From fd7d1dfa740188d2fa580be66a8979e265adbb32 Mon Sep 17 00:00:00 2001
From: PAJohnson <pajohns4@ncsu.edu>
Date: Mon, 28 Sep 2020 05:06:12 -0400
Subject: [PATCH] Changed name of Config dashboard to Tuning. Added ActionEnum
 component.

---
 GUI/server/odrive_server.py                   |  2 +
 GUI/src/App.vue                               |  2 +-
 ...{Config_0_4_12.json => Tuning_0_4_12.json} | 84 ++++++++++------
 .../{Config_0_5_1.json => Tuning_0_5_1.json}  | 84 ++++++++++------
 GUI/src/components/actions/Action.vue         | 11 ++-
 GUI/src/components/actions/ActionEnum.vue     | 95 +++++++++++++++++++
 GUI/src/components/controls/CtrlBoolean.vue   | 19 +++-
 GUI/src/components/controls/CtrlEnum.vue      |  8 +-
 GUI/src/components/controls/CtrlNumeric.vue   | 12 ++-
 GUI/src/components/controls/CtrlSlider.vue    |  6 +-
 GUI/src/store.js                              | 19 ++--
 GUI/src/views/Dashboard.vue                   | 28 ++++--
 GUI/src/views/Wizard.vue                      | 79 +++++++++------
 13 files changed, 337 insertions(+), 112 deletions(-)
 rename GUI/src/assets/dashboards/{Config_0_4_12.json => Tuning_0_4_12.json} (58%)
 rename GUI/src/assets/dashboards/{Config_0_5_1.json => Tuning_0_5_1.json} (58%)
 create mode 100644 GUI/src/components/actions/ActionEnum.vue

diff --git a/GUI/server/odrive_server.py b/GUI/server/odrive_server.py
index 778a8623..717c5f40 100644
--- a/GUI/server/odrive_server.py
+++ b/GUI/server/odrive_server.py
@@ -4,6 +4,7 @@ import os
 from flask import make_response, request, jsonify, session
 from flask_socketio import SocketIO, send, emit
 from flask_cors import CORS
+from engineio.payload import Payload
 import json
 import time
 import argparse
@@ -20,6 +21,7 @@ app.config.update(
     SESSION_COOKIE_SAMESITE='None'
 )
 CORS(app, support_credentials=True)
+Payload.max_decode_packets = 100
 socketio = SocketIO(app, cors_allowed_origins="*", async_mode = "threading")
 
 def get_all_odrives():
diff --git a/GUI/src/App.vue b/GUI/src/App.vue
index 4b1f98d8..ce2ae06e 100644
--- a/GUI/src/App.vue
+++ b/GUI/src/App.vue
@@ -35,7 +35,7 @@
         <button
           v-if="
             dash.name !== 'Start' &&
-            dash.name !== 'Config' &&
+            dash.name !== 'Tuning' &&
             dash.name !== 'Wizard'
           "
           class="close-button"
diff --git a/GUI/src/assets/dashboards/Config_0_4_12.json b/GUI/src/assets/dashboards/Tuning_0_4_12.json
similarity index 58%
rename from GUI/src/assets/dashboards/Config_0_4_12.json
rename to GUI/src/assets/dashboards/Tuning_0_4_12.json
index 5577fcbc..fdfdab99 100644
--- a/GUI/src/assets/dashboards/Config_0_4_12.json
+++ b/GUI/src/assets/dashboards/Tuning_0_4_12.json
@@ -1,5 +1,5 @@
 {
-  "name": "Config",
+  "name": "Tuning",
   "component": "Dashboard",
   "id": "deadb33f",
   "controls": [
@@ -11,18 +11,6 @@
       "controlType": "CtrlNumeric",
       "path": "odrives.odrive0.axis0.controller.config.vel_limit"
     },
-    {
-      "controlType": "CtrlNumeric",
-      "path": "odrives.odrive0.config.brake_resistance"
-    },
-    {
-      "controlType": "CtrlNumeric",
-      "path": "odrives.odrive0.axis0.motor.config.pole_pairs"
-    },
-    {
-      "controlType": "CtrlNumeric",
-      "path": "odrives.odrive0.axis0.encoder.config.cpr"
-    },
     {
       "controlType": "CtrlSlider",
       "path": "odrives.odrive0.axis0.controller.config.pos_gain"
@@ -36,8 +24,58 @@
       "path": "odrives.odrive0.axis0.controller.config.vel_integrator_gain"
     },
     {
-      "controlType": "CtrlFunction",
-      "path": "odrives.odrive0.axis0.clear_errors"
+      "controlType": "CtrlEnum",
+      "path": "odrives.odrive0.axis0.requested_state",
+      "options": [
+        {
+          "text": "Undefined",
+          "value": 0
+        },
+        {
+          "text": "Idle",
+          "value": 1
+        },
+        {
+          "text": "Starup Sequence",
+          "value": 2
+        },
+        {
+          "text": "Full Calibration Sequence",
+          "value": 3
+        },
+        {
+          "text": "Motor Calibration",
+          "value": 4
+        },
+        {
+          "text": "Sensorless Control",
+          "value": 5
+        },
+        {
+          "text": "Encoder Index Search",
+          "value": 6
+        },
+        {
+          "text": "Encoder Offset Calibration",
+          "value": 7
+        },
+        {
+          "text": "Closed Loop Control",
+          "value": 8
+        },
+        {
+          "text": "Lockin Spin",
+          "value": 9
+        },
+        {
+          "text": "Encoder Direction Find",
+          "value": 10
+        },
+        {
+          "text": "Homing",
+          "value": 11
+        }
+      ]
     },
     {
       "controlType": "CtrlFunction",
@@ -46,22 +84,14 @@
   ],
   "actions": [
     {
-      "id": "407aea0a-2b16-4d77-8043-2c43b27e4810",
-      "path": "odrives.odrive0.axis0.requested_state",
-      "val": 3
-    },
-    {
-      "id": "91b2c1b3-f1bb-4473-9e7a-dd89615cecc9",
-      "path": "odrives.odrive0.axis0.requested_state",
-      "val": 8
-    },
-    {
-      "id": "ad0ebe2a-a495-4e33-9cb8-b2ab17dc3a83",
+      "actionType": "Action",
+      "id": "a699c462-cf8d-4b4e-aedf-0b200e84f97a",
       "path": "odrives.odrive0.axis0.controller.pos_setpoint",
       "val": 0
     },
     {
-      "id": "d7abba09-b0aa-438a-8220-6126e467004e",
+      "actionType": "Action",
+      "id": "db267ae4-fdf4-4770-a2d3-eb61de026659",
       "path": "odrives.odrive0.axis0.controller.pos_setpoint",
       "val": 50000
     }
diff --git a/GUI/src/assets/dashboards/Config_0_5_1.json b/GUI/src/assets/dashboards/Tuning_0_5_1.json
similarity index 58%
rename from GUI/src/assets/dashboards/Config_0_5_1.json
rename to GUI/src/assets/dashboards/Tuning_0_5_1.json
index a26dff16..a47bc9ba 100644
--- a/GUI/src/assets/dashboards/Config_0_5_1.json
+++ b/GUI/src/assets/dashboards/Tuning_0_5_1.json
@@ -1,5 +1,5 @@
 {
-  "name": "Config",
+  "name": "Tuning",
   "component": "Dashboard",
   "id": "deadb33f",
   "controls": [
@@ -11,18 +11,6 @@
       "controlType": "CtrlNumeric",
       "path": "odrives.odrive0.axis0.controller.config.vel_limit"
     },
-    {
-      "controlType": "CtrlNumeric",
-      "path": "odrives.odrive0.config.brake_resistance"
-    },
-    {
-      "controlType": "CtrlNumeric",
-      "path": "odrives.odrive0.axis0.motor.config.pole_pairs"
-    },
-    {
-      "controlType": "CtrlNumeric",
-      "path": "odrives.odrive0.axis0.encoder.config.cpr"
-    },
     {
       "controlType": "CtrlSlider",
       "path": "odrives.odrive0.axis0.controller.config.pos_gain"
@@ -36,8 +24,58 @@
       "path": "odrives.odrive0.axis0.controller.config.vel_integrator_gain"
     },
     {
-      "controlType": "CtrlFunction",
-      "path": "odrives.odrive0.axis0.clear_errors"
+      "controlType": "CtrlEnum",
+      "path": "odrives.odrive0.axis0.requested_state",
+      "options": [
+        {
+          "text": "Undefined",
+          "value": 0
+        },
+        {
+          "text": "Idle",
+          "value": 1
+        },
+        {
+          "text": "Starup Sequence",
+          "value": 2
+        },
+        {
+          "text": "Full Calibration Sequence",
+          "value": 3
+        },
+        {
+          "text": "Motor Calibration",
+          "value": 4
+        },
+        {
+          "text": "Sensorless Control",
+          "value": 5
+        },
+        {
+          "text": "Encoder Index Search",
+          "value": 6
+        },
+        {
+          "text": "Encoder Offset Calibration",
+          "value": 7
+        },
+        {
+          "text": "Closed Loop Control",
+          "value": 8
+        },
+        {
+          "text": "Lockin Spin",
+          "value": 9
+        },
+        {
+          "text": "Encoder Direction Find",
+          "value": 10
+        },
+        {
+          "text": "Homing",
+          "value": 11
+        }
+      ]
     },
     {
       "controlType": "CtrlFunction",
@@ -46,22 +84,14 @@
   ],
   "actions": [
     {
-      "id": "407aea0a-2b16-4d77-8043-2c43b27e4810",
-      "path": "odrives.odrive0.axis0.requested_state",
-      "val": 3
-    },
-    {
-      "id": "91b2c1b3-f1bb-4473-9e7a-dd89615cecc9",
-      "path": "odrives.odrive0.axis0.requested_state",
-      "val": 8
-    },
-    {
-      "id": "ad0ebe2a-a495-4e33-9cb8-b2ab17dc3a83",
+      "actionType": "Action",
+      "id": "a699c462-cf8d-4b4e-aedf-0b200e84f97a",
       "path": "odrives.odrive0.axis0.controller.input_pos",
       "val": 0
     },
     {
-      "id": "d7abba09-b0aa-438a-8220-6126e467004e",
+      "actionType": "Action",
+      "id": "db267ae4-fdf4-4770-a2d3-eb61de026659",
       "path": "odrives.odrive0.axis0.controller.input_pos",
       "val": 10
     }
diff --git a/GUI/src/components/actions/Action.vue b/GUI/src/components/actions/Action.vue
index ad351570..b5cbab2c 100644
--- a/GUI/src/components/actions/Action.vue
+++ b/GUI/src/components/actions/Action.vue
@@ -1,10 +1,10 @@
 <template>
   <div class="card action-card">
     <button class="close-button" @click=deleteAction>X</button>
-    <span class="ctrlName">{{path}}:</span>
+    <span class="ctrlName">{{shortPath}}:</span>
     <div class="right">
       <input v-on:change="newVal" :placeholder="initVal"/>
-      <button class="action-button close-button" @click="putVal">Go</button>
+      <button class="action-button close-button" @click="putVal">Send</button>
     </div>
   </div>
 </template>
@@ -30,6 +30,13 @@ export default {
       this.value = this.initVal;
     }
   },
+  computed: {
+    shortPath() {
+      let keys = this.path.split('.');
+      keys.shift();
+      return keys.join('.');
+    }
+  },
   methods: {
     newVal: function (e) {
       let input = e.target.value;
diff --git a/GUI/src/components/actions/ActionEnum.vue b/GUI/src/components/actions/ActionEnum.vue
new file mode 100644
index 00000000..96662bdb
--- /dev/null
+++ b/GUI/src/components/actions/ActionEnum.vue
@@ -0,0 +1,95 @@
+<template>
+  <div class="card action-card">
+    <button class="close-button" @click=deleteAction>X</button>
+    <span class="ctrlName">{{shortPath}}:</span>
+    <div class="right">
+      <select class="action-enum" v-model="value" @change="newVal">
+          <option v-for="option in options" :key="option.value" :value="option.value">
+              {{ option.text }}
+          </option>
+      </select>
+      <button class="action-button close-button" @click="putVal">Send</button>
+    </div>
+  </div>
+</template>
+
+<script>
+import { putVal } from "../../lib/odrive_utils.js";
+
+export default {
+  name: "ActionEnum",
+  props: {
+    id: String,
+    path: String,
+    initVal: Number,
+    dashID: String,
+    options: Array,
+  },
+  data: function () {
+    return {
+      value: 0,
+    };
+  },
+  created() {
+    if (this.initVal !== undefined) {
+      this.value = this.initVal;
+    }
+  },
+  computed: {
+    shortPath() {
+      let keys = this.path.split('.');
+      keys.shift();
+      return keys.join('.');
+    }
+  },
+  methods: {
+    newVal: function (e) {
+        console.log(this.selected);
+      this.value = parseFloat(e.target.value);
+      this.$store.commit("setActionVal", {dashID: this.dashID, actionID: this.id, val: this.value});
+    },
+    putVal: function () {
+      let keys = this.path.split(".");
+      keys.shift();
+      console.log('path = ' + keys.join('.') + ", val = " + this.value);
+      putVal(keys.join('.'), this.value);
+    },
+    deleteAction: function() {
+      // commit a mutation to remove this action from the dashboard
+      this.$store.commit("removeActionFromDash", {dashID: this.dashID, actionID: this.id});
+    }
+  },
+};
+</script>
+
+<style scoped>
+input {
+  border-style: none;
+  border-bottom: 1px solid grey;
+  width: 5rem;
+  margin-left: 0.5rem;
+  margin-right: 0.5rem;
+  text-align: center;
+}
+
+.action-card {
+    display: flex;
+    /* border: 1px solid lightcoral; */
+    box-sizing: border-box;
+}
+
+.action-button {
+    margin-right: 0;
+}
+
+.right {
+    margin-left: auto;
+}
+
+.action-enum {
+    border: none;
+    border-bottom: 1px solid grey;
+    background-color: var(--fg-color);
+    text-align-last: right;
+}
+</style>
\ No newline at end of file
diff --git a/GUI/src/components/controls/CtrlBoolean.vue b/GUI/src/components/controls/CtrlBoolean.vue
index 8bdc7f31..e2286b8f 100644
--- a/GUI/src/components/controls/CtrlBoolean.vue
+++ b/GUI/src/components/controls/CtrlBoolean.vue
@@ -3,7 +3,8 @@
     <button class="close-button" @click=deleteCtrl>X</button>
     <span class="ctrlName">{{name}}:</span>
     <div class="right">
-      <span class="ctrlVal">{{value}}</span>
+      <span class="ctrlVal" v-if="!writeAccess">{{value}}</span>
+      <span class="ctrlVal" v-if="writeAccess">{{fakeValue}}</span>
       <input
         class="ctrlInput"
         v-if="writeAccess"
@@ -16,7 +17,7 @@
 </template>
 
 <script>
-import { getVal, getReadonly, putVal } from "../../lib/odrive_utils.js";
+import { getVal, getReadonly, putVal, fetchParam } from "../../lib/odrive_utils.js";
 
 export default {
   name: "CtrlBoolean",
@@ -26,6 +27,11 @@ export default {
     odrives: Object,
     dashID: String,
   },
+  data() {
+    return {
+      fakeValue: undefined,
+    }
+  },
   computed: {
     value: function () {
       let keys = this.path.split(".");
@@ -48,12 +54,21 @@ export default {
       let keys = this.path.split('.');
       keys.shift();
       putVal(keys.join('.'), e.target.checked);
+      fetchParam(keys.join('.'));
+      this.fakeValue = e.target.checked;
     },
     deleteCtrl: function() {
       // commit a mutation in the store with the relevant information
       this.$store.commit("removeCtrlFromDash", {dashID: this.dashID, path: this.path});
     }
   },
+  created() {
+    // update parameter value on component creation
+    let keys = this.path.split('.');
+    keys.shift();
+    fetchParam(keys.join('.'));
+    this.fakeValue = getVal(keys.join('.'));
+  }
 };
 </script>
 
diff --git a/GUI/src/components/controls/CtrlEnum.vue b/GUI/src/components/controls/CtrlEnum.vue
index d5bbf8c0..98decc9b 100644
--- a/GUI/src/components/controls/CtrlEnum.vue
+++ b/GUI/src/components/controls/CtrlEnum.vue
@@ -3,7 +3,6 @@
     <button class="close-button" @click=deleteCtrl>X</button>
     <span class="ctrlName">{{name}}:</span>
     <div class="right">
-      <!-- <input v-if="writeAccess" type="number" v-on:change="putVal" /> -->
       <select class="ctrl-enum" v-model="selected" @change="putVal">
           <option v-for="option in options" :key="option.value" :value="option.value">
               {{ option.text }}
@@ -14,7 +13,7 @@
 </template>
 
 <script>
-import { getVal, getReadonly, putVal } from "../../lib/odrive_utils.js";
+import { getVal, getReadonly, putVal, fetchParam } from "../../lib/odrive_utils.js";
 
 export default {
   name: "CtrlNumeric",
@@ -65,6 +64,11 @@ export default {
     },
   },
   created() {
+      // update parameter value on component creation
+      let keys = this.path.split('.');
+      keys.shift();
+      fetchParam(keys.join('.'));
+  
       this.selected = this.value;
       console.log(this.value);
   }
diff --git a/GUI/src/components/controls/CtrlNumeric.vue b/GUI/src/components/controls/CtrlNumeric.vue
index 42ac19a2..1861dbfb 100644
--- a/GUI/src/components/controls/CtrlNumeric.vue
+++ b/GUI/src/components/controls/CtrlNumeric.vue
@@ -3,14 +3,14 @@
     <button class="close-button" @click=deleteCtrl>X</button>
     <span class="ctrlName">{{name}}:</span>
     <div class="right">
-      <span class="ctrlVal">{{value}}</span>
-      <input v-if="writeAccess" v-on:change="putVal" />
+      <span v-if="!writeAccess" class="ctrlVal">{{value}}</span>
+      <input v-if="writeAccess" :placeholder="value" v-on:change="putVal" />
     </div>
   </div>
 </template>
 
 <script>
-import { getVal, getReadonly, putVal } from "../../lib/odrive_utils.js";
+import { getVal, getReadonly, putVal, fetchParam } from "../../lib/odrive_utils.js";
 
 export default {
   name: "CtrlNumeric",
@@ -58,6 +58,12 @@ export default {
       this.$store.commit("removeCtrlFromDash", {dashID: this.dashID, path: this.path});
     }
   },
+  created() {
+    // update parameter value on component creation
+    let keys = this.path.split('.');
+    keys.shift();
+    fetchParam(keys.join('.'));
+  },
 };
 </script>
 
diff --git a/GUI/src/components/controls/CtrlSlider.vue b/GUI/src/components/controls/CtrlSlider.vue
index 62f721bc..5d9e8520 100644
--- a/GUI/src/components/controls/CtrlSlider.vue
+++ b/GUI/src/components/controls/CtrlSlider.vue
@@ -75,11 +75,11 @@ export default {
     let initVal = () => {
       let keys = this.path.split(".");
       keys.shift(); // don't need first key here
-      return parseFloat(getVal(keys.join('.'))).toFixed(3);
+      return getVal(keys.join('.'));
     };
     this.value = initVal();
-    this.max = this.value * 4;
-    this.min = this.value / 4;
+    this.max = parseFloat((this.value * 4).toFixed(3));
+    this.min = parseFloat((this.value / 4).toFixed(3));
     this.data = Array.from(Array(101), (_, i) => this.min + (this.max-this.min) / 100 * i);
   },
 };
diff --git a/GUI/src/store.js b/GUI/src/store.js
index d0689f76..33721655 100644
--- a/GUI/src/store.js
+++ b/GUI/src/store.js
@@ -1,7 +1,7 @@
 import Vue from 'vue';
 import Vuex from 'vuex';
-import ConfigDashOld from "./assets/dashboards/Config_0_4_12.json";
-import ConfigDashNew from "./assets/dashboards/Config_0_5_1.json";
+import TuningDashOld from "./assets/dashboards/Tuning_0_4_12.json";
+import TuningDashNew from "./assets/dashboards/Tuning_0_5_1.json";
 import * as socketio from "./comms/socketio";
 import {filterBy, deleteBy } from "./lib/utils.js";
 //import { v4 as uuidv4 } from "uuid";
@@ -27,7 +27,6 @@ export default new Vuex.Store({
                 name: "Start",
                 component: "Start",
             },
-            //{ name: "Config", id: uuidv4(), component: "Dashboard", controls: [], actions: [], plots: [] }
         ],
         timeSampleStart: 0,
         sampledProperties: [], // make this an object where the full path is a key and the value is the sampled var
@@ -46,23 +45,23 @@ export default new Vuex.Store({
             state.odrives = odrives;
             if (state.firstConn == false) {
                 // first time we're getting odrive data, add correct config page
-                let ConfigDash;
+                let TuningDash;
                 if (state.odrives.odrive0.fw_version_minor.val == "5") {
-                    ConfigDash = ConfigDashNew;
+                    TuningDash = TuningDashNew;
                 }
                 else if (state.odrives.odrive0.fw_version_minor.val == "4") {
-                    ConfigDash = ConfigDashOld;
+                    TuningDash = TuningDashOld;
                 }
                 else {
-                    ConfigDash = ConfigDashNew;
+                    TuningDash = TuningDashNew;
                 }
                 state.dashboards.push({
                     name: "Wizard",
                     component: "Wizard",
                 });
-                state.dashboards.push(ConfigDash);
+                state.dashboards.push(TuningDash);
                 // plots will have variables associated, add them to sampled variables list
-                for (const plot of ConfigDash.plots) {
+                for (const plot of TuningDash.plots) {
                     for (const plotVar of plot.vars) {
                         //addsampledprop(path);
                         let path = plotVar.path;
@@ -275,7 +274,7 @@ export default new Vuex.Store({
             // create object of only ODrive parameters that are writeable and numeric
             let writeAbleNumeric = filterBy(context.state.odrives, ((o) => o['readonly'] == false && ['float', 'int', 'bool'].includes(o['type'])));
             deleteBy(writeAbleNumeric, ((o) => o.constructor == Object && Object.keys(o).length == 0))
-            
+
             context.commit('setOdriveConfigs', {full: fullTree, 
                                                 functions: fcns, 
                                                 params: params, 
diff --git a/GUI/src/views/Dashboard.vue b/GUI/src/views/Dashboard.vue
index 1552bb65..07dbae0e 100644
--- a/GUI/src/views/Dashboard.vue
+++ b/GUI/src/views/Dashboard.vue
@@ -35,13 +35,15 @@
           <div class="add-button card" @click="addComponent('function')">Add Function</div>
         </div>
         <template v-for="(action, index) in dash.actions">
-          <action
+          <component
+            :is="action.actionType"
             :id="action.id"
             :key="index + '-action'"
             :path="action.path"
             :odrives="odrives"
             :initVal="action.val"
             :dashID="dash.id"
+            :options="action.options"
           />
         </template>
         <div class="add-button card" @click="addComponent('action')">Add Action</div>
@@ -74,6 +76,7 @@ import CtrlSlider from "../components/controls/CtrlSlider.vue";
 import CtrlEnum from "../components/controls/CtrlEnum.vue";
 import Plot from "../components/plots/Plot.vue";
 import Action from "../components/actions/Action.vue";
+import ActionEnum from "../components/actions/ActionEnum.vue"
 import { JSONView } from "vue-json-component";
 import { v4 as uuidv4 } from "uuid";
 
@@ -264,6 +267,7 @@ export default {
     CtrlEnum,
     Plot,
     Action,
+    ActionEnum,
     "json-view": JSONView,
   },
   props: ["dash", "odrives"],
@@ -385,11 +389,23 @@ export default {
           {
             // add an action to the current dash
             let id = uuidv4();
-            this.dash.actions.push({
-              id: id,
-              path: e.path,
-              val: undefined,
-            });
+            console.log("action, key = " + e.key);
+            if (Object.keys(odriveEnums).includes(e.key)){
+              this.dash.actions.push({
+                actionType: "ActionEnum",
+                id: id,
+                path: e.path,
+                options: odriveEnums[e.key],
+              })
+            }
+            else {
+              this.dash.actions.push({
+                actionType: "Action",
+                id: id,
+                path: e.path,
+                val: undefined,
+              });
+            }
           }
           break;
         case "slider":
diff --git a/GUI/src/views/Wizard.vue b/GUI/src/views/Wizard.vue
index 79eff175..f8d17909 100644
--- a/GUI/src/views/Wizard.vue
+++ b/GUI/src/views/Wizard.vue
@@ -82,6 +82,18 @@ export default {
     // require special handling. This function is used for those events
     pageEventHandler(e) {
       this.choiceMade = false;
+      let clear = () => {
+        let paths = [
+          "odrive0." + e.axis + ".error",
+          "odrive0." + e.axis + ".motor.error",
+          "odrive0." + e.axis + ".encoder.error",
+          "odrive0." + e.axis + ".controller.error",
+        ];
+        for (const path of paths) {
+          putVal(path, 0);
+        }
+        console.log("clearing error for " + e.axis);
+      };
       if (e.data == "motor calibration") {
         // set a timeout to grab axis resistance and inductance values
         fetchParam("odrive0." + e.axis + ".error");
@@ -125,18 +137,6 @@ export default {
             this.choiceMade = true;
           }
         };
-        let clear = () => {
-          let paths = [
-            "odrive0." + e.axis + ".error",
-            "odrive0." + e.axis + ".motor.error",
-            "odrive0." + e.axis + ".encoder.error",
-            "odrive0." + e.axis + ".controller.error",
-          ];
-          for (const path of paths) {
-            putVal(path, 0);
-          }
-          console.log("clearing error for " + e.axis);
-        };
         let updateCalInfo = () => {
           // parse error code, update calibration information
           let motorError = getVal("odrive0." + e.axis + ".motor.error");
@@ -154,12 +154,14 @@ export default {
           fetchParam("odrive0." + e.axis + ".current_state");
           fetchParam("odrive0." + e.axis + ".motor.config.phase_resistance");
           fetchParam("odrive0." + e.axis + ".motor.config.phase_inductance");
+          fetchParam("odrive0." + e.axis + ".motor.is_calibrated");
           console.log();
           if (
             getVal("odrive0." + e.axis + ".current_state") ==
             odriveEnums.AXIS_STATE_MOTOR_CALIBRATION
           ) {
             // still calibrating
+            console.log("waiting for motor cal to finish");
             setTimeout(() => this.wait(), 100);
             this.calibrating = true;
           } else if (getVal("odrive0." + e.axis + ".error") != 0) {
@@ -169,16 +171,21 @@ export default {
             // clear errors, display info.
             updateCalInfo();
             clear();
-          } else {
+          } else if (getVal("odrive0." + e.axis + ".motor.is_calibrated") == true){
             // calibration is over
             apply();
             this.calibrating = false;
             this.calStatus = true;
           }
+          else {
+            setTimeout(() => this.wait(), 100);
+            console.log("waiting for motor cal to finish");
+          }
         };
         fetchParam("odrive0." + e.axis + ".current_state");
         fetchParam("odrive0." + e.axis + ".motor.config.phase_resistance");
         fetchParam("odrive0." + e.axis + ".motor.config.phase_inductance");
+        fetchParam("odrive0." + e.axis + ".motor.is_calibrated");
         // wait for at least a second for comms to update state of ODrive
         setTimeout(() => this.wait(), 1000);
       } else if (e.data == "encoder calibration") {
@@ -201,19 +208,22 @@ export default {
 
         this.wait = function () {
           fetchParam("odrive0." + e.axis + ".current_state");
+          fetchParam("odrive0." + e.axis + ".encoder.error");
+          fetchParam("odrive0." + e.axis + ".encoder.is_ready");
           if (
             getVal("odrive0." + e.axis + ".current_state") ==
             odriveEnums.AXIS_STATE_ENCODER_OFFSET_CALIBRATION
           ) {
-            setTimeout(() => this.wait(), 100);
             console.log("waiting for encoder cal to finish...");
+            setTimeout(() => this.wait(), 100);
             this.calibrating = true;
-          } else if (getVal("odrive0." + e.axis + ".error") != 0) {
+          } else if (getVal("odrive0." + e.axis + ".encoder.error") != 0) {
             putVal("odrive0." + e.axis + ".encoder.config.cpr", oldCPR);
             console.log("applying old CPR, error detected");
+            clear();
             this.calibrating = false;
             this.calStatus = false;
-          } else {
+          } else if (getVal("odrive0." + e.axis + ".encoder.is_ready") == true){
             putVal("odrive0." + e.axis + ".encoder.config.cpr", oldCPR);
             console.log("applying old CPR");
             this.choiceMade = true;
@@ -221,8 +231,14 @@ export default {
             this.calibrating = false;
             this.calStatus = true;
           }
+          else {
+            console.log("waiting for encoder cal to finish...");
+            setTimeout(() => this.wait(), 100);
+          }
         };
         fetchParam("odrive0." + e.axis + ".current_state");
+        fetchParam("odrive0." + e.axis + ".encoder.error");
+        fetchParam("odrive0." + e.axis + ".encoder.is_ready");
         setTimeout(() => this.wait(), 1000);
       }
     },
@@ -240,27 +256,22 @@ export default {
       // for encoders, wait for calibration to finish unless encoder.is_ready == true
       this.choiceMade = true;
       if (
-        e.choice == "ODrive D5065" ||
-        e.choice == "ODrive D6374" ||
-        e.choice == "Other motor"
+        this.currentStep == pages.Motor_0 || this.currentStep == pages.Motor_1
       ) {
         let axis;
         if (this.currentStep == pages.Motor_0) axis = "axis0";
         if (this.currentStep == pages.Motor_1) axis = "axis1";
-        if (getVal("odrive0." + axis + ".motor.is_calibrated") == "False") {
+        if (getVal("odrive0." + axis + ".motor.is_calibrated") == false) {
           this.choiceMade = false;
         }
       }
       if (
-        e.choice == "CUI AMT102V" ||
-        e.choice == "Hall Effect" ||
-        e.choice == "Incremental" ||
-        e.choice == "IncrementalIndex"
+        this.currentStep == pages.Encoder_0 || this.currentStep == pages.Encoder_1
       ) {
         let axis;
         if (this.currentStep == pages.Encoder_0) axis = "axis0";
         if (this.currentStep == pages.Encoder_1) axis = "axis1";
-        if (getVal("odrive0." + axis + ".encoder.is_ready") == "False") {
+        if (getVal("odrive0." + axis + ".encoder.is_ready") == false) {
           this.choiceMade = false;
         }
       }
@@ -317,20 +328,30 @@ export default {
       this.choiceMade = false;
     },
   },
+  created() {
+    // when wizard is active, we want to poll for certain values
+    let update = () => {
+      fetchParam("odrive0.axis0.motor.is_calibrated");
+      fetchParam("odrive0.axis1.motor.is_calibrated");
+      fetchParam("odrive0.axis0.encoder.is_ready");
+      fetchParam("odrive0.axis1.encoder.is_ready");
+      setTimeout(() => update(), 1000);
+    };
+    update();
+  },
   beforeDestroy() {
     for (const page of Object.keys(pages)) {
       pages[page].choiceMade = false;
     }
     let erase = (obj) => {
       Object.keys(obj).forEach((key) => {
-        if (typeof obj[key] == 'object' && obj[key] != null) {
+        if (typeof obj[key] == "object" && obj[key] != null) {
           erase(obj[key]);
-        }
-        else {
+        } else {
           obj[key] = null;
         }
       });
-    }
+    };
     erase(this.wizardConfig);
   },
 };