/src/components/controls/CtrlFunction.vue
index b2af1dd2..989e1243 100644
--- a/GUI/src/components/controls/CtrlFunction.vue
+++ b/GUI/src/components/controls/CtrlFunction.vue
@@ -6,7 +6,7 @@
 </template>
 
 <script>
-const axios = require("axios");
+import { callFcn } from "../../odrive_utils.js";
 
 export default {
   name: "CtrlFunction",
@@ -24,43 +24,11 @@ export default {
     }
   },
   methods: {
-    putVal: function(e) {
-      var params = new URLSearchParams();
-      let keys = this.path.split(".");
-      keys.shift();
-      for (const key of keys) {
-        params.append("key", key);
-      }
-      params.append("val", e.target.value);
-      console.log(params.toString());
-      let request = {
-        params: params
-      };
-      console.log(request);
-      axios.put(
-        this.$store.state.odriveServerAddress + "/api/property",
-        null,
-        request
-      );
-    },
-    executeFunction: function(e) {
+    executeFunction: function() {
       //execute this function on the odrive
-      console.log(e);
-      var params = new URLSearchParams();
       let keys = this.path.split(".");
       keys.shift();
-      for (const key of keys) {
-        params.append("key", key);
-      }
-      console.log(params.toString());
-      let request = {
-        params: params
-      };
-      axios.put(
-        this.$store.state.odriveServerAddress + "/api/function",
-        null,
-        request
-      );
+      callFcn(keys.join('.'));
     },
     deleteCtrl: function() {
       // commit a mutation in the store with the relevant information
diff --git a/GUI/src/components/controls/CtrlNumeric.vue b/GUI/src/components/controls/CtrlNumeric.vue
index 4bedcae4..6d14c3c9 100644
--- a/GUI/src/components/controls/CtrlNumeric.vue
+++ b/GUI/src/components/controls/CtrlNumeric.vue
@@ -10,7 +10,7 @@
 </template>
 
 <script>
-const axios = require("axios");
+import { getVal, getReadonly, putVal } from "../../odrive_utils.js";
 
 export default {
   name: "CtrlNumeric",
@@ -22,13 +22,9 @@ export default {
   },
   computed: {
     value: function () {
-      let keys = this.path.split(".");
-      keys.shift(); // don't need first key here
-      let odriveObj = this.$store.state.odrives;
-      for (const key of keys) {
-        odriveObj = odriveObj[key];
-      }
-      return parseFloat(odriveObj["val"]).toFixed(3);
+      let keys = this.path.split('.');
+      keys.shift();
+      return parseFloat(getVal(keys.join('.'))).toFixed(3);
     },
     name: function () {
       let keys = this.path.split(".");
@@ -38,33 +34,14 @@ export default {
     writeAccess: function () {
       let keys = this.path.split(".");
       keys.shift(); // don't need first key here
-      let odriveObj = this.odrives;
-      for (const key of keys) {
-        odriveObj = odriveObj[key];
-      }
-      return odriveObj["readonly"] === false;
+      return getReadonly(keys.join('.')) === false;
     },
   },
   methods: {
     putVal: function (e) {
-      var params = new URLSearchParams();
-      let keys = this.path.split(".");
+      let keys = this.path.split('.');
       keys.shift();
-      for (const key of keys) {
-        params.append("key", key);
-      }
-      params.append("val", e.target.value);
-      params.append("type", "number");
-      console.log(params.toString());
-      let request = {
-        params: params,
-      };
-      console.log(request);
-      axios.put(
-        this.$store.state.odriveServerAddress + "/api/property",
-        null,
-        request
-      );
+      putVal(keys.join('.'), parseFloat(e.target.value));
     },
     deleteCtrl: function() {
       // commit a mutation in the store with the relevant information
diff --git a/GUI/src/components/controls/CtrlSlider.vue b/GUI/src/components/controls/CtrlSlider.vue
index 62a6783a..0236c21f 100644
--- a/GUI/src/components/controls/CtrlSlider.vue
+++ b/GUI/src/components/controls/CtrlSlider.vue
@@ -16,7 +16,7 @@
 <script>
 import VueSlider from "vue-slider-component";
 import "vue-slider-component/theme/default.css";
-const axios = require("axios");
+import { getVal, putVal } from "../../odrive_utils.js";
 
 export default {
   name: "CtrlSlider",
@@ -43,15 +43,6 @@ export default {
       keys.shift();
       return keys.join(".");
     },
-    writeAccess: function () {
-      let keys = this.path.split(".");
-      keys.shift(); // don't need first key here
-      let odriveObj = this.odrives;
-      for (const key of keys) {
-        odriveObj = odriveObj[key];
-      }
-      return odriveObj["readonly"] === false;
-    },
     interval: function () {
       return (this.max - this.min) / 100;
     },
@@ -61,27 +52,11 @@ export default {
     }
   },
   methods: {
-    putVal: function (value, index) {
+    putVal: function (value) {
       console.log(value);
-      console.log(index);
-      var params = new URLSearchParams();
       let keys = this.path.split(".");
       keys.shift();
-      for (const key of keys) {
-        params.append("key", key);
-      }
-      params.append("val", value);
-      params.append("type", "number");
-      console.log(params.toString());
-      let request = {
-        params: params,
-      };
-      console.log(request);
-      axios.put(
-        this.$store.state.odriveServerAddress + "/api/property",
-        null,
-        request
-      );
+      putVal(keys.join('.'), value);
     },
     setMin: function (e) {
       this.min = parseFloat(e.target.value);
@@ -100,11 +75,7 @@ export default {
     let initVal = () => {
       let keys = this.path.split(".");
       keys.shift(); // don't need first key here
-      let odriveObj = this.$store.state.odrives;
-      for (const key of keys) {
-        odriveObj = odriveObj[key];
-      }
-      return parseFloat(odriveObj["val"]);
+      return parseFloat(getVal(keys.join('.'))).toFixed(3);
     };
     this.value = initVal();
     this.max = this.value * 4;
diff --git a/GUI/src/components/wizard/choices/wizardEnd.vue b/GUI/src/components/wizard/choices/wizardEnd.vue
index 86fd786d..c12edadd 100644
--- a/GUI/src/components/wizard/choices/wizardEnd.vue
+++ b/GUI/src/components/wizard/choices/wizardEnd.vue
@@ -12,7 +12,7 @@
 
 <script>
 import { enumVars } from "../../../assets/wizard/wizard.js";
-const axios = require("axios");
+import { putVal } from "../../../odrive_utils.js"
 
 export default {
   name: "wizardEnd",
@@ -82,31 +82,10 @@ export default {
     applyConfig(){
       // flatpaths will already be populated at this point
       for (const diff of this.configDiffs) {
-        this.putVal(diff.path, diff.newVal);
+        putVal("odrive0." + diff.path, diff.newVal);
         console.log("applying " + diff.newVal + " to " + diff.path);
       }
     },
-    putVal(path, val) {
-      var params = new URLSearchParams();
-      params.append("key", "odrive0");
-      let keys = path.split(".");
-      for (const key of keys) {
-        params.append("key", key);
-      }
-      params.append("val", val);
-      params.append("type", typeof val);
-      console.log(path + " = " + " type = " + typeof val);
-      //console.log(params.toString());
-      let request = {
-        params: params,
-      };
-      console.log(request);
-      axios.put(
-        this.$store.state.odriveServerAddress + "/api/property",
-        null,
-        request
-      );
-    },
   }
 }
 </script>
diff --git a/GUI/src/components/wizard/choices/wizardInputFiltered.vue b/GUI/src/components/wizard/choices/wizardInputFiltered.vue
index 607cdfe3..8d013a69 100644
--- a/GUI/src/components/wizard/choices/wizardInputFiltered.vue
+++ b/GUI/src/components/wizard/choices/wizardInputFiltered.vue
@@ -11,6 +11,7 @@
 
 <script>
 import odriveEnums from "../../../assets/odriveEnums.json";
+import { getVal } from "../../../odrive_utils.js"
 
 export default {
   name: "wizardInputFiltered",
@@ -24,18 +25,8 @@ export default {
     };
   },
   created() {
-    let keys = [
-      "odrive0",
-      this.data.axis,
-      "controller",
-      "config",
-      "input_filter_bandwidth",
-    ];
-    let odriveObj = this.$store.state.odrives;
-    for (const key of keys) {
-      odriveObj = odriveObj[key];
-    }
-    this.bandwidth = parseFloat(odriveObj["val"]);
+    let path = "odrive0." + this.data.axis + ".controller.config.input_filter_bandwidth";
+    this.bandwidth = parseFloat(getVal(path));
   },
   methods: {
     sendConfig() {
diff --git a/GUI/src/components/wizard/choices/wizardInputTrajectory.vue b/GUI/src/components/wizard/choices/wizardInputTrajectory.vue
index c9da55b0..7bdc7e48 100644
--- a/GUI/src/components/wizard/choices/wizardInputTrajectory.vue
+++ b/GUI/src/components/wizard/choices/wizardInputTrajectory.vue
@@ -24,6 +24,8 @@
 </template>
 
 <script>
+import { getVal } from "../../../odrive_utils.js"
+
 export default {
   name: "wizardInputTrajectory",
   props: {
@@ -40,43 +42,12 @@ export default {
   },
   created() {
     // get pre-existing values for trap_traj vel limit, accel, devel, and config.inertia
-    if (this.data.axis == "axis0") {
-      this.vel_limit = this.getODriveVal(
-        "odrive0.axis0.trap_traj.config.vel_limit"
-      );
-      this.accel_limit = this.getODriveVal(
-        "odrive0.axis0.trap_traj.config.accel_limit"
-      );
-      this.decel_limit = this.getODriveVal(
-        "odrive0.axis0.trap_traj.config.decel_limit"
-      );
-      this.inertia = this.getODriveVal(
-        "odrive0.axis0.controller.config.inertia"
-      );
-    } else if (this.data.axis == "axis1") {
-      this.vel_limit = this.getODriveVal(
-        "odrive0.axis1.trap_traj.config.vel_limit"
-      );
-      this.accel_limit = this.getODriveVal(
-        "odrive0.axis1.trap_traj.config.accel_limit"
-      );
-      this.decel_limit = this.getODriveVal(
-        "odrive0.axis1.trap_traj.config.decel_limit"
-      );
-      this.inertia = this.getODriveVal(
-        "odrive0.axis1.controller.config.inertia"
-      );
-    }
+    this.vel_limit = getVal("odrive0." + this.data.axis + ".trap_traj.config.vel_limit");
+    this.accel_limit = getVal("odrive0." + this.data.axis + ".trap_traj.config.accel_limit");
+    this.decel_limit = getVal("odrive0." + this.data.axis + ".trap_traj.config.decel_limit");
+    this.inertia = getVal("odrive0." + this.data.axis + ".controller.config.inertia");
   },
   methods: {
-    getODriveVal(path) {
-      let odriveObj = this.$store.state.odrives;
-      console.log("get val " + path);
-      for (const key of path.split(".")) {
-        odriveObj = odriveObj[key];
-      }
-      return parseFloat(odriveObj["val"]);
-    },
     sendConfig() {
       console.log("emitting choice event from limits page");
       let configStub = undefined;
diff --git a/GUI/src/components/wizard/choices/wizardInputVelRamp.vue b/GUI/src/components/wizard/choices/wizardInputVelRamp.vue
index bfd9a345..9e734cac 100644
--- a/GUI/src/components/wizard/choices/wizardInputVelRamp.vue
+++ b/GUI/src/components/wizard/choices/wizardInputVelRamp.vue
@@ -11,6 +11,7 @@
 
 <script>
 import odriveEnums from "../../../assets/odriveEnums.json";
+import { getVal } from "../../../odrive_utils.js"
 
 export default {
   name: "wizardInputVelRamp",
@@ -24,18 +25,8 @@ export default {
     };
   },
   created() {
-    let keys = [
-      "odrive0",
-      this.data.axis,
-      "controller",
-      "config",
-      "vel_ramp_rate",
-    ];
-    let odriveObj = this.$store.state.odrives;
-    for (const key of keys) {
-      odriveObj = odriveObj[key];
-    }
-    this.vel_ramp_rate = parseFloat(odriveObj["val"]);
+    let path = "odrive0." + this.data.axis + ".controller.config.vel_ramp_rate";
+    this.vel_ramp_rate = parseFloat(getVal(path));
   },
   methods: {
     sendConfig() {
diff --git a/GUI/src/components/wizard/choices/wizardMisc.vue b/GUI/src/components/wizard/choices/wizardMisc.vue
index 41be1d8e..5045875e 100644
--- a/GUI/src/components/wizard/choices/wizardMisc.vue
+++ b/GUI/src/components/wizard/choices/wizardMisc.vue
@@ -12,6 +12,8 @@
 </template>
 
 <script>
+import { getVal } from "../../../odrive_utils.js"
+
 export default {
   name: "wizardMisc",
   props: {
@@ -28,26 +30,12 @@ export default {
   },
   computed: {
     velocityLimit: function () {
-      let keys = [
-        "odrive0",
-        this.data.axis,
-        "controller",
-        "config",
-        "vel_limit",
-      ];
-      let odriveObj = this.$store.state.odrives;
-      for (const key of keys) {
-        odriveObj = odriveObj[key];
-      }
-      return parseFloat(odriveObj["val"]);
+      let path = "odrive0." + this.data.axis + ".controller.config.vel_limit";
+      return parseFloat(getVal(path));
     },
     currentLimit: function () {
-      let keys = ["odrive0", this.data.axis, "motor", "config", "current_lim"];
-      let odriveObj = this.$store.state.odrives;
-      for (const key of keys) {
-        odriveObj = odriveObj[key];
-      }
-      return parseFloat(odriveObj["val"]);
+      let path = "odrive0." + this.data.axis + ".motor.config.current_lim";
+      return parseFloat(getVal(path));
     },
   },
   methods: {
diff --git a/GUI/src/components/wizard/choices/wizardMotor.vue b/GUI/src/components/wizard/choices/wizardMotor.vue
index b9935d4e..9c8764d2 100644
--- a/GUI/src/components/wizard/choices/wizardMotor.vue
+++ b/GUI/src/components/wizard/choices/wizardMotor.vue
@@ -21,8 +21,8 @@
 </template>
 
 <script>
-const axios = require("axios");
 import odriveEnums from "../../../assets/odriveEnums.json";
+import { getVal } from "../../../odrive_utils.js"
 
 export default {
   name: "wizardMotor",
@@ -45,64 +45,24 @@ export default {
   },
   computed: {
     resistance: function () {
-      let keys = [
-        "odrive0",
-        this.data.axis,
-        "motor",
-        "config",
-        "phase_resistance",
-      ];
-      let odriveObj = this.$store.state.odrives;
-      for (const key of keys) {
-        odriveObj = odriveObj[key];
-      }
-      return parseFloat(odriveObj["val"]).toExponential(3);
+      let path = "odrive0." + this.data.axis + ".motor.config.phase_resistance";
+      return parseFloat(getVal(path)).toExponential(3);
     },
     inductance: function () {
-      let keys = [
-        "odrive0",
-        this.data.axis,
-        "motor",
-        "config",
-        "phase_inductance",
-      ];
-      let odriveObj = this.$store.state.odrives;
-      for (const key of keys) {
-        odriveObj = odriveObj[key];
-      }
-      return parseFloat(odriveObj["val"]).toExponential(3);
+      let path = "odrive0." + this.data.axis + ".motor.config.phase_inductance";
+      return parseFloat(getVal(path)).toExponential(3);
     },
   },
   watch: {
     resistance: function (newVal) {
       console.log("from resistance watcher: " + newVal);
-      let keys = [
-        "odrive0",
-        this.data.axis,
-        "motor",
-        "config",
-        "phase_resistance",
-      ];
-      let odriveObj = this.$store.state.odrives;
-      for (const key of keys) {
-        odriveObj = odriveObj[key];
-      }
-      this.phase_resistance = parseFloat(odriveObj["val"]);
+      let path = "odrive0." + this.data.axis + ".motor.config.phase_resistance";
+      this.phase_resistance = parseFloat(getVal(path));
     },
     inductance: function (newVal) {
       console.log("from inductance watcher: " + newVal);
-      let keys = [
-        "odrive0",
-        this.data.axis,
-        "motor",
-        "config",
-        "phase_inductance",
-      ];
-      let odriveObj = this.$store.state.odrives;
-      for (const key of keys) {
-        odriveObj = odriveObj[key];
-      }
-      this.phase_inductance = parseFloat(odriveObj["val"]);
+      let path = "odrive0." + this.data.axis + ".motor.config.phase_inductance";
+      this.phase_inductance = parseFloat(getVal(path));
     },
     pp_set: function () {
       console.log("pp_set: " + this.pp_set);
@@ -178,26 +138,6 @@ export default {
         });
       }
     },
-    measure() {
-      // ask ODrive to measure resistance and inductance
-      var params = new URLSearchParams();
-      let keys = ["odrive0", this.data.axis, "requested_state"];
-      for (const key of keys) {
-        params.append("key", key);
-      }
-      params.append("val", odriveEnums.AXIS_STATE_MOTOR_CALIBRATION);
-      params.append("type", "number");
-      console.log(params.toString());
-      let request = {
-        params: params,
-      };
-      console.log(request);
-      axios.put(
-        this.$store.state.odriveServerAddress + "/api/property",
-        null,
-        request
-      );
-    },
     setKV(e) {
       this.torque_constant = 8.27 / parseFloat(e.target.value);
       this.kv_set = true;
@@ -246,14 +186,6 @@ input[type="number"] {
   -moz-appearance: textfield; /* Firefox */
 }
 
-.measure-button {
-  margin-top: 2rem;
-}
-
-.measure-button:active {
-  background-color: var(--bg-color);
-}
-
 .name {
   text-align: center;
 }
diff --git a/GUI/src/components/wizard/page_components/wizardMotorMeasure.vue b/GUI/src/components/wizard/page_components/wizardMotorMeasure.vue
index 5125e747..d9f9a600 100644
--- a/GUI/src/components/wizard/page_components/wizardMotorMeasure.vue
+++ b/GUI/src/components/wizard/page_components/wizardMotorMeasure.vue
@@ -5,8 +5,8 @@
 </template>
 
 <script>
-const axios = require("axios");
 import odriveEnums from "../../../assets/odriveEnums.json";
+import { putVal } from "../../../odrive_utils.js"
 
 export default {
   name: "wizardMotorMeasure",
@@ -22,23 +22,8 @@ export default {
   methods: {
     calibrate() {
       // ask ODrive to measure resistance and inductance
-      var params = new URLSearchParams();
-      let keys = ["odrive0", this.data.axis, "requested_state"];
-      for (const key of keys) {
-        params.append("key", key);
-      }
-      params.append("val", odriveEnums.AXIS_STATE_MOTOR_CALIBRATION);
-      params.append("type", "number");
-      console.log(params.toString());
-      let request = {
-        params: params,
-      };
-      console.log(request);
-      axios.put(
-        this.$store.state.odriveServerAddress + "/api/property",
-        null,
-        request
-      );
+      let path = "odrive0." + this.data.axis + ".requested_state";
+      putVal(path, odriveEnums.AXIS_STATE_MOTOR_CALIBRATION);
       this.$emit('page-comp-event', {data: "motor calibration", axis: this.data.axis});
     },
   },
diff --git a/GUI/src/odrive_utils.js b/GUI/src/odrive_utils.js
new file mode 100644
index 00000000..85773491
--- /dev/null
+++ b/GUI/src/odrive_utils.js
@@ -0,0 +1,67 @@
+import store from "./store.js";
+const axios = require("axios");
+
+// helper functions and utilities for getting ODrive values
+
+// given a path like "odrive0.axis0.config.blah", return the value
+export function getParam(path) {
+    let keys = path.split('.');
+    let odriveObj = store.state.odrives;
+    for (const key of keys) {
+        odriveObj = odriveObj[key];
+    }
+    return odriveObj;
+}
+
+// wrapper for val field
+export function getVal(path) {
+    return getParam(path + ".val");
+}
+
+// wrapper for readonly field
+export function getReadonly(path) {
+    return getParam(path + '.readonly');
+}
+
+// using axios, send an http request to change an ODrive value
+export function putVal(path, value) {
+    var params = new URLSearchParams();
+    let keys = path.split(".");
+    for (const key of keys) {
+        params.append("key", key);
+    }
+    params.append("val", value);
+    params.append("type", typeof value);
+    let request = {
+        params: params,
+    };
+    console.log(request);
+    axios.put(
+        store.state.odriveServerAddress + "/api/property",
+        null,
+        request
+    );
+}
+
+// path is path to function, args is list of parameters
+export function callFcn(path, args) {
+    var params = new URLSearchParams();
+    let keys = path.split(".");
+    for (const key of keys) {
+        params.append("key", key);
+    }
+    if (args) {
+        for (const arg of args) {
+            params.append("arg", arg);
+        }
+    }
+    console.log(params.toString());
+    let request = {
+        params: params
+    };
+    axios.put(
+        store.state.odriveServerAddress + "/api/function",
+        null,
+        request
+    );
+}
\ No newline at end of file
diff --git a/GUI/src/views/Wizard.vue b/GUI/src/views/Wizard.vue
index 19da04a7..988027ab 100644
--- a/GUI/src/views/Wizard.vue
+++ b/GUI/src/views/Wizard.vue
@@ -50,7 +50,7 @@ import configTemplate from "../assets/wizard/configTemplate.json";
 import wizardPage from "../components/wizard/wizardPage.vue";
 import odriveEnums from "../assets/odriveEnums.json";
 import { pages } from "../assets/wizard/wizard.js";
-const axios = require("axios");
+import { getVal, putVal } from "../odrive_utils.js"
 
 // see wizard.js for what wizard pages exist and what they contain
 
@@ -87,33 +87,10 @@ export default {
             this.$store.state.odrives.odrive0.axis1.error.val == "0"
           ) {
             let configStub = undefined;
-            let inductance;
-            let resistance;
-            let keys_L = [
-              "odrive0",
-              e.axis,
-              "motor",
-              "config",
-              "phase_inductance",
-            ];
-            let keys_R = [
-              "odrive0",
-              e.axis,
-              "motor",
-              "config",
-              "phase_resistance",
-            ];
-            let odriveObj = this.$store.state.odrives;
-            for (const key of keys_L) {
-              odriveObj = odriveObj[key];
-            }
-            inductance = parseFloat(odriveObj["val"]);
-
-            odriveObj = this.$store.state.odrives;
-            for (const key of keys_R) {
-              odriveObj = odriveObj[key];
-            }
-            resistance = parseFloat(odriveObj["val"]);
+            let path_inductance = "odrive0." + e.axis + ".motor.config.phase_inductance";
+            let path_resistance = "odrive0." + e.axis + ".motor.config.phase_resistance";
+            let inductance = parseFloat(getVal(path_inductance));
+            let resistance = parseFloat(getVal(path_resistance));
             if (e.axis == "axis0") {
               configStub = {
                 axis0: {
@@ -153,21 +130,7 @@ export default {
             "odrive0." + e.axis + ".controller.error",
           ];
           for (const path of paths) {
-            var params = new URLSearchParams();
-            let keys = path.split(".");
-            for (const key of keys) {
-              params.append("key", key);
-            }
-            params.append("val", 0);
-            params.append("type", "number");
-            let request = {
-              params: params,
-            };
-            axios.put(
-              this.$store.state.odriveServerAddress + "/api/property",
-              null,
-              request
-            );
+            putVal(path, 0);
           }
           console.log("clearing error for " + e.axis);
         };
@@ -219,11 +182,11 @@ export default {
         );
         console.log("oldCPR = " + oldCPR);
         console.log("axis = " + e.axis);
-        this.putVal(
+        putVal(
           "odrive0." + e.axis + ".encoder.config.cpr",
           this.wizardConfig[e.axis].encoder.config.cpr
         );
-        this.putVal(
+        putVal(
           "odrive0." + e.axis + ".requested_state",
           odriveEnums.AXIS_STATE_ENCODER_OFFSET_CALIBRATION
         );
@@ -240,12 +203,12 @@ export default {
           } else if (
             this.$store.state.odrives.odrive0[e.axis].error.val != "0"
           ) {
-            this.putVal("odrive0." + e.axis + ".encoder.config.cpr", oldCPR);
+            putVal("odrive0." + e.axis + ".encoder.config.cpr", oldCPR);
             console.log("applying old CPR, error detected");
             this.calibrating = false;
             this.calStatus = false;
           } else {
-            this.putVal("odrive0." + e.axis + ".encoder.config.cpr", oldCPR);
+            putVal("odrive0." + e.axis + ".encoder.config.cpr", oldCPR);
             console.log("applying old CPR");
             this.choiceMade = true;
             this.calibrating = false;
@@ -327,27 +290,6 @@ export default {
       this.currentStep = pages[this.currentStep.back];
       this.choiceMade = false;
     },
-    putVal(path, value) {
-      // path to value in odrive parameter tree for server
-      // for example, odrive0.axis0.config.requested_state
-      var params = new URLSearchParams();
-      // params.append("key", "odrive0");
-      let keys = path.split(".");
-      for (const key of keys) {
-        params.append("key", key);
-      }
-      params.append("val", value);
-      params.append("type", typeof value);
-      let request = {
-        params: params,
-      };
-      console.log(request);
-      axios.put(
-        this.$store.state.odriveServerAddress + "/api/property",
-        null,
-        request
-      );
-    },
   },
 };
 </script>