From d9c4def6cb3c57b62d2e5c9ba4d367d0f29f5215 Mon Sep 17 00:00:00 2001
From: Kevin Watters <kwatters@kmwllc.com>
Date: Mon, 19 May 2025 10:12:03 -0400
Subject: [PATCH 01/15] sync local changes to get as5048 data flowing to a
 motor.

---
 .../java/org/myrobotlab/service/Arduino.java  |  7 +-
 .../myrobotlab/service/As5048AEncoder.java    | 18 +++++
 .../java/org/myrobotlab/service/Motor.java    | 65 +++++++++++++------
 .../org/myrobotlab/service/MotorDualPwm.java  |  1 -
 .../service/abstracts/AbstractMotor.java      | 19 ++++++
 .../service/abstracts/AbstractPinEncoder.java |  1 +
 6 files changed, 87 insertions(+), 24 deletions(-)

diff --git a/src/main/java/org/myrobotlab/service/Arduino.java b/src/main/java/org/myrobotlab/service/Arduino.java
index 8385273fe6..613ad18835 100644
--- a/src/main/java/org/myrobotlab/service/Arduino.java
+++ b/src/main/java/org/myrobotlab/service/Arduino.java
@@ -1696,14 +1696,17 @@ public EncoderData publishEncoderData(Integer deviceId, Integer position) {
       // type = 1;
       pin = ((As5048AEncoder) ec).getPin();
       angle = 360.0 * position / ((As5048AEncoder) ec).resolution;
-      log.info("Angle : {}", angle);
+      // log.info("Angle : {}", angle);
     } else {
       error("unknown encoder type {}", ec.getClass().getName());
     }
 
     EncoderData data = new EncoderData(ec.getName(), pin, position, angle);
     // log.info("Publish Encoder Data Raw {}", data);
-
+    // TODO: how do i publish the data from the encoder?
+   // ec.publishEncoderData(data);
+    ((As5048AEncoder)ec).updateEncoderData(data);
+    //     invoke("publishEncoderData", data);
     // TODO: all this code needs to move out of here!
     return data;
   }
diff --git a/src/main/java/org/myrobotlab/service/As5048AEncoder.java b/src/main/java/org/myrobotlab/service/As5048AEncoder.java
index 1795c0bbc1..deb4382bd6 100755
--- a/src/main/java/org/myrobotlab/service/As5048AEncoder.java
+++ b/src/main/java/org/myrobotlab/service/As5048AEncoder.java
@@ -1,6 +1,8 @@
 package org.myrobotlab.service;
 
 import org.myrobotlab.logging.LoggingFactory;
+import org.myrobotlab.sensor.EncoderData;
+import org.myrobotlab.sensor.EncoderListener;
 import org.myrobotlab.service.abstracts.AbstractPinEncoder;
 import org.myrobotlab.service.config.ServiceConfig;
 import org.myrobotlab.service.interfaces.EncoderControl;
@@ -42,4 +44,20 @@ public static void main(String[] args) throws Exception {
     log.info("Here we are..");
   }
 
+  // TODO: move to base class / interface?
+  void attachEncoderListener(EncoderListener service) {
+    // TODO: move this to the EncoderPublisher interface.
+    if (service == null) {
+      log.warn("{}.attachEncoderListener(null)", getName());
+      return;
+    }
+    log.info("Adding listener for encoder data {}", service.getName());
+    addListener("publishEncoderData", service.getName());    
+  }
+  
+  void updateEncoderData(EncoderData data) {
+    // publish the updated encoder data (this is updated from the arduino..)
+    invoke("publishEncoderData", data); 
+  }
+
 }
diff --git a/src/main/java/org/myrobotlab/service/Motor.java b/src/main/java/org/myrobotlab/service/Motor.java
index 7ee06fe258..97257e133b 100644
--- a/src/main/java/org/myrobotlab/service/Motor.java
+++ b/src/main/java/org/myrobotlab/service/Motor.java
@@ -4,7 +4,6 @@
 import org.myrobotlab.logging.LoggingFactory;
 import org.myrobotlab.service.abstracts.AbstractMotor;
 import org.myrobotlab.service.config.MotorConfig;
-import org.myrobotlab.service.config.ServiceConfig;
 
 /**
  * A general motor implementation with a "simple H-bridge" where one control
@@ -99,18 +98,18 @@ public static void main(String[] args) {
 
     try {
 
-      Runtime.start("gui", "SwingGui");
+      Runtime.start("python", "Python");
       Runtime.start("webgui", "WebGui");
-      Runtime.start("motor", "Motor");
+      Runtime.start("m1", "MotorDualPwm");
       Runtime.start("arduino", "Arduino");
-      boolean done = true;
+      boolean done = false;
       if (done) {
         return;
       }
 
       // FIXME - all testing or replacing of main code should be new JUnit
       // tests - with virtual arduino !!!)
-      String port = "COM15";
+      String port = "COM3";
 
       // Arduino arduino = (Arduino) Runtime.start("arduino", "Arduino");
       // Runtime.createAndStart("gui", "SwingGui");
@@ -137,19 +136,27 @@ public static void main(String[] args) {
       Arduino arduino = (Arduino) Runtime.start("arduino", "Arduino");
       arduino.connect(port);
 
-      arduino.pinMode(6, Arduino.OUTPUT);
-      arduino.pinMode(7, Arduino.OUTPUT);
+      
+      
+    
 
-      arduino.digitalWrite(7, 1);
+     // arduino.pinMode(6, Arduino.OUTPUT);
+     // arduino.pinMode(7, Arduino.OUTPUT);
+//
+//      arduino.digitalWrite(7, 1);
       // arduino.digitalWrite(6, 1);
 
-      arduino.analogWrite(6, 255);
-      arduino.analogWrite(6, 200);
-      arduino.analogWrite(6, 100);
-      arduino.analogWrite(6, 0);
+ //     arduino.analogWrite(6, 255);
+   //   arduino.analogWrite(6, 200);
+     // arduino.analogWrite(6, 100);
+  //    arduino.analogWrite(6, 0);
 
-      Motor m1 = (Motor) Runtime.start("m1", "Motor");
+      MotorDualPwm m1 = (MotorDualPwm) Runtime.start("m1", "Motor");
+      m1.setPwmPins(6, 7);
+     
+      
 
+      
       /*
        * m1.setType2Pwm(leftPwm, rightPwm); m1.setTypeStepper();
        * m1.setTypePulseStep(pwmPin, dirPin);
@@ -160,14 +167,30 @@ public static void main(String[] args) {
       // m1.attach(arduino, Motor.TYPE_SIMPLE, pwmPin, dirPin);
       m1.attachMotorController(arduino);
 
-      m1.move(1.0);
-      m1.move(-1.0);
-
-      arduino.enableBoardInfo(true);
-      arduino.enableBoardInfo(false);
-      m1.stop();
-      m1.move(0.5);
-      m1.stop();
+      As5048AEncoder encoder = (As5048AEncoder) Runtime.start("encoder", "As5048AEncoder");
+      encoder.setPin(10);
+      arduino.attachEncoderControl(encoder);
+
+      // attach the motor as an encoder listener?
+       encoder.attachEncoderListener(m1);
+//      for (int i = 0; i < 1; i++) {
+//        m1.move(1.0);
+//        Thread.sleep(1000);
+//        m1.move(-1.0);
+//        Thread.sleep(1000);
+//        m1.move(1.0);
+//        Thread.sleep(1000);
+//        m1.move(-1.0);
+//        Thread.sleep(1000);
+//        m1.stop();
+//
+//        Thread.sleep(1000);
+//      }
+    //#  arduino.enableBoardInfo(true);
+    //#  arduino.enableBoardInfo(false);
+    //  m1.stop();
+    //  m1.move(0.5);
+    //  m1.stop();
 
       // Runtime.start("webgui", "WebGui");
 
diff --git a/src/main/java/org/myrobotlab/service/MotorDualPwm.java b/src/main/java/org/myrobotlab/service/MotorDualPwm.java
index 6060be0fb9..56d7429c50 100644
--- a/src/main/java/org/myrobotlab/service/MotorDualPwm.java
+++ b/src/main/java/org/myrobotlab/service/MotorDualPwm.java
@@ -3,7 +3,6 @@
 import java.util.Arrays;
 import java.util.List;
 
-import org.myrobotlab.framework.Platform;
 import org.myrobotlab.logging.Level;
 import org.myrobotlab.logging.LoggingFactory;
 import org.myrobotlab.service.abstracts.AbstractMotor;
diff --git a/src/main/java/org/myrobotlab/service/abstracts/AbstractMotor.java b/src/main/java/org/myrobotlab/service/abstracts/AbstractMotor.java
index 6916db6269..f5ae969a6a 100644
--- a/src/main/java/org/myrobotlab/service/abstracts/AbstractMotor.java
+++ b/src/main/java/org/myrobotlab/service/abstracts/AbstractMotor.java
@@ -290,6 +290,25 @@ public double getTargetPos() {
   @Override
   public void onEncoderData(EncoderData data) {
     // TODO Auto-generated method stub
+    log.info("Encoder Data (to motor): {}", data);
+    // TODO: this should probably not be here.. but rather in a DiyServo service instead.
+    if (false) {
+    double target = 180.0;
+    double delta = data.angle - target;
+    
+    if (Math.abs(delta) > 0.5) {
+      // move the motor a bit.
+      // TODO: this hsould be controlled by a PID algorithm.
+      if (delta > 0) {
+        this.move(0.5);
+      } else {
+        this.move(0.5);
+      }
+      
+    } else {
+      this.move(0);
+    }
+    }
 
   }
 
diff --git a/src/main/java/org/myrobotlab/service/abstracts/AbstractPinEncoder.java b/src/main/java/org/myrobotlab/service/abstracts/AbstractPinEncoder.java
index 6aa5720aeb..4c5c1fe5be 100644
--- a/src/main/java/org/myrobotlab/service/abstracts/AbstractPinEncoder.java
+++ b/src/main/java/org/myrobotlab/service/abstracts/AbstractPinEncoder.java
@@ -100,6 +100,7 @@ public Boolean isEnabled() {
 
   @Override
   public EncoderData publishEncoderData(EncoderData data) {
+   //  log.info("Abstract pin encoder publish data {}", data);
     return data;
   }
 

From 9d607c824d3baa7abc49e0896f36ac65019d3edf Mon Sep 17 00:00:00 2001
From: kwatters <kwatters@kmwllc.com>
Date: Thu, 22 May 2025 14:58:00 -0400
Subject: [PATCH 02/15] some interface cleanup for encoder publisher/listener

---
 .../myrobotlab/sensor/EncoderListener.java    | 24 +++++++++--
 .../myrobotlab/sensor/EncoderPublisher.java   | 43 ++++++++++++++++++-
 .../myrobotlab/service/As5048AEncoder.java    | 14 +-----
 3 files changed, 64 insertions(+), 17 deletions(-)

diff --git a/src/main/java/org/myrobotlab/sensor/EncoderListener.java b/src/main/java/org/myrobotlab/sensor/EncoderListener.java
index 33bc18558a..d216f46e92 100644
--- a/src/main/java/org/myrobotlab/sensor/EncoderListener.java
+++ b/src/main/java/org/myrobotlab/sensor/EncoderListener.java
@@ -1,9 +1,27 @@
 package org.myrobotlab.sensor;
 
-import org.myrobotlab.framework.interfaces.Attachable;
+public interface EncoderListener {  
+  
+  public String getName();
 
-public interface EncoderListener extends Attachable {
+  public void onEncoderData(EncoderData encoderData);
+  
+  default public void attachEncoderPublisher(EncoderPublisher publisher) {
+    attachEncoderPublisher(publisher.getName());
+  }
 
-  void onEncoderData(EncoderData data);
+  default public void attachEncoderPublisher(String name) {
+    send(name, "attachEncoderListener", getName());
+  }
+
+  default public void detachEncoderPublisher(EncoderPublisher publisher) {
+    detachEncoderPublisher(publisher.getName());
+  }
+
+  default public void detachEncoderPublisher(String name) {
+    send(name, "detachEncoderListener", getName());
+  }
+
+  public void send(String name, String method, Object... data);
 
 }
diff --git a/src/main/java/org/myrobotlab/sensor/EncoderPublisher.java b/src/main/java/org/myrobotlab/sensor/EncoderPublisher.java
index 59b029b165..99b06ceab1 100644
--- a/src/main/java/org/myrobotlab/sensor/EncoderPublisher.java
+++ b/src/main/java/org/myrobotlab/sensor/EncoderPublisher.java
@@ -1,5 +1,44 @@
 package org.myrobotlab.sensor;
 
-public interface EncoderPublisher {
-  public EncoderData publishEncoderData(EncoderData Data);
+import org.myrobotlab.framework.interfaces.NameProvider;
+
+public interface EncoderPublisher extends NameProvider {
+  
+  // These are all the methods that the Encoder publisher should produce.
+  public static String[] publishMethods = new String[] { "publishEncoderData" };
+  
+  // Define the methods that an Encoder publisher should have for publishing data.
+  default public EncoderData publishEncoderData(EncoderData data) {
+    return data;
+  };
+
+  // helper default methods to attach and detach a listener.
+  default public void attachEncoderListener(String name) {
+    for (String publishMethod : EncoderPublisher.publishMethods) {
+      addListener(publishMethod, name);
+    }
+  }
+
+  default public void attachEncoderListener(EncoderListener listener) {
+    for (String publishMethod : EncoderPublisher.publishMethods) {
+      addListener(publishMethod, listener.getName());
+    }
+  }
+
+  // detach methods
+  default public void detachEncoderListener(String name) {
+    for (String publishMethod : EncoderPublisher.publishMethods) {
+      removeListener(publishMethod, name);
+    }
+  }
+  
+  default public void detachEncoderListener(EncoderListener listener) {
+    detachEncoderListener(listener.getName());
+  }
+
+  // Add the addListener method to the interface all services implement this.
+  public void addListener(String topicMethod, String callbackName);
+  
+  public void removeListener(String topicMethod, String callbackName);
+  
 }
diff --git a/src/main/java/org/myrobotlab/service/As5048AEncoder.java b/src/main/java/org/myrobotlab/service/As5048AEncoder.java
index deb4382bd6..c4f8dccb3e 100755
--- a/src/main/java/org/myrobotlab/service/As5048AEncoder.java
+++ b/src/main/java/org/myrobotlab/service/As5048AEncoder.java
@@ -3,6 +3,7 @@
 import org.myrobotlab.logging.LoggingFactory;
 import org.myrobotlab.sensor.EncoderData;
 import org.myrobotlab.sensor.EncoderListener;
+import org.myrobotlab.sensor.EncoderPublisher;
 import org.myrobotlab.service.abstracts.AbstractPinEncoder;
 import org.myrobotlab.service.config.ServiceConfig;
 import org.myrobotlab.service.interfaces.EncoderControl;
@@ -13,7 +14,7 @@
  * @author kwatters
  *
  */
-public class As5048AEncoder extends AbstractPinEncoder<ServiceConfig> implements EncoderControl {
+public class As5048AEncoder extends AbstractPinEncoder<ServiceConfig> implements EncoderControl, EncoderPublisher {
 
   private static final long serialVersionUID = 1L;
 
@@ -43,17 +44,6 @@ public static void main(String[] args) throws Exception {
     encoder.setZeroPoint();
     log.info("Here we are..");
   }
-
-  // TODO: move to base class / interface?
-  void attachEncoderListener(EncoderListener service) {
-    // TODO: move this to the EncoderPublisher interface.
-    if (service == null) {
-      log.warn("{}.attachEncoderListener(null)", getName());
-      return;
-    }
-    log.info("Adding listener for encoder data {}", service.getName());
-    addListener("publishEncoderData", service.getName());    
-  }
   
   void updateEncoderData(EncoderData data) {
     // publish the updated encoder data (this is updated from the arduino..)

From d0b355066f3d8e8b71a8d88a41809ece54992f48 Mon Sep 17 00:00:00 2001
From: kwatters <kwatters@kmwllc.com>
Date: Sun, 1 Jun 2025 12:19:47 -0400
Subject: [PATCH 03/15] javadocs

---
 pom.xml                                       | 361 +++++++++---------
 .../myrobotlab/sensor/EncoderListener.java    |   4 +
 .../myrobotlab/sensor/EncoderPublisher.java   |   5 +
 3 files changed, 199 insertions(+), 171 deletions(-)

diff --git a/pom.xml b/pom.xml
index 37bf21e80a..1b97232ed9 100644
--- a/pom.xml
+++ b/pom.xml
@@ -137,7 +137,26 @@
   
 
   <dependencies>
-    <!-- AudioFile begin -->
+
+
+		<dependency>
+			<groupId>au.edu.federation.caliko</groupId>
+			<artifactId>caliko</artifactId>
+			<version>1.3.8</version>
+		</dependency>
+		<dependency>
+			<groupId>au.edu.federation.caliko.visualisation</groupId>
+			<artifactId>caliko-visualisation</artifactId>
+			<version>1.3.8</version>
+		</dependency>
+		<dependency>
+			<groupId>au.edu.federation.caliko.demo</groupId>
+			<artifactId>caliko-demo</artifactId>
+			<version>1.3.8</version>
+		</dependency>
+
+
+		<!-- AudioFile begin -->
     <dependency>
       <groupId>javazoom</groupId>
       <artifactId>jlayer</artifactId>
@@ -156,49 +175,49 @@
       <version>1.0.3.3</version>
       <scope>provided</scope>
     </dependency>
-    <!-- AudioFile end -->
+		<!-- AudioFile end -->
 
-    <!-- AzureTranslator begin -->
-    <!-- Duplicate entry for com.squareup.okhttp3-okhttp-3.9.0 skipping -->
-    <!-- AzureTranslator end -->
+		<!-- AzureTranslator begin -->
+		<!-- Duplicate entry for com.squareup.okhttp3-okhttp-3.9.0 skipping -->
+		<!-- AzureTranslator end -->
 
-    <!-- BoofCV begin -->
+		<!-- BoofCV begin -->
     <dependency>
       <groupId>org.boofcv</groupId>
       <artifactId>boofcv-all</artifactId>
       <version>0.40.1</version>
       <scope>provided</scope>
     </dependency>
-    <!-- BoofCV end -->
+		<!-- BoofCV end -->
 
-    <!-- ChessGame begin -->
+		<!-- ChessGame begin -->
     <dependency>
       <groupId>ChessBoard</groupId>
       <artifactId>ChessBoard</artifactId>
       <version>1.0.0</version>
       <scope>provided</scope>
     </dependency>
-    <!-- ChessGame end -->
+		<!-- ChessGame end -->
 
-    <!-- Cron begin -->
+		<!-- Cron begin -->
     <dependency>
       <groupId>it.sauronsoftware.cron4j</groupId>
       <artifactId>cron4j</artifactId>
       <version>2.2.5</version>
       <scope>provided</scope>
     </dependency>
-    <!-- Cron end -->
+		<!-- Cron end -->
 
-    <!-- CsvConnector begin -->
+		<!-- CsvConnector begin -->
     <dependency>
       <groupId>net.sf.opencsv</groupId>
       <artifactId>opencsv</artifactId>
       <version>2.3</version>
       <scope>provided</scope>
     </dependency>
-    <!-- CsvConnector end -->
+		<!-- CsvConnector end -->
 
-    <!-- DiscordBot begin -->
+		<!-- DiscordBot begin -->
     <dependency>
       <groupId>net.dv8tion</groupId>
       <artifactId>JDA</artifactId>
@@ -211,9 +230,9 @@
         </exclusion>
       </exclusions>
     </dependency>
-    <!-- DiscordBot end -->
+		<!-- DiscordBot end -->
 
-    <!-- Docker begin -->
+		<!-- Docker begin -->
     <dependency>
       <groupId>com.github.docker-java</groupId>
       <artifactId>docker-java</artifactId>
@@ -226,10 +245,10 @@
         </exclusion>
       </exclusions>
     </dependency>
-    <!-- Duplicate entry for io.netty-netty-all-4.1.82.Final skipping -->
-    <!-- Docker end -->
+		<!-- Duplicate entry for io.netty-netty-all-4.1.82.Final skipping -->
+		<!-- Docker end -->
 
-    <!-- DocumentPipeline begin -->
+		<!-- DocumentPipeline begin -->
     <dependency>
       <groupId>org.apache.tika</groupId>
       <artifactId>tika-core</artifactId>
@@ -316,58 +335,58 @@
       <version>1.4.19</version>
       <scope>provided</scope>
     </dependency>
-    <!-- DocumentPipeline end -->
+		<!-- DocumentPipeline end -->
 
-    <!-- Elasticsearch begin -->
+		<!-- Elasticsearch begin -->
     <dependency>
       <groupId>pl.allegro.tech</groupId>
       <artifactId>embedded-elasticsearch</artifactId>
       <version>2.7.0</version>
       <scope>provided</scope>
     </dependency>
-    <!-- Elasticsearch end -->
+		<!-- Elasticsearch end -->
 
-    <!-- Email begin -->
+		<!-- Email begin -->
     <dependency>
       <groupId>javax.mail</groupId>
       <artifactId>mail</artifactId>
       <version>1.4.7</version>
       <scope>provided</scope>
     </dependency>
-    <!-- Email end -->
+		<!-- Email end -->
 
-    <!-- FiniteStateMachine begin -->
+		<!-- FiniteStateMachine begin -->
     <dependency>
       <groupId>com.github.pnavais</groupId>
       <artifactId>state-machine</artifactId>
       <version>1.2.0</version>
       <scope>provided</scope>
     </dependency>
-    <!-- FiniteStateMachine end -->
+		<!-- FiniteStateMachine end -->
 
-    <!-- Git begin -->
+		<!-- Git begin -->
     <dependency>
       <groupId>org.eclipse.jgit</groupId>
       <artifactId>org.eclipse.jgit</artifactId>
       <version>6.6.1.202309021850-r</version>
       <scope>provided</scope>
     </dependency>
-    <!-- Git end -->
+		<!-- Git end -->
 
-    <!-- GoogleCloud begin -->
+		<!-- GoogleCloud begin -->
     <dependency>
       <groupId>com.google.cloud</groupId>
       <artifactId>google-cloud-vision</artifactId>
       <version>2.1.3</version>
       <scope>provided</scope>
     </dependency>
-    <!-- GoogleCloud end -->
+		<!-- GoogleCloud end -->
 
-    <!-- GoogleSearch begin -->
-    <!-- Duplicate entry for org.jsoup-jsoup-1.15.3 skipping -->
-    <!-- GoogleSearch end -->
+		<!-- GoogleSearch begin -->
+		<!-- Duplicate entry for org.jsoup-jsoup-1.15.3 skipping -->
+		<!-- GoogleSearch end -->
 
-    <!-- GoogleTranslate begin -->
+		<!-- GoogleTranslate begin -->
     <dependency>
       <groupId>com.google.cloud</groupId>
       <artifactId>google-cloud-translate</artifactId>
@@ -380,9 +399,9 @@
       <version>1.3.0</version>
       <scope>provided</scope>
     </dependency>
-    <!-- GoogleTranslate end -->
+		<!-- GoogleTranslate end -->
 
-    <!-- HtmlFilter begin -->
+		<!-- HtmlFilter begin -->
     <dependency>
       <groupId>org.jsoup</groupId>
       <artifactId>jsoup</artifactId>
@@ -395,34 +414,34 @@
       <version>3.3.2</version>
       <scope>provided</scope>
     </dependency>
-    <!-- HtmlFilter end -->
+		<!-- HtmlFilter end -->
 
-    <!-- HtmlParser begin -->
-    <!-- Duplicate entry for org.jsoup-jsoup-1.15.3 skipping -->
-    <!-- HtmlParser end -->
+		<!-- HtmlParser begin -->
+		<!-- Duplicate entry for org.jsoup-jsoup-1.15.3 skipping -->
+		<!-- HtmlParser end -->
 
-    <!-- ImapEmailConnector begin -->
-    <!-- Duplicate entry for javax.mail-mail-1.4.7 skipping -->
-    <!-- ImapEmailConnector end -->
+		<!-- ImapEmailConnector begin -->
+		<!-- Duplicate entry for javax.mail-mail-1.4.7 skipping -->
+		<!-- ImapEmailConnector end -->
 
-    <!-- InMoov2 begin -->
-    <!-- skipping fr.inmoov inmoov2 fr.inmoov-inmoov2-null null version/latest -->
-    <!-- InMoov2 end -->
+		<!-- InMoov2 begin -->
+		<!-- skipping fr.inmoov inmoov2 fr.inmoov-inmoov2-null null version/latest -->
+		<!-- InMoov2 end -->
 
-    <!-- IndianTts begin -->
-    <!-- Duplicate entry for org.myrobotlab.audio-voice-effects-1.0 skipping -->
-    <!-- IndianTts end -->
+		<!-- IndianTts begin -->
+		<!-- Duplicate entry for org.myrobotlab.audio-voice-effects-1.0 skipping -->
+		<!-- IndianTts end -->
 
-    <!-- JFugue begin -->
+		<!-- JFugue begin -->
     <dependency>
       <groupId>jfugue</groupId>
       <artifactId>jfugue</artifactId>
       <version>5.0.7</version>
       <scope>provided</scope>
     </dependency>
-    <!-- JFugue end -->
+		<!-- JFugue end -->
 
-    <!-- JMonkeyEngine begin -->
+		<!-- JMonkeyEngine begin -->
     <dependency>
       <groupId>org.jmonkeyengine</groupId>
       <artifactId>jme3-core</artifactId>
@@ -489,9 +508,9 @@
       <version>3.2.3</version>
       <scope>provided</scope>
     </dependency>
-    <!-- JMonkeyEngine end -->
+		<!-- JMonkeyEngine end -->
 
-    <!-- Joystick begin -->
+		<!-- Joystick begin -->
     <dependency>
       <groupId>net.java.jinput</groupId>
       <artifactId>jinput</artifactId>
@@ -505,27 +524,27 @@
       <scope>provided</scope>
       <type>zip</type>
     </dependency>
-    <!-- Joystick end -->
+		<!-- Joystick end -->
 
-    <!-- KafkaConnector begin -->
+		<!-- KafkaConnector begin -->
     <dependency>
       <groupId>org.apache.kafka</groupId>
       <artifactId>kafka-clients</artifactId>
       <version>1.0.1</version>
       <scope>provided</scope>
     </dependency>
-    <!-- KafkaConnector end -->
+		<!-- KafkaConnector end -->
 
-    <!-- Keyboard begin -->
+		<!-- Keyboard begin -->
     <dependency>
       <groupId>com.1stleg</groupId>
       <artifactId>jnativehook</artifactId>
       <version>2.0.3</version>
       <scope>provided</scope>
     </dependency>
-    <!-- Keyboard end -->
+		<!-- Keyboard end -->
 
-    <!-- LLM begin -->
+		<!-- LLM begin -->
     <dependency>
       <groupId>io.github.ollama4j</groupId>
       <artifactId>ollama4j</artifactId>
@@ -546,9 +565,9 @@
         </exclusion>
       </exclusions>
     </dependency>
-    <!-- LLM end -->
+		<!-- LLM end -->
 
-    <!-- LeapMotion begin -->
+		<!-- LeapMotion begin -->
     <dependency>
       <groupId>leapmotion</groupId>
       <artifactId>leap</artifactId>
@@ -576,9 +595,9 @@
       <scope>provided</scope>
       <type>zip</type>
     </dependency>
-    <!-- LeapMotion end -->
+		<!-- LeapMotion end -->
 
-    <!-- LocalSpeech begin -->
+		<!-- LocalSpeech begin -->
     <dependency>
       <groupId>org.myrobotlab.audio</groupId>
       <artifactId>voice-effects</artifactId>
@@ -586,10 +605,10 @@
       <scope>provided</scope>
       <type>zip</type>
     </dependency>
-    <!-- LocalSpeech end -->
+		<!-- LocalSpeech end -->
 
-    <!-- MarySpeech begin -->
-    <!-- Duplicate entry for org.myrobotlab.audio-voice-effects-1.0 skipping -->
+		<!-- MarySpeech begin -->
+		<!-- Duplicate entry for org.myrobotlab.audio-voice-effects-1.0 skipping -->
     <dependency>
       <groupId>de.dfki.mary</groupId>
       <artifactId>marytts</artifactId>
@@ -929,18 +948,18 @@
       <version>2.12.1</version>
       <scope>provided</scope>
     </dependency>
-    <!-- MarySpeech end -->
+		<!-- MarySpeech end -->
 
-    <!-- Mqtt begin -->
+		<!-- Mqtt begin -->
     <dependency>
       <groupId>org.eclipse.paho</groupId>
       <artifactId>org.eclipse.paho.client.mqttv3</artifactId>
       <version>1.2.1</version>
       <scope>provided</scope>
     </dependency>
-    <!-- Mqtt end -->
+		<!-- Mqtt end -->
 
-    <!-- MqttBroker begin -->
+		<!-- MqttBroker begin -->
     <dependency>
       <groupId>io.moquette</groupId>
       <artifactId>moquette-broker</artifactId>
@@ -961,22 +980,22 @@
         </exclusion>
       </exclusions>
     </dependency>
-    <!-- Duplicate entry for com.fasterxml.jackson.core-jackson-core-2.14.0 skipping -->
-    <!-- Duplicate entry for com.fasterxml.jackson.core-jackson-databind-2.14.0 skipping -->
-    <!-- Duplicate entry for com.fasterxml.jackson.core-jackson-annotations-2.14.0 skipping -->
-    <!-- Duplicate entry for io.netty-netty-all-4.1.82.Final skipping -->
-    <!-- MqttBroker end -->
+		<!-- Duplicate entry for com.fasterxml.jackson.core-jackson-core-2.14.0 skipping -->
+		<!-- Duplicate entry for com.fasterxml.jackson.core-jackson-databind-2.14.0 skipping -->
+		<!-- Duplicate entry for com.fasterxml.jackson.core-jackson-annotations-2.14.0 skipping -->
+		<!-- Duplicate entry for io.netty-netty-all-4.1.82.Final skipping -->
+		<!-- MqttBroker end -->
 
-    <!-- MyoThalmic begin -->
+		<!-- MyoThalmic begin -->
     <dependency>
       <groupId>com.github.nicholasastuart</groupId>
       <artifactId>myo-java</artifactId>
       <version>0.9.1</version>
       <scope>provided</scope>
     </dependency>
-    <!-- MyoThalmic end -->
+		<!-- MyoThalmic end -->
 
-    <!-- OculusRift begin -->
+		<!-- OculusRift begin -->
     <dependency>
       <groupId>org.saintandreas</groupId>
       <artifactId>jovr</artifactId>
@@ -1021,9 +1040,9 @@
         </exclusion>
       </exclusions>
     </dependency>
-    <!-- OculusRift end -->
+		<!-- OculusRift end -->
 
-    <!-- OpenCV begin -->
+		<!-- OpenCV begin -->
     <dependency>
       <groupId>org.bytedeco</groupId>
       <artifactId>javacv-platform</artifactId>
@@ -1042,8 +1061,8 @@
       <version>0.3.28-1.5.11</version>
       <scope>provided</scope>
     </dependency>
-    <!-- Duplicate entry for com.github.sarxos-webcam-capture-driver-v4l4j-0.3.13-SNAPSHOT skipping -->
-    <!-- Duplicate entry for org.apache.commons-commons-lang3-3.3.2 skipping -->
+		<!-- Duplicate entry for com.github.sarxos-webcam-capture-driver-v4l4j-0.3.13-SNAPSHOT skipping -->
+		<!-- Duplicate entry for org.apache.commons-commons-lang3-3.3.2 skipping -->
     <dependency>
       <groupId>net.sf.jipcam</groupId>
       <artifactId>jipcam</artifactId>
@@ -1102,9 +1121,9 @@
       <scope>provided</scope>
       <type>zip</type>
     </dependency>
-    <!-- OpenCV end -->
+		<!-- OpenCV end -->
 
-    <!-- OpenNi begin -->
+		<!-- OpenNi begin -->
     <dependency>
       <groupId>simpleopenni</groupId>
       <artifactId>openni</artifactId>
@@ -1136,31 +1155,31 @@
       <version>1.3.1</version>
       <scope>provided</scope>
     </dependency>
-    <!-- OpenNi end -->
+		<!-- OpenNi end -->
 
-    <!-- OpenWeatherMap begin -->
+		<!-- OpenWeatherMap begin -->
     <dependency>
       <groupId>org.json</groupId>
       <artifactId>json</artifactId>
       <version>20230227</version>
       <scope>provided</scope>
     </dependency>
-    <!-- OpenWeatherMap end -->
+		<!-- OpenWeatherMap end -->
 
-    <!-- Osc begin -->
+		<!-- Osc begin -->
     <dependency>
       <groupId>com.illposed.osc</groupId>
       <artifactId>javaosc-core</artifactId>
       <version>0.4</version>
       <scope>provided</scope>
     </dependency>
-    <!-- Osc end -->
+		<!-- Osc end -->
 
-    <!-- Polly begin -->
-    <!-- Duplicate entry for org.myrobotlab.audio-voice-effects-1.0 skipping -->
-    <!-- Duplicate entry for com.fasterxml.jackson.core-jackson-core-2.14.0 skipping -->
-    <!-- Duplicate entry for com.fasterxml.jackson.core-jackson-databind-2.14.0 skipping -->
-    <!-- Duplicate entry for com.fasterxml.jackson.core-jackson-annotations-2.14.0 skipping -->
+		<!-- Polly begin -->
+		<!-- Duplicate entry for org.myrobotlab.audio-voice-effects-1.0 skipping -->
+		<!-- Duplicate entry for com.fasterxml.jackson.core-jackson-core-2.14.0 skipping -->
+		<!-- Duplicate entry for com.fasterxml.jackson.core-jackson-databind-2.14.0 skipping -->
+		<!-- Duplicate entry for com.fasterxml.jackson.core-jackson-annotations-2.14.0 skipping -->
     <dependency>
       <groupId>com.amazonaws</groupId>
       <artifactId>aws-java-sdk-polly</artifactId>
@@ -1189,11 +1208,11 @@
         </exclusion>
       </exclusions>
     </dependency>
-    <!-- Duplicate entry for org.apache.commons-commons-lang3-3.3.2 skipping -->
-    <!-- Polly end -->
+		<!-- Duplicate entry for org.apache.commons-commons-lang3-3.3.2 skipping -->
+		<!-- Polly end -->
 
-    <!-- ProgramAB begin -->
-    <!-- skipping program-ab program-ab-data program-ab-program-ab-data-null null version/latest -->
+		<!-- ProgramAB begin -->
+		<!-- skipping program-ab program-ab-data program-ab-program-ab-data-null null version/latest -->
     <dependency>
       <groupId>program-ab</groupId>
       <artifactId>program-ab-kw</artifactId>
@@ -1216,8 +1235,8 @@
       <version>2.14.0</version>
       <scope>provided</scope>
     </dependency>
-    <!-- Duplicate entry for org.json-json-20230227 skipping -->
-    <!-- Duplicate entry for commons-io-commons-io-2.15.1 skipping -->
+		<!-- Duplicate entry for org.json-json-20230227 skipping -->
+		<!-- Duplicate entry for commons-io-commons-io-2.15.1 skipping -->
     <dependency>
       <groupId>org.apache.lucene</groupId>
       <artifactId>lucene-analysis-common</artifactId>
@@ -1230,35 +1249,35 @@
       <version>9.10.0</version>
       <scope>provided</scope>
     </dependency>
-    <!-- ProgramAB end -->
+		<!-- ProgramAB end -->
 
-    <!-- Py4j begin -->
+		<!-- Py4j begin -->
     <dependency>
       <groupId>net.sf.py4j</groupId>
       <artifactId>py4j</artifactId>
       <version>0.10.9.7</version>
       <scope>provided</scope>
     </dependency>
-    <!-- Py4j end -->
+		<!-- Py4j end -->
 
-    <!-- Python begin -->
+		<!-- Python begin -->
     <dependency>
       <groupId>org.python</groupId>
       <artifactId>jython-standalone</artifactId>
       <version>2.7.2</version>
     </dependency>
-    <!-- Python end -->
+		<!-- Python end -->
 
-    <!-- RSSConnector begin -->
+		<!-- RSSConnector begin -->
     <dependency>
       <groupId>rome</groupId>
       <artifactId>rome</artifactId>
       <version>1.0</version>
       <scope>provided</scope>
     </dependency>
-    <!-- RSSConnector end -->
+		<!-- RSSConnector end -->
 
-    <!-- RasPi begin -->
+		<!-- RasPi begin -->
     <dependency>
       <groupId>com.pi4j</groupId>
       <artifactId>pi4j-core</artifactId>
@@ -1272,18 +1291,18 @@
       <scope>provided</scope>
       <type>pom</type>
     </dependency>
-    <!-- RasPi end -->
+		<!-- RasPi end -->
 
-    <!-- Rekognition begin -->
+		<!-- Rekognition begin -->
     <dependency>
       <groupId>com.amazonaws</groupId>
       <artifactId>aws-java-sdk-rekognition</artifactId>
       <version>1.11.263</version>
       <scope>provided</scope>
     </dependency>
-    <!-- Rekognition end -->
+		<!-- Rekognition end -->
 
-    <!-- Runtime begin -->
+		<!-- Runtime begin -->
     <dependency>
       <groupId>ch.qos.logback</groupId>
       <artifactId>logback-classic</artifactId>
@@ -1344,19 +1363,19 @@
       <artifactId>okhttp</artifactId>
       <version>3.9.0</version>
     </dependency>
-    <!-- Duplicate entry for io.netty-netty-all-4.1.82.Final skipping -->
-    <!-- Runtime end -->
+		<!-- Duplicate entry for io.netty-netty-all-4.1.82.Final skipping -->
+		<!-- Runtime end -->
 
-    <!-- Serial begin -->
+		<!-- Serial begin -->
     <dependency>
       <groupId>io.github.java-native</groupId>
       <artifactId>jssc</artifactId>
       <version>2.9.4</version>
       <scope>provided</scope>
     </dependency>
-    <!-- Serial end -->
+		<!-- Serial end -->
 
-    <!-- SlackBot begin -->
+		<!-- SlackBot begin -->
     <dependency>
       <groupId>com.slack.api</groupId>
       <artifactId>bolt</artifactId>
@@ -1381,9 +1400,9 @@
       <version>1.19</version>
       <scope>provided</scope>
     </dependency>
-    <!-- SlackBot end -->
+		<!-- SlackBot end -->
 
-    <!-- Solr begin -->
+		<!-- Solr begin -->
     <dependency>
       <groupId>org.apache.lucene</groupId>
       <artifactId>lucene-core</artifactId>
@@ -1486,16 +1505,16 @@
         </exclusion>
       </exclusions>
     </dependency>
-    <!-- Duplicate entry for io.netty-netty-all-4.1.82.Final skipping -->
+		<!-- Duplicate entry for io.netty-netty-all-4.1.82.Final skipping -->
     <dependency>
       <groupId>org.glassfish.jersey.core</groupId>
       <artifactId>jersey-server</artifactId>
       <version>3.1.5</version>
       <scope>provided</scope>
     </dependency>
-    <!-- Solr end -->
+		<!-- Solr end -->
 
-    <!-- Sphinx begin -->
+		<!-- Sphinx begin -->
     <dependency>
       <groupId>edu.cmu.sphinx</groupId>
       <artifactId>sphinx4-core</artifactId>
@@ -1508,9 +1527,9 @@
       <version>5prealpha-SNAPSHOT</version>
       <scope>provided</scope>
     </dependency>
-    <!-- Sphinx end -->
+		<!-- Sphinx end -->
 
-    <!-- TesseractOcr begin -->
+		<!-- TesseractOcr begin -->
     <dependency>
       <groupId>org.bytedeco</groupId>
       <artifactId>tesseract</artifactId>
@@ -1530,37 +1549,37 @@
       <scope>provided</scope>
       <type>zip</type>
     </dependency>
-    <!-- Duplicate entry for org.bytedeco-openblas-0.3.28-1.5.11 skipping -->
-    <!-- TesseractOcr end -->
+		<!-- Duplicate entry for org.bytedeco-openblas-0.3.28-1.5.11 skipping -->
+		<!-- TesseractOcr end -->
 
-    <!-- Test begin -->
+		<!-- Test begin -->
     <dependency>
       <groupId>junit</groupId>
       <artifactId>junit</artifactId>
       <version>4.13.1</version>
       <scope>provided</scope>
     </dependency>
-    <!-- Test end -->
+		<!-- Test end -->
 
-    <!-- TopCodes begin -->
+		<!-- TopCodes begin -->
     <dependency>
       <groupId>topcodes</groupId>
       <artifactId>topcodes</artifactId>
       <version>1.0.0</version>
       <scope>provided</scope>
     </dependency>
-    <!-- TopCodes end -->
+		<!-- TopCodes end -->
 
-    <!-- Twitter begin -->
+		<!-- Twitter begin -->
     <dependency>
       <groupId>org.twitter4j</groupId>
       <artifactId>twitter4j-core</artifactId>
       <version>3.0.5</version>
       <scope>provided</scope>
     </dependency>
-    <!-- Twitter end -->
+		<!-- Twitter end -->
 
-    <!-- Vertx begin -->
+		<!-- Vertx begin -->
     <dependency>
       <groupId>io.vertx</groupId>
       <artifactId>vertx-core</artifactId>
@@ -1585,20 +1604,20 @@
         </exclusion>
       </exclusions>
     </dependency>
-    <!-- Duplicate entry for io.netty-netty-all-4.1.82.Final skipping -->
-    <!-- Vertx end -->
+		<!-- Duplicate entry for io.netty-netty-all-4.1.82.Final skipping -->
+		<!-- Vertx end -->
 
-    <!-- VoiceRss begin -->
-    <!-- Duplicate entry for org.myrobotlab.audio-voice-effects-1.0 skipping -->
+		<!-- VoiceRss begin -->
+		<!-- Duplicate entry for org.myrobotlab.audio-voice-effects-1.0 skipping -->
     <dependency>
       <groupId>com.voicerss</groupId>
       <artifactId>tts</artifactId>
       <version>1.0</version>
       <scope>provided</scope>
     </dependency>
-    <!-- VoiceRss end -->
+		<!-- VoiceRss end -->
 
-    <!-- WebGui begin -->
+		<!-- WebGui begin -->
     <dependency>
       <groupId>org.jmdns</groupId>
       <artifactId>jmdns</artifactId>
@@ -1633,35 +1652,35 @@
       <artifactId>netty-all</artifactId>
       <version>4.1.82.Final</version>
     </dependency>
-    <!-- WebGui end -->
+		<!-- WebGui end -->
 
-    <!-- Webcam begin -->
+		<!-- Webcam begin -->
     <dependency>
       <groupId>com.github.sarxos</groupId>
       <artifactId>webcam-capture-driver-v4l4j</artifactId>
       <version>0.3.13-SNAPSHOT</version>
       <scope>provided</scope>
     </dependency>
-    <!-- Webcam end -->
+		<!-- Webcam end -->
 
-    <!-- WebkitSpeechSynthesis begin -->
-    <!-- Duplicate entry for org.myrobotlab.audio-voice-effects-1.0 skipping -->
-    <!-- WebkitSpeechSynthesis end -->
+		<!-- WebkitSpeechSynthesis begin -->
+		<!-- Duplicate entry for org.myrobotlab.audio-voice-effects-1.0 skipping -->
+		<!-- WebkitSpeechSynthesis end -->
 
-    <!-- Wii begin -->
-    <!-- Duplicate entry for wiiusej-wiiusej-wiiusej skipping -->
-    <!-- Wii end -->
+		<!-- Wii begin -->
+		<!-- Duplicate entry for wiiusej-wiiusej-wiiusej skipping -->
+		<!-- Wii end -->
 
-    <!-- WiiDar begin -->
+		<!-- WiiDar begin -->
     <dependency>
       <groupId>wiiusej</groupId>
       <artifactId>wiiusej</artifactId>
       <version>wiiusej</version>
       <scope>provided</scope>
     </dependency>
-    <!-- WiiDar end -->
+		<!-- WiiDar end -->
 
-    <!-- WikiDataFetcher begin -->
+		<!-- WikiDataFetcher begin -->
     <dependency>
       <groupId>org.wikidata.wdtk</groupId>
       <artifactId>wdtk-client</artifactId>
@@ -1678,21 +1697,21 @@
         </exclusion>
       </exclusions>
     </dependency>
-    <!-- Duplicate entry for com.fasterxml.jackson.core-jackson-core-2.14.0 skipping -->
-    <!-- Duplicate entry for com.fasterxml.jackson.core-jackson-databind-2.14.0 skipping -->
-    <!-- Duplicate entry for com.fasterxml.jackson.core-jackson-annotations-2.14.0 skipping -->
-    <!-- WikiDataFetcher end -->
+		<!-- Duplicate entry for com.fasterxml.jackson.core-jackson-core-2.14.0 skipping -->
+		<!-- Duplicate entry for com.fasterxml.jackson.core-jackson-databind-2.14.0 skipping -->
+		<!-- Duplicate entry for com.fasterxml.jackson.core-jackson-annotations-2.14.0 skipping -->
+		<!-- WikiDataFetcher end -->
 
-    <!-- WolframAlpha begin -->
+		<!-- WolframAlpha begin -->
     <dependency>
       <groupId>WolframAlpha</groupId>
       <artifactId>WolframAlpha</artifactId>
       <version>1.1</version>
       <scope>provided</scope>
     </dependency>
-    <!-- WolframAlpha end -->
+		<!-- WolframAlpha end -->
 
-    <!-- Xmpp begin -->
+		<!-- Xmpp begin -->
     <dependency>
       <groupId>org.igniterealtime.smack</groupId>
       <artifactId>smack-java7</artifactId>
@@ -1717,7 +1736,7 @@
       <version>4.1.6</version>
       <scope>provided</scope>
     </dependency>
-    <!-- Xmpp end -->
+		<!-- Xmpp end -->
 
 
     <dependency>
@@ -1766,7 +1785,7 @@
       </testResource>
     </testResources>
 
-    <!-- define the plugin -->
+		<!-- define the plugin -->
     <pluginManagement>
       <plugins>
         <plugin>
@@ -1782,7 +1801,7 @@
       </plugins>
     </pluginManagement>
 
-    <!-- use plugin -->
+		<!-- use plugin -->
     <plugins>
       <plugin>
         <groupId>org.apache.maven.plugins</groupId>
@@ -1813,11 +1832,11 @@
             </goals>
             <configuration>
               <finalName>myrobotlab</finalName>
-              <!-- finalName>myrobotlab-${git.branch}-${version}</finalName -->
+							<!-- finalName>myrobotlab-${git.branch}-${version}</finalName -->
               <shadedArtifactAttached>true</shadedArtifactAttached>
               <shadedClassifierName>myrobotlab-full</shadedClassifierName>
               <minimizeJar>false</minimizeJar>
-              <!--  <artifactSet>
+							<!--  <artifactSet>
                                 <excludes>
                                     <exclude>edu.stanford.nlp:*</exclude>
                                 </excludes>
@@ -1834,7 +1853,7 @@
                     <Build-Host>${agent.name}</Build-Host>
                     <Build-User>${user.name}</Build-User>
 
-                    <!-- maven git plugin id info -->
+										<!-- maven git plugin id info -->
                     <GitTags>${git.tags}</GitTags>
                     <GitBranch>${git.branch}</GitBranch>
                     <GitDirty>${git.dirty}</GitDirty>
@@ -1846,7 +1865,7 @@
                     <GitCommitIdDescribeShort>${git.commit.id.describe-short}</GitCommitIdDescribeShort>
                     <GitCommitUserName>${git.commit.user.name}</GitCommitUserName>
                     <GitCommitUserEmail>${git.commit.user.email}</GitCommitUserEmail>
-                    <!-- removed because multi-line value can break manifest
+										<!-- removed because multi-line value can break manifest
                     GitCommitMessageFull>${git.commit.message.full}</GitCommitMessageFull
                     <GitCommitMessageShort>${git.commit.message.short}</GitCommitMessageShort>
                     -->
@@ -1937,7 +1956,7 @@
           <verbose>false</verbose>
           <generateGitPropertiesFile>true</generateGitPropertiesFile>
           <generateGitPropertiesFilename>${project.build.outputDirectory}/git.properties</generateGitPropertiesFilename>
-          <!-- format>json</format -->
+					<!-- format>json</format -->
           <gitDescribe>
             <skip>false</skip>
             <always>false</always>
@@ -1949,12 +1968,12 @@
       <plugin>
         <artifactId>maven-surefire-plugin</artifactId>
         <groupId>org.apache.maven.plugins</groupId>
-        <!-- do not upgrade this version jacoco will break -->
+				<!-- do not upgrade this version jacoco will break -->
         <version>3.2.2</version>
         <configuration>
           <forkCount>1</forkCount>  <!-- Use one JVM -->
           <reuseForks>true</reuseForks>  <!-- Reuse this JVM for all tests -->
-          <!-- critical for jacoco to have original argLine prefixed here-->
+					<!-- critical for jacoco to have original argLine prefixed here-->
           <argLine>${argLine} -Djava.library.path=libraries/native
             -Djna.library.path=libraries/native</argLine>
           <includes>
@@ -1974,12 +1993,12 @@
               <goal>test</goal>
             </goals>
             <configuration>
-              <!-- Additional configurations for the test execution -->
+							<!-- Additional configurations for the test execution -->
             </configuration>
           </execution>
         </executions>
       </plugin>
-      <!-- This plugin deletes the .myrobotlab on a build also the target directory from previous builds -->
+			<!-- This plugin deletes the .myrobotlab on a build also the target directory from previous builds -->
       <plugin>
         <groupId>org.apache.maven.plugins</groupId>
         <artifactId>maven-clean-plugin</artifactId>
diff --git a/src/main/java/org/myrobotlab/sensor/EncoderListener.java b/src/main/java/org/myrobotlab/sensor/EncoderListener.java
index d216f46e92..90e8b3abc4 100644
--- a/src/main/java/org/myrobotlab/sensor/EncoderListener.java
+++ b/src/main/java/org/myrobotlab/sensor/EncoderListener.java
@@ -1,5 +1,9 @@
 package org.myrobotlab.sensor;
 
+/**
+ * Any device/service that wants to handle the onEncoderData method
+ * and encoder publisher will publish the encoder data to listeners.
+ */
 public interface EncoderListener {  
   
   public String getName();
diff --git a/src/main/java/org/myrobotlab/sensor/EncoderPublisher.java b/src/main/java/org/myrobotlab/sensor/EncoderPublisher.java
index 99b06ceab1..e91fb564ca 100644
--- a/src/main/java/org/myrobotlab/sensor/EncoderPublisher.java
+++ b/src/main/java/org/myrobotlab/sensor/EncoderPublisher.java
@@ -2,6 +2,11 @@
 
 import org.myrobotlab.framework.interfaces.NameProvider;
 
+/**
+ * The EncoderPublisher interface is used with any device that publishes encoder data
+ * such as the AS5048A and the AMT203 encoders.  Analog pins (potentiometers) can also 
+ * emulate and publish encoder data.
+ */
 public interface EncoderPublisher extends NameProvider {
   
   // These are all the methods that the Encoder publisher should produce.

From 96dee84ff8e64f6df8e481d50b3c3bfb3ccc3c30 Mon Sep 17 00:00:00 2001
From: kwatters <kwatters@kmwllc.com>
Date: Sun, 1 Jun 2025 12:33:40 -0400
Subject: [PATCH 04/15] more wiring including the amt203

---
 .../java/org/myrobotlab/service/Amt203Encoder.java    | 10 +++++++++-
 src/main/java/org/myrobotlab/service/Arduino.java     |  5 +++--
 .../java/org/myrobotlab/service/As5048AEncoder.java   |  2 +-
 .../myrobotlab/service/interfaces/EncoderControl.java | 11 +++++++++--
 4 files changed, 22 insertions(+), 6 deletions(-)

diff --git a/src/main/java/org/myrobotlab/service/Amt203Encoder.java b/src/main/java/org/myrobotlab/service/Amt203Encoder.java
index 870f01e0a7..8549ef9051 100755
--- a/src/main/java/org/myrobotlab/service/Amt203Encoder.java
+++ b/src/main/java/org/myrobotlab/service/Amt203Encoder.java
@@ -1,6 +1,8 @@
 package org.myrobotlab.service;
 
 import org.myrobotlab.logging.LoggingFactory;
+import org.myrobotlab.sensor.EncoderData;
+import org.myrobotlab.sensor.EncoderPublisher;
 import org.myrobotlab.service.abstracts.AbstractPinEncoder;
 import org.myrobotlab.service.config.ServiceConfig;
 import org.myrobotlab.service.interfaces.EncoderControl;
@@ -23,7 +25,7 @@
  * @author kwatters
  *
  */
-public class Amt203Encoder extends AbstractPinEncoder<ServiceConfig> implements EncoderControl {
+public class Amt203Encoder extends AbstractPinEncoder<ServiceConfig> implements EncoderControl, EncoderPublisher {
 
   private static final long serialVersionUID = 1L;
 
@@ -50,4 +52,10 @@ public static void main(String[] args) throws Exception {
     log.info("Here we are..");
   }
 
+  @Override
+  public void updateEncoderData(EncoderData data) {
+    // publish the updated encoder data (this is updated from the arduino..)
+    invoke("publishEncoderData", data); 
+  }
+
 }
diff --git a/src/main/java/org/myrobotlab/service/Arduino.java b/src/main/java/org/myrobotlab/service/Arduino.java
index 613ad18835..53289d062e 100644
--- a/src/main/java/org/myrobotlab/service/Arduino.java
+++ b/src/main/java/org/myrobotlab/service/Arduino.java
@@ -1700,12 +1700,13 @@ public EncoderData publishEncoderData(Integer deviceId, Integer position) {
     } else {
       error("unknown encoder type {}", ec.getClass().getName());
     }
-
+    // TODO: figure out how to handle analog pin data as encoder data.. 
     EncoderData data = new EncoderData(ec.getName(), pin, position, angle);
     // log.info("Publish Encoder Data Raw {}", data);
     // TODO: how do i publish the data from the encoder?
    // ec.publishEncoderData(data);
-    ((As5048AEncoder)ec).updateEncoderData(data);
+    // This will pass the encoder data to the encoder and the encoder will publish it to listeners.
+    ((EncoderControl)ec).updateEncoderData(data);
     //     invoke("publishEncoderData", data);
     // TODO: all this code needs to move out of here!
     return data;
diff --git a/src/main/java/org/myrobotlab/service/As5048AEncoder.java b/src/main/java/org/myrobotlab/service/As5048AEncoder.java
index c4f8dccb3e..8c93b684ee 100755
--- a/src/main/java/org/myrobotlab/service/As5048AEncoder.java
+++ b/src/main/java/org/myrobotlab/service/As5048AEncoder.java
@@ -45,7 +45,7 @@ public static void main(String[] args) throws Exception {
     log.info("Here we are..");
   }
   
-  void updateEncoderData(EncoderData data) {
+  public void updateEncoderData(EncoderData data) {
     // publish the updated encoder data (this is updated from the arduino..)
     invoke("publishEncoderData", data); 
   }
diff --git a/src/main/java/org/myrobotlab/service/interfaces/EncoderControl.java b/src/main/java/org/myrobotlab/service/interfaces/EncoderControl.java
index 895fc7f7f3..5e6192f581 100755
--- a/src/main/java/org/myrobotlab/service/interfaces/EncoderControl.java
+++ b/src/main/java/org/myrobotlab/service/interfaces/EncoderControl.java
@@ -2,8 +2,9 @@
 
 import org.myrobotlab.framework.interfaces.Attachable;
 import org.myrobotlab.sensor.EncoderData;
+import org.myrobotlab.sensor.EncoderPublisher;
 
-public interface EncoderControl extends Attachable {
+public interface EncoderControl extends EncoderPublisher, Attachable {
 
   /**
    * stop the stream of encoder data
@@ -41,4 +42,10 @@ public interface EncoderControl extends Attachable {
    */
   public Double getPos();
 
-}
+  /**
+   * encoder controls can update their copy of the encoder data and then publish it to listeners.
+   * @param data
+   */
+  public void updateEncoderData(EncoderData data);
+  
+}
\ No newline at end of file

From d569c65b2143307f3e10d03d45959a248258e233 Mon Sep 17 00:00:00 2001
From: kwatters <kwatters@kmwllc.com>
Date: Mon, 2 Jun 2025 13:25:43 -0400
Subject: [PATCH 05/15] small webgui for the As5048AEncoder simply displays the
 angle and raw value from the encoder.

---
 .../app/service/js/As5048AEncoderGui.js       | 39 +++++++++++++++++++
 .../app/service/views/As5048AEncoderGui.html  | 18 +++++++++
 2 files changed, 57 insertions(+)
 create mode 100755 src/main/resources/resource/WebGui/app/service/js/As5048AEncoderGui.js
 create mode 100755 src/main/resources/resource/WebGui/app/service/views/As5048AEncoderGui.html

diff --git a/src/main/resources/resource/WebGui/app/service/js/As5048AEncoderGui.js b/src/main/resources/resource/WebGui/app/service/js/As5048AEncoderGui.js
new file mode 100755
index 0000000000..d0f11e12cc
--- /dev/null
+++ b/src/main/resources/resource/WebGui/app/service/js/As5048AEncoderGui.js
@@ -0,0 +1,39 @@
+angular.module('mrlapp.service.As5048AEncoderGui', []).controller('As5048AEncoderGuiCtrl', ['$scope', 'mrl', function($scope, mrl) {
+    console.info('As5048AEncoderGuiCtrl')
+    var _self = this
+    var msg = this.msg
+
+    $scope.controllers = []
+
+    // published EncoderData
+    $scope.data = null
+  
+    // GOOD TEMPLATE TO FOLLOW
+    this.updateState = function(service) {
+        $scope.service = service
+    }
+
+    this.onMsg = function(inMsg) {
+        var data = inMsg.data[0]
+        switch (inMsg.method) {
+        case 'onState':
+            _self.updateState(data)
+            $scope.$apply()
+            break
+        case 'onEncoderData':
+            $scope.data = data
+            $scope.$apply()
+            break
+        case 'onStatus':
+			console.info("On status")
+        default:
+            console.info("ERROR - unhandled method " + $scope.name + " Method " + inMsg.method)
+            break
+        }
+
+    };
+
+    msg.subscribe('publishEncoderData')
+    msg.subscribe(this)
+}
+])
diff --git a/src/main/resources/resource/WebGui/app/service/views/As5048AEncoderGui.html b/src/main/resources/resource/WebGui/app/service/views/As5048AEncoderGui.html
new file mode 100755
index 0000000000..a3bda34fa5
--- /dev/null
+++ b/src/main/resources/resource/WebGui/app/service/views/As5048AEncoderGui.html
@@ -0,0 +1,18 @@
+<div class="row">
+    <div class="col-md-1">&nbsp;</div>
+    <div class="col-md-11">
+		AS5048A Encoder
+        <table width="300px">
+            <tr>
+                <td>Source</td><td>{{ data.source }}</td>
+            </tr>
+            <tr>
+                <td>Angle</td><td>{{ data.angle.toFixed(3) }}</td>
+            </tr>
+            <tr>
+                <td>Raw Value</td><td>{{ data.value }}</td>
+            </tr>
+        </table>
+    </div>
+</div>
+

From 5ada961312dc8740d916b82b90e24106a8eb4c4d Mon Sep 17 00:00:00 2001
From: kwatters <kwatters@kmwllc.com>
Date: Mon, 2 Jun 2025 13:41:54 -0400
Subject: [PATCH 06/15] adding simplistic webgui for amt203 encoder

---
 .../WebGui/app/service/js/Amt203EncoderGui.js | 39 +++++++++++++++++++
 .../app/service/views/Amt203EncoderGui.html   | 18 +++++++++
 2 files changed, 57 insertions(+)
 create mode 100755 src/main/resources/resource/WebGui/app/service/js/Amt203EncoderGui.js
 create mode 100755 src/main/resources/resource/WebGui/app/service/views/Amt203EncoderGui.html

diff --git a/src/main/resources/resource/WebGui/app/service/js/Amt203EncoderGui.js b/src/main/resources/resource/WebGui/app/service/js/Amt203EncoderGui.js
new file mode 100755
index 0000000000..0339e3b824
--- /dev/null
+++ b/src/main/resources/resource/WebGui/app/service/js/Amt203EncoderGui.js
@@ -0,0 +1,39 @@
+angular.module('mrlapp.service.Amt203EncoderGui', []).controller('Amt203EncoderGuiCtrl', ['$scope', 'mrl', function($scope, mrl) {
+    console.info('Amt203EncoderGuiCtrl')
+    var _self = this
+    var msg = this.msg
+
+    $scope.controllers = []
+
+    // published EncoderData
+    $scope.data = null
+  
+    // GOOD TEMPLATE TO FOLLOW
+    this.updateState = function(service) {
+        $scope.service = service
+    }
+
+    this.onMsg = function(inMsg) {
+        var data = inMsg.data[0]
+        switch (inMsg.method) {
+        case 'onState':
+            _self.updateState(data)
+            $scope.$apply()
+            break
+        case 'onEncoderData':
+            $scope.data = data
+            $scope.$apply()
+            break
+        case 'onStatus':
+			console.info("On status")
+        default:
+            console.info("ERROR - unhandled method " + $scope.name + " Method " + inMsg.method)
+            break
+        }
+
+    };
+
+    msg.subscribe('publishEncoderData')
+    msg.subscribe(this)
+}
+])
diff --git a/src/main/resources/resource/WebGui/app/service/views/Amt203EncoderGui.html b/src/main/resources/resource/WebGui/app/service/views/Amt203EncoderGui.html
new file mode 100755
index 0000000000..a3bda34fa5
--- /dev/null
+++ b/src/main/resources/resource/WebGui/app/service/views/Amt203EncoderGui.html
@@ -0,0 +1,18 @@
+<div class="row">
+    <div class="col-md-1">&nbsp;</div>
+    <div class="col-md-11">
+		AS5048A Encoder
+        <table width="300px">
+            <tr>
+                <td>Source</td><td>{{ data.source }}</td>
+            </tr>
+            <tr>
+                <td>Angle</td><td>{{ data.angle.toFixed(3) }}</td>
+            </tr>
+            <tr>
+                <td>Raw Value</td><td>{{ data.value }}</td>
+            </tr>
+        </table>
+    </div>
+</div>
+

From 0fcdd8b8ba0e12c63f5111caf20c72905042fcab Mon Sep 17 00:00:00 2001
From: kwatters <kwatters@kmwllc.com>
Date: Thu, 5 Jun 2025 11:20:49 -0400
Subject: [PATCH 07/15] minor fixes for the motordualpwm webgui

---
 .../resource/WebGui/app/service/js/MotorDualPwmGui.js         | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/main/resources/resource/WebGui/app/service/js/MotorDualPwmGui.js b/src/main/resources/resource/WebGui/app/service/js/MotorDualPwmGui.js
index c9c86d4041..5a0d02719f 100644
--- a/src/main/resources/resource/WebGui/app/service/js/MotorDualPwmGui.js
+++ b/src/main/resources/resource/WebGui/app/service/js/MotorDualPwmGui.js
@@ -85,7 +85,7 @@ angular.module('mrlapp.service.MotorDualPwmGui', []).controller('MotorDualPwmGui
 
     $scope.update = function() {
         console.info('update')
-        msg.send('map', $scope.service.config.mapper.minIn, $scope.service.config.mapper.minIn, $scope.service.config.mapper.minOut, $scope.service.config.mapper.maxOut)
+        msg.send('map', $scope.service.config.mapper.minIn, $scope.service.config.mapper.maxIn, $scope.service.config.mapper.minOut, $scope.service.config.mapper.maxOut)
     }
 
     $scope.setController = function(c) {
@@ -110,7 +110,7 @@ angular.module('mrlapp.service.MotorDualPwmGui', []).controller('MotorDualPwmGui
 
     
     $scope.setSpeed = function() {
-        msg.send('setSpeed', $scope.requestedPower)
+        msg.send('move', $scope.requestedPower)
     }
 
 

From c54bcbe304eb21f993e28adbfa80ee9abe431739 Mon Sep 17 00:00:00 2001
From: kwatters <kwatters@kmwllc.com>
Date: Thu, 5 Jun 2025 14:00:12 -0400
Subject: [PATCH 08/15] small updates

---
 src/main/java/org/myrobotlab/sensor/TimeEncoder.java     | 8 ++++++++
 src/main/java/org/myrobotlab/service/Arduino.java        | 2 +-
 src/main/java/org/myrobotlab/service/As5048AEncoder.java | 1 +
 3 files changed, 10 insertions(+), 1 deletion(-)

diff --git a/src/main/java/org/myrobotlab/sensor/TimeEncoder.java b/src/main/java/org/myrobotlab/sensor/TimeEncoder.java
index 43233f46d2..fb006cf4c9 100644
--- a/src/main/java/org/myrobotlab/sensor/TimeEncoder.java
+++ b/src/main/java/org/myrobotlab/sensor/TimeEncoder.java
@@ -372,4 +372,12 @@ public void stopMove() {
   public void attachEncoderController(EncoderController controller) {
     // NoOp, the TimeEncoder doesn't need a controller.
   }
+
+  @Override
+  public void updateEncoderData(EncoderData data) {
+    // NoOp, this encoder updates itself.
+    // TODO: should we publish an invoke here?
+    // invoke("publishEncoderData", data);
+    
+  }
 }
\ No newline at end of file
diff --git a/src/main/java/org/myrobotlab/service/Arduino.java b/src/main/java/org/myrobotlab/service/Arduino.java
index 53289d062e..bb828ddf3e 100644
--- a/src/main/java/org/myrobotlab/service/Arduino.java
+++ b/src/main/java/org/myrobotlab/service/Arduino.java
@@ -1685,7 +1685,6 @@ public EncoderData publishEncoderData(EncoderData data) {
   @Override
   public EncoderData publishEncoderData(Integer deviceId, Integer position) {
     // Also need to log this
-
     EncoderControl ec = (EncoderControl) getDevice(deviceId);
     String pin = null;
     Double angle = null;
@@ -1706,6 +1705,7 @@ public EncoderData publishEncoderData(Integer deviceId, Integer position) {
     // TODO: how do i publish the data from the encoder?
    // ec.publishEncoderData(data);
     // This will pass the encoder data to the encoder and the encoder will publish it to listeners.
+    //log.info("Encoder data! {}", data);
     ((EncoderControl)ec).updateEncoderData(data);
     //     invoke("publishEncoderData", data);
     // TODO: all this code needs to move out of here!
diff --git a/src/main/java/org/myrobotlab/service/As5048AEncoder.java b/src/main/java/org/myrobotlab/service/As5048AEncoder.java
index 8c93b684ee..3bebeebbc2 100755
--- a/src/main/java/org/myrobotlab/service/As5048AEncoder.java
+++ b/src/main/java/org/myrobotlab/service/As5048AEncoder.java
@@ -47,6 +47,7 @@ public static void main(String[] args) throws Exception {
   
   public void updateEncoderData(EncoderData data) {
     // publish the updated encoder data (this is updated from the arduino..)
+    // log.info("Encoder data: {}", data);
     invoke("publishEncoderData", data); 
   }
 

From c1108ce8be9aa67b9a814c62adfab65fde42bcf4 Mon Sep 17 00:00:00 2001
From: kwatters <kwatters@kmwllc.com>
Date: Thu, 5 Jun 2025 14:29:36 -0400
Subject: [PATCH 09/15] moving the diyservo2 work into this branch

---
 .../org/myrobotlab/service/DiyServo2.java     | 629 ++++++++++++++++++
 .../service/config/DiyServo2Config.java       |  37 ++
 .../WebGui/app/service/js/DiyServo2Gui.js     |  34 +
 .../app/service/views/DiyServo2Gui.html       |   4 +
 4 files changed, 704 insertions(+)
 create mode 100755 src/main/java/org/myrobotlab/service/DiyServo2.java
 create mode 100755 src/main/java/org/myrobotlab/service/config/DiyServo2Config.java
 create mode 100755 src/main/resources/resource/WebGui/app/service/js/DiyServo2Gui.js
 create mode 100755 src/main/resources/resource/WebGui/app/service/views/DiyServo2Gui.html

diff --git a/src/main/java/org/myrobotlab/service/DiyServo2.java b/src/main/java/org/myrobotlab/service/DiyServo2.java
new file mode 100755
index 0000000000..4927c74d21
--- /dev/null
+++ b/src/main/java/org/myrobotlab/service/DiyServo2.java
@@ -0,0 +1,629 @@
+/**
+ *                    
+ * This file is part of MyRobotLab (http://myrobotlab.org).
+ *
+ * MyRobotLab is free software: you can redistribute it and/or modify
+ * it under the terms of the Apache License 2.0 as published by
+ * the Free Software Foundation, either version 2 of the License, or
+ * (at your option) any later version (subject to the "Classpath" exception
+ * as provided in the LICENSE.txt file that accompanied this code).
+ *
+ * MyRobotLab is distributed in the hope that it will be useful or fun,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * Apache License 2.0 for more details.
+ *
+ * All libraries in thirdParty bundle are subject to their own license
+ * requirements - please refer to http://myrobotlab.org/libraries for 
+ * details.
+ * 
+ * Enjoy !
+ * 
+ * */
+
+package org.myrobotlab.service;
+
+import org.myrobotlab.framework.Service;
+import org.myrobotlab.logging.LoggingFactory;
+import org.myrobotlab.math.interfaces.Mapper;
+import org.myrobotlab.sensor.EncoderData;
+import org.myrobotlab.sensor.EncoderListener;
+import org.myrobotlab.service.data.ServoMove;
+import org.myrobotlab.service.data.ServoSpeed;
+import org.myrobotlab.service.interfaces.EncoderControl;
+import org.myrobotlab.service.interfaces.MotorControl;
+import org.myrobotlab.service.interfaces.ServoControl;
+import org.myrobotlab.service.interfaces.ServoControlPublisher;
+import org.myrobotlab.service.interfaces.ServoController;
+import org.myrobotlab.service.interfaces.ServoEvent;
+import org.myrobotlab.service.interfaces.ServoStatusPublisher;
+
+/**
+ * Simple(ish) DiyServo2.  
+ * This service requires an Encoder and a MotorControl.  It uses PID control to 
+ * control the position of an actuator measured by the encoder with the motor.
+ * The standard PID params are supported Kp,Ki,Kd.
+ * This implements servo control.
+ * 
+ * Data is published from the encoder to this service, that updates the input to the Pid control.
+ * The Pid output is computed by default at 20Hz and is controlled by the sampleTime parameter.
+ * The output of the pid control is then written to the motor control
+ */
+
+public class DiyServo2 extends Service implements EncoderListener, ServoControl, ServoControlPublisher, ServoStatusPublisher {
+
+  private static final long serialVersionUID = 1L;
+  private volatile boolean enabled = true;
+  private MotorControl motorControl;
+  private Double currentAngle;
+  public Pid pid;
+
+  // TODO: use the motor name.
+  public String pidKey = "diy2";
+
+  private double kp = 0.05;
+  private double ki = 0.001; // 0.020;
+  private double kd = 0.001; // 0.020;
+  public double setpoint = 90.0; // Intial
+  // samples per second.
+  public int sampleTime = 20;
+  static final public int MODE_AUTOMATIC = 1;
+  
+  transient MotorUpdater motorUpdater;
+  EncoderControl encoder;
+  private Double rest = 90.0;
+  private long lastActivityTimeMS;
+  
+  public DiyServo2(String reservedKey, String inId) {
+    super(reservedKey, inId);
+  }
+
+  @Override
+  synchronized public void startService() {
+    super.startService();
+    pidKey = getFullName();
+    // TODO:figure out what we should do here?  perhaps nothing?
+    initPid();
+  }
+
+  void initPid() {
+    // are the peers going to be created?
+    pid = (Pid)Runtime.start("pid", "Pid");
+    //pid = (Pid) createPeer("pid");
+    pidKey = this.getName();
+    pid.setPid(pidKey, kp, ki, kd); // Create a PID with the name of this
+    // service instance
+    pid.setMode(pidKey, MODE_AUTOMATIC); // Initial mode is manual
+    pid.setOutputRange(pidKey, -1.0, 1.0); // Set the Output range to match the Motor input
+    pid.setSampleTime(pidKey, sampleTime); // Sets the sample time
+    pid.setSetpoint(pidKey, setpoint);
+    pid.startService();
+  }
+  
+  @Override
+  public void onEncoderData(EncoderData data) {
+    // System.err.println("DIY Servo Encoder Data: " + data);
+    this.currentAngle = data.angle;
+  }
+
+  public void attachEncoderControl(EncoderControl enc) {
+    encoder = enc;
+    // Tell the encoder to publish encoder data to this service
+    encoder.attachEncoderListener(this);
+  }
+
+  private void attachMotorControl(MotorControl mot) {
+    // use the motor name as the pid key
+    this.motorControl = mot;
+    
+    //  this.pidKey = mot.getName();
+    if (motorUpdater == null) {
+      log.info("Starting MotorUpdater");
+      motorUpdater = new MotorUpdater(getName());
+      motorUpdater.start();
+      log.info("MotorUpdater started");
+    }
+
+  }
+
+  public Double moveTo(Double angle) {
+    // This updates the setpoint of the pid control.
+    this.setpoint = angle;
+    pid.setSetpoint(pidKey, angle);
+    lastActivityTimeMS = System.currentTimeMillis();
+    // Why does this return a boolean?
+    return angle;
+  }
+
+  /**
+   * MotorUpdater The control loop to update the MotorControl with new values
+   * based on the PID calculations
+   * 
+   */
+  public class MotorUpdater extends Thread {
+
+    double lastOutput = 0.0;
+    // degree threshold for saying that we've arrived.
+    double threshold = 0.25;
+    // goal is to not use this
+    
+    public MotorUpdater(String name) {
+      super(String.format("%s.motorUpdater", name));
+    }
+
+    @Override
+    public void run() {
+      log.info("Motor updater started");
+      try {
+        while (true) {
+          if (isRunning()) {
+            log.info("Updating control loop");
+            // Calculate the new value for the motor
+            if (pid.data.containsKey(pidKey)) {
+              // Update the pid input value.
+              // pass the current angle from the encoder to the pid controller
+              double output = pid.compute(pidKey, currentAngle);
+              double delta = Math.abs(currentAngle - setpoint);
+              if (delta < threshold ) {
+                log.info("Arrived!");
+                // TODO: some debouncing logic here.
+                // TODO: publish the servo events for started/stopped here.
+              } else if (output != lastOutput) {
+                log.info("move motor : Power: {}  Target: {}  Current: {}  Delta: {}", output, setpoint, currentAngle, delta);
+                motorControl.move(output);
+                lastOutput = output;
+              } else {
+                log.info("delta {} threshold {} current {} setpoint {} output {} lastOutput {}", delta, threshold, currentAngle, setpoint, output, lastOutput);
+              }
+            }
+            // TODO: how long do we need to sleep
+            // TODO: maybe a more accurate loop timer?
+            // This is a samples per second.. we need to only wait for the remainaing amount of time in the period.
+            Thread.sleep(1000 / sampleTime);
+          } else {
+            log.info("Not running?!");
+          }
+          
+        }
+      } catch (Exception e) {
+        if (e instanceof InterruptedException) {
+          motorControl.stop();
+        } else {
+          log.error("motor updater threw", e);
+        }
+      }
+    }
+
+    private boolean isRunning() {
+      // if we are enabled, have a motor connected and have received encoder data.
+      return enabled && motorControl != null && currentAngle != null;
+    }
+  }
+
+  @Override
+  public void disable() {
+    // TODO: what do do here?
+    // motorControl.disable();
+    motorControl.stop();
+    enabled = false;
+    // TODO: broadcast enabled/disabled messages?
+  }
+
+  @Override
+  public void enable() {
+    // TODO: what do to here?  
+    // motorControl.enable();
+      enabled = true;
+  }
+
+  @Override
+  public double getRest() {
+    // Ok.. not a bad idea.. let's have a rest position for the servo.. default to 90 deg? or something?
+    return rest;
+  }
+
+  @Override
+  public boolean isAutoDisable() {
+    // TODO: impl this.. safety is good.
+    return false;
+  }
+  
+  @Override
+  public void attach(ServoController listener) {
+    // TODO: remove from ServoControl interface... NoOp here.
+    // NoOp : no servo controllers here..
+    log.warn("Diy Servo doesn't use a controller..  no implemented.");
+  }
+
+  @Override
+  public void detach(ServoController listener) {
+    // TODO maybe remove from interface?  this service doesn't give a crapola about servo controllers.
+    log.warn("Diy Servo doesn't use a controller..  no implemented.");    
+  }
+
+  @Override
+  public String getController() {
+    // TODO remove from interface?. we have no controller.
+    log.warn("Diy Servo doesn't use a controller..  no implemented.");
+    return null;
+  }
+
+  @Override
+  public EncoderControl getEncoder() {
+    // TODO: we just subscribe to the encoder.. we don't have/need a handle to it!  
+    // why are we expected to return it.. remove from interface.
+    return encoder;
+  }
+
+  @Override
+  public long getLastActivityTime() {
+    return lastActivityTimeMS;
+  }
+
+  @Override
+  public Mapper getMapper() {
+    // TODO - we have no mapper...
+    return null;
+  }
+
+  @Override
+  public double getMax() {
+    // TODO: should implement.. safety limits are important.
+    // This might be useful to know what the max/min value that this encoder can get to.. but for us.. it's 360 degrees.. and can rotate as much as we like.
+    return 360;
+  }
+
+  @Override
+  public double getMin() {
+    // TODO safety limits are good..  
+    return 0;
+  }
+
+  @Override
+  public String getPin() {
+    log.warn("DiyServo doesn't have pins.  No implemented.");
+    // TODO: This doesn't mean anything here. 
+    // maybe this is the pin from the encoder? but why..  
+    return null;
+  }
+
+  @Override
+  public double getCurrentInputPos() {
+    // TODO: return currentAngle? we have no mapper.
+    return currentAngle;
+  }
+
+  @Override
+  public double getCurrentOutputPos() {
+    // TODO: this interface has way too much stuff in it... 
+    // return the last known encoder angle
+    return currentAngle;
+  }
+
+  @Override
+  public Double getSpeed() {
+    // TODO: implement speed control
+    return null;
+  }
+
+  @Override
+  public double getTargetOutput() {
+    // the setPoint for the pid control is the target output.
+    // we have no mapper..
+    return setpoint;
+  }
+
+  @Override
+  public double getTargetPos() {
+    // This is the setPoint for the pid control.. the target position.  
+    return setpoint;
+  }
+
+  @Override
+  public boolean isBlocking() {
+    // TODO What does this mean? should we remove this from the interface?
+    return false;
+  }
+
+  @Override
+  public boolean isEnabled() {
+    return enabled;
+  }
+
+  @Override
+  public boolean isInverted() {
+    // TODO not sure what this means for a diyservo.
+    return false;
+  }
+
+  @Override
+  public boolean isMoving() {
+    // TODO we should trigger this off the  power output being sent to the motor.
+    return false;
+  }
+
+  @Override
+  public void map(double minX, double maxX, double minY, double maxY) {
+    // TODO No mapper in the diyservo (yet.)
+  }
+
+  @Override
+  public Double moveToBlocking(Double pos) {
+    return moveToBlocking(pos, null);
+  }
+
+  @Override
+  public Double moveToBlocking(Double pos, Long timeoutMs) {
+    // TODO : implement a timed out blocking move.
+    this.moveTo(pos);
+    //TODO: block until we get there!
+    return null;
+  }
+
+  @Override
+  public void rest() {
+    // ok. move to base class.
+    moveTo(rest);
+  }
+
+  @Override
+  public void setMapper(Mapper m) {
+    // TODO Do we actually need a mapper?  
+  }
+
+  @Override
+  public void setMinMax(double minXY, double maxXY) {
+    // TODO: implement this.. for safty limits.. dont support a move call outside the specified range.
+    // we don't even have a mapper.. we dont' need one..we might want a mapper that gives us a phase shift.
+    // but reality is. that should be handled by the encoder.
+  }
+
+  @Override
+  public void setMinMaxOutput(double minY, double maxY) {
+    // TODO: implement this.. for safty limits.. dont support a move call outside the specified range.
+  }
+
+  @Override
+  public void setPin(Integer pin) {
+    // TODO: There are no pins!  we have no pins!
+    log.warn("setPin not implemented in DiyServo.");
+  }
+
+  @Override
+  public void setPin(String pin) {
+    // TODO: remove from interface?  We don't have any pins.
+    log.warn("setPin not implemented in DiyServo.");
+  }
+
+  @Override
+  public void setPosition(double pos) {
+    // TODO: maybe deprecate and  remove from interface ?
+    // This method had a strange functionality of setting a position
+    // even though the servo wasn't attached / enabled?
+    moveTo(pos);
+  }
+
+  @Override
+  public void setRest(double rest) {
+    // TODO move to base class
+    this.rest = rest;
+  }
+
+  @Override
+  public void setSpeed(Double degreesPerSecond) {
+    // TODO: velocity control.
+  }
+
+  @Override
+  public void stop() {
+    // Stop the motor... anything else?
+    motorControl.move(0.0);
+  }
+
+  @Override
+  public void sync(ServoControl sc) {
+    // TODO Impl me.
+  }
+
+  @Override
+  public void unsync(ServoControl sc) {
+    // TODO Impl me    
+  }
+
+  @Override
+  public void waitTargetPos() {
+    // TODO Auto-generated method stub
+    // really? ok.
+    // here we should wait until we have "arrived"  ...
+    
+  }
+
+  @Override
+  public void writeMicroseconds(int uS) {
+    // NoOp here... should be removed from ServoControl interface.. this is specific to a pwm controlled servo
+    log.warn("Write Microseconds not implemented for DiyServo.");
+  }
+
+
+
+  @Override
+  public void fullSpeed() {
+    // TODO: add a velocity control.
+    // TODO: deprecated, remove from interface?
+  }
+
+  @Override
+  public ServoControl publishMoveTo(ServoControl sc) {
+    return sc;
+  }
+
+  @Override
+  public ServoControl publishServoStop(ServoControl sc) {
+    return sc;
+  }
+
+  @Override
+  public Double moveToBlocking(Integer newPos) {
+    // TODO Auto-generated method stub
+    return null;
+  }
+
+  @Override
+  public Double moveToBlocking(Integer newPos, Long timeoutMs) {
+    // TODO Auto-generated method stub
+    return null;
+  }
+
+  @Override
+  public ServoEvent publishServoStarted(String name, Double position) {
+    // TODO Auto-generated method stub
+    return null;
+  }
+
+  @Override
+  public ServoEvent publishServoStopped(String name, Double position) {
+    // TODO Auto-generated method stub
+    return null;
+  }
+
+  @Override
+  public ServoMove publishServoMoveTo(ServoMove pos) {
+    // TODO Auto-generated method stub
+    return null;
+  }
+
+  @Override
+  public String publishServoEnable(String name) {
+    // TODO Auto-generated method stub
+    return null;
+  }
+
+  @Override
+  public void attachServoControlListener(String name) {
+    // TODO Auto-generated method stub
+    
+  }
+
+  @Override
+  public void setAutoDisable(boolean autoDisable) {
+    // TODO Auto-generated method stub
+    
+  }
+
+  @Override
+  public void setInverted(boolean invert) {
+    // TODO Auto-generated method stub
+    
+  }
+
+  @Override
+  public void setSpeed(Integer degreesPerSecond) {
+    // TODO Auto-generated method stub
+    
+  }
+
+  @Override
+  public void sync(String name) {
+    // TODO Auto-generated method stub
+    
+  }
+
+  @Override
+  public void unsync(String name) {
+    // TODO Auto-generated method stub
+    
+  }
+
+  @Override
+  public void attachServoController(String sc) {
+    // TODO Auto-generated method stub
+    
+  }
+
+  @Override
+  public void setMaxSpeed() {
+    // TODO Auto-generated method stub
+    
+  }
+
+  @Override
+  public Double moveTo(Integer newPos) {
+    // TODO Auto-generated method stub
+    return null;
+  }
+
+  @Override
+  public ServoSpeed publishServoSetSpeed(ServoControl sc) {
+    // TODO Auto-generated method stub
+    return null;
+  }
+
+  @Override
+  public String publishServoEnable(ServoControl sc) {
+    // TODO Auto-generated method stub
+    return null;
+  }
+
+  @Override
+  public String publishServoDisable(ServoControl sc) {
+    // TODO Auto-generated method stub
+    return null;
+  }
+
+  
+  public static void main(String[] args) throws Exception {
+
+    LoggingFactory.init("info");
+    
+    
+    WebGui webgui = (WebGui)Runtime.start("webgui", "WebGui");
+   
+    // Compose the components of the diy servo and attach them.
+    // Make one.. and stuff.
+    // setup the encoder.
+    Arduino ard = (Arduino)Runtime.start("ard", "Arduino");
+    ard.connect("COM5");
+    // ard.setDebug(true);
+    As5048AEncoder encoder = (As5048AEncoder) Runtime.start("encoder", "As5048AEncoder");
+    encoder.setPin(10);
+    ard.attach(encoder);
+    // setup the motor.
+    // encoder.ttach
+    MotorDualPwm mot = (MotorDualPwm) Runtime.start("diyServo.motor", "MotorDualPwm");
+    mot.setPwmPins(6, 7);
+    ard.attach(mot);
+    // TODO: attach both to the diyservo and set the pin.
+    
+    
+    
+    if (true) {
+      // What else do we need?
+      DiyServo2 diy = (DiyServo2)Runtime.start("diy", "DiyServo2");
+      // attach the encoder and motor to the diy servo.
+      diy.attachEncoderControl(encoder);
+      diy.attachMotorControl(mot);
+
+      // Now we can move it??
+
+
+
+      // attach the encoder and motor
+      //  diy.attachEncoderControl(encoder);
+      //  diy.attachMotorControl(mot);
+      // Tell the servo to move somewhere.
+
+      diy.moveTo(75.0);
+      Thread.sleep(2000);
+      // diy.disable();
+      // Thread.sleep(1000);
+      // diy.enable();
+      diy.moveTo(125.0);
+    }
+    System.out.println("Press the any key");
+    System.in.read();
+
+  }
+  
+  
+  
+}
\ No newline at end of file
diff --git a/src/main/java/org/myrobotlab/service/config/DiyServo2Config.java b/src/main/java/org/myrobotlab/service/config/DiyServo2Config.java
new file mode 100755
index 0000000000..15def3a605
--- /dev/null
+++ b/src/main/java/org/myrobotlab/service/config/DiyServo2Config.java
@@ -0,0 +1,37 @@
+package org.myrobotlab.service.config;
+
+import org.myrobotlab.framework.Plan;
+import org.myrobotlab.service.Pid.PidData;
+
+public class DiyServo2Config extends ServiceConfig {
+  // TODO: add config here
+  @Override
+  public Plan getDefault(Plan plan, String name) {
+    super.getDefault(plan, name);
+    
+    // Ok.. what do we need to add here for the DIYServo?  
+    // we need an encoder... 
+    // we need a motor
+    // we need a Pid
+    addDefaultPeerConfig(plan, name, "motor", "MotorDualPwm");
+    addDefaultPeerConfig(plan, name, "encoder", "As5048AEncoder");
+    addDefaultPeerConfig(plan, name, "pid", "Pid");
+    
+    
+    MotorDualPwmConfig motor = (MotorDualPwmConfig) plan.get(getPeerName("motor"));
+    // TODO: controller?!
+    // motor.controller
+    motor.leftPwmPin = "6";
+    motor.rightPwmPin = "7";
+    
+    // TODO: how do we handle the controller for the encoder?  (could be different than the motor)
+    As5048AEncoderConfig encoder = (As5048AEncoderConfig) plan.get(getPeerName("encoder"));
+    
+    PidConfig pid = (PidConfig) plan.get(getPeerName("pid"));
+    pid.data.put(name, new PidData());
+    
+    // default settings?  
+    return plan;
+  }
+}
+
diff --git a/src/main/resources/resource/WebGui/app/service/js/DiyServo2Gui.js b/src/main/resources/resource/WebGui/app/service/js/DiyServo2Gui.js
new file mode 100755
index 0000000000..d61db6a424
--- /dev/null
+++ b/src/main/resources/resource/WebGui/app/service/js/DiyServo2Gui.js
@@ -0,0 +1,34 @@
+angular.module('mrlapp.service.DiyServo2Gui', []).controller('DiyServo2GuiCtrl', ['$scope', 'mrl', function($scope, mrl) {
+    console.info('DiyServo2GuiCtrl')
+    var _self = this
+    var msg = this.msg
+
+    // GOOD TEMPLATE TO FOLLOW
+    this.updateState = function(service) {
+        $scope.service = service
+    }
+
+    this.onMsg = function(inMsg) {
+        var data = inMsg.data[0]
+        switch (inMsg.method) {
+        case 'onState':
+            _self.updateState(data)
+            $scope.$apply()
+            break
+        // TODO: figure out which callbacks we will subscribe to here.
+        case 'onServoData':
+            $scope.data = data
+            $scope.$apply()
+            break
+        case 'onStatus':
+			console.info("On status")
+        default:
+            console.info("ERROR - unhandled method " + $scope.name + " Method " + inMsg.method)
+            break
+        }
+
+    };
+
+    // msg.subscribe('publishEncoderData')
+    msg.subscribe(this)}
+])
diff --git a/src/main/resources/resource/WebGui/app/service/views/DiyServo2Gui.html b/src/main/resources/resource/WebGui/app/service/views/DiyServo2Gui.html
new file mode 100755
index 0000000000..b5e1232f0a
--- /dev/null
+++ b/src/main/resources/resource/WebGui/app/service/views/DiyServo2Gui.html
@@ -0,0 +1,4 @@
+<!-- ServoGui.html -->
+<div class="col-md-12">
+	Diy Servo 2 !
+</div>

From 8ea3559008d6929ee6371e9f10df930aa110011e Mon Sep 17 00:00:00 2001
From: kwatters <kwatters@kmwllc.com>
Date: Thu, 5 Jun 2025 16:07:16 -0400
Subject: [PATCH 10/15] meta file for the diyservo2

---
 .../service/meta/DiyServo2Meta.java           | 27 +++++++++++++++++++
 1 file changed, 27 insertions(+)
 create mode 100755 src/main/java/org/myrobotlab/service/meta/DiyServo2Meta.java

diff --git a/src/main/java/org/myrobotlab/service/meta/DiyServo2Meta.java b/src/main/java/org/myrobotlab/service/meta/DiyServo2Meta.java
new file mode 100755
index 0000000000..51ed2c8d52
--- /dev/null
+++ b/src/main/java/org/myrobotlab/service/meta/DiyServo2Meta.java
@@ -0,0 +1,27 @@
+package org.myrobotlab.service.meta;
+
+import org.myrobotlab.framework.Platform;
+import org.myrobotlab.logging.LoggerFactory;
+import org.myrobotlab.service.meta.abstracts.MetaData;
+import org.slf4j.Logger;
+
+public class DiyServo2Meta extends MetaData {
+  private static final long serialVersionUID = 1L;
+  public final static Logger log = LoggerFactory.getLogger(DiyServo2Meta.class);
+
+  /**
+   * This class is contains all the meta data details of a service. It's peers,
+   * dependencies, and all other meta data related to the service.
+   * 
+   */
+  public DiyServo2Meta(String name) {
+    Platform platform = Platform.getLocalInstance();
+    addDescription("Controls a motor so that it can be used as a Servo with an encoder feedback");
+    addCategory("control", "servo");
+    // TODO: add peers here?
+    //addPeer("motor", "MotorDualPwm", "MotorControl service");
+    //addPeer("pid", "Pid", "PID service");
+
+  }
+
+}

From 74bdf5b865b915a22bc8eeb6eb166681903a04a5 Mon Sep 17 00:00:00 2001
From: kwatters <kwatters@kmwllc.com>
Date: Fri, 6 Jun 2025 12:17:40 -0400
Subject: [PATCH 11/15] sync some small changes.. add a move to slider in the
 diyservo2 gui for testing.

---
 src/main/java/org/myrobotlab/service/DiyServo2.java | 13 +++++++++----
 .../resource/WebGui/app/service/js/DiyServo2Gui.js  | 10 +++++++++-
 .../WebGui/app/service/views/DiyServo2Gui.html      |  9 ++++++++-
 3 files changed, 26 insertions(+), 6 deletions(-)

diff --git a/src/main/java/org/myrobotlab/service/DiyServo2.java b/src/main/java/org/myrobotlab/service/DiyServo2.java
index 4927c74d21..891a4b1b2c 100755
--- a/src/main/java/org/myrobotlab/service/DiyServo2.java
+++ b/src/main/java/org/myrobotlab/service/DiyServo2.java
@@ -28,6 +28,7 @@
 import org.myrobotlab.math.interfaces.Mapper;
 import org.myrobotlab.sensor.EncoderData;
 import org.myrobotlab.sensor.EncoderListener;
+import org.myrobotlab.service.config.DiyServo2Config;
 import org.myrobotlab.service.data.ServoMove;
 import org.myrobotlab.service.data.ServoSpeed;
 import org.myrobotlab.service.interfaces.EncoderControl;
@@ -50,7 +51,7 @@
  * The output of the pid control is then written to the motor control
  */
 
-public class DiyServo2 extends Service implements EncoderListener, ServoControl, ServoControlPublisher, ServoStatusPublisher {
+public class DiyServo2 extends Service<DiyServo2Config> implements EncoderListener, ServoControl, ServoControlPublisher, ServoStatusPublisher {
 
   private static final long serialVersionUID = 1L;
   private volatile boolean enabled = true;
@@ -66,7 +67,7 @@ public class DiyServo2 extends Service implements EncoderListener, ServoControl,
   private double kd = 0.001; // 0.020;
   public double setpoint = 90.0; // Intial
   // samples per second.
-  public int sampleTime = 20;
+  public int sampleTime = 4;
   static final public int MODE_AUTOMATIC = 1;
   
   transient MotorUpdater motorUpdater;
@@ -127,11 +128,15 @@ private void attachMotorControl(MotorControl mot) {
   }
 
   public Double moveTo(Double angle) {
+    log.info("Servo Move to {}", angle);
     // This updates the setpoint of the pid control.
     this.setpoint = angle;
     pid.setSetpoint(pidKey, angle);
     lastActivityTimeMS = System.currentTimeMillis();
     // Why does this return a boolean?
+    
+    // invoke("publishMoveTo", this);
+    invoke("publishServoEvent", angle);
     return angle;
   }
 
@@ -157,7 +162,7 @@ public void run() {
       try {
         while (true) {
           if (isRunning()) {
-            log.info("Updating control loop");
+            // log.info("Updating control loop");
             // Calculate the new value for the motor
             if (pid.data.containsKey(pidKey)) {
               // Update the pid input value.
@@ -549,7 +554,7 @@ public void setMaxSpeed() {
   @Override
   public Double moveTo(Integer newPos) {
     // TODO Auto-generated method stub
-    return null;
+    return moveTo(Double.valueOf(newPos));
   }
 
   @Override
diff --git a/src/main/resources/resource/WebGui/app/service/js/DiyServo2Gui.js b/src/main/resources/resource/WebGui/app/service/js/DiyServo2Gui.js
index d61db6a424..87dbdfde5a 100755
--- a/src/main/resources/resource/WebGui/app/service/js/DiyServo2Gui.js
+++ b/src/main/resources/resource/WebGui/app/service/js/DiyServo2Gui.js
@@ -8,6 +8,10 @@ angular.module('mrlapp.service.DiyServo2Gui', []).controller('DiyServo2GuiCtrl',
         $scope.service = service
     }
 
+    $scope.moveTo = function(pos) {
+        msg.send('moveTo', pos)
+    }
+
     this.onMsg = function(inMsg) {
         var data = inMsg.data[0]
         switch (inMsg.method) {
@@ -16,6 +20,10 @@ angular.module('mrlapp.service.DiyServo2Gui', []).controller('DiyServo2GuiCtrl',
             $scope.$apply()
             break
         // TODO: figure out which callbacks we will subscribe to here.
+        case 'onServoEvent':
+            $scope.data = data
+            $scope.$apply()
+            break
         case 'onServoData':
             $scope.data = data
             $scope.$apply()
@@ -29,6 +37,6 @@ angular.module('mrlapp.service.DiyServo2Gui', []).controller('DiyServo2GuiCtrl',
 
     };
 
-    // msg.subscribe('publishEncoderData')
+    msg.subscribe('publishServoEvent')
     msg.subscribe(this)}
 ])
diff --git a/src/main/resources/resource/WebGui/app/service/views/DiyServo2Gui.html b/src/main/resources/resource/WebGui/app/service/views/DiyServo2Gui.html
index b5e1232f0a..4461bfaa70 100755
--- a/src/main/resources/resource/WebGui/app/service/views/DiyServo2Gui.html
+++ b/src/main/resources/resource/WebGui/app/service/views/DiyServo2Gui.html
@@ -1,4 +1,11 @@
 <!-- ServoGui.html -->
 <div class="col-md-12">
-	Diy Servo 2 !
+	Diy Servo 2 ! {{ serivce.targetPos }}
+	Diy Servo a..! {{ targetPos }}
+	Data {{ data }}
+	
+	<br/>
+	<input class="servo-move-to-slider" type="range" name="targetPos"
+           ng-model="service.targetPos" min="0" max="360"
+           ng-change="moveTo(service.targetPos)" ng-mousedown="disableUpdates()" ng-mouseup="enableUpdates()">
 </div>

From c7f6db2710fbbdb74a1a3f8c27ddd65fae5dd721 Mon Sep 17 00:00:00 2001
From: Kevin Watters <kwatters@kmwllc.com>
Date: Tue, 10 Jun 2025 10:07:50 -0400
Subject: [PATCH 12/15] sync some more changes, allow the encoder and
 dualpwmmotor to reattach if the arduino is reset.

---
 .../org/myrobotlab/sensor/EncoderData.java    | 48 +++++++++++++++++++
 .../java/org/myrobotlab/service/Arduino.java  | 14 ++++++
 .../myrobotlab/service/As5048AEncoder.java    | 28 ++++++++++-
 .../org/myrobotlab/service/DiyServo2.java     | 22 +++++----
 4 files changed, 102 insertions(+), 10 deletions(-)

diff --git a/src/main/java/org/myrobotlab/sensor/EncoderData.java b/src/main/java/org/myrobotlab/sensor/EncoderData.java
index a016c9f2a5..c45ec857b4 100644
--- a/src/main/java/org/myrobotlab/sensor/EncoderData.java
+++ b/src/main/java/org/myrobotlab/sensor/EncoderData.java
@@ -30,6 +30,54 @@ public class EncoderData {
    */
   public double value;
 
+  public String getPin() {
+    return pin;
+  }
+
+  public void setPin(String pin) {
+    this.pin = pin;
+  }
+
+  public String getType() {
+    return type;
+  }
+
+  public void setType(String type) {
+    this.type = type;
+  }
+
+  public String getSource() {
+    return source;
+  }
+
+  public void setSource(String source) {
+    this.source = source;
+  }
+
+  public Double getAngle() {
+    return angle;
+  }
+
+  public void setAngle(Double angle) {
+    this.angle = angle;
+  }
+
+  public double getValue() {
+    return value;
+  }
+
+  public void setValue(double value) {
+    this.value = value;
+  }
+
+  public long getTimestamp() {
+    return timestamp;
+  }
+
+  public void setTimestamp(long timestamp) {
+    this.timestamp = timestamp;
+  }
+
   /**
    * time data was generated
    */
diff --git a/src/main/java/org/myrobotlab/service/Arduino.java b/src/main/java/org/myrobotlab/service/Arduino.java
index bb828ddf3e..796ceb1ccc 100644
--- a/src/main/java/org/myrobotlab/service/Arduino.java
+++ b/src/main/java/org/myrobotlab/service/Arduino.java
@@ -503,6 +503,20 @@ public void reattach(DeviceMapping dm) {
       if (servo.isEnabled()) {
         msg.servoAttachPin(dm.getId(), pin);
       }
+    } else if (attachable instanceof As5048AEncoder) {
+      // TODO: reattach it!
+      As5048AEncoder enc = (As5048AEncoder)attachable;
+      log.info("================ re-attaching {} {} {} ================", enc.getName(), dm.getId(), enc.getPin());
+      msg.encoderAttach(dm.getId(), 1, Integer.valueOf(enc.getPin()));
+    } else if (attachable instanceof MotorDualPwm) {
+      // TODO: reattach it!
+      MotorDualPwm motor = (MotorDualPwm)attachable;
+      int[] pins = new int[] {Integer.valueOf(motor.getLeftPwmPin()), Integer.valueOf(motor.getRightPwmPin())};
+      // TODO: what's the type?!
+      int type = 0;
+      log.info("================ re-attaching {} {} {} ================", motor.getName(), dm.getId(), pins);
+      msg.motorAttach(dm.getId(),type, pins );
+      
     } else if (attachable instanceof UltrasonicSensorControl) {
       log.warn("UltrasonicSensorControl not implemented");
       // reattach logic
diff --git a/src/main/java/org/myrobotlab/service/As5048AEncoder.java b/src/main/java/org/myrobotlab/service/As5048AEncoder.java
index 3bebeebbc2..b39512133f 100755
--- a/src/main/java/org/myrobotlab/service/As5048AEncoder.java
+++ b/src/main/java/org/myrobotlab/service/As5048AEncoder.java
@@ -1,5 +1,8 @@
 package org.myrobotlab.service;
 
+import java.util.concurrent.LinkedBlockingQueue;
+
+import org.apache.commons.math3.util.Precision;
 import org.myrobotlab.logging.LoggingFactory;
 import org.myrobotlab.sensor.EncoderData;
 import org.myrobotlab.sensor.EncoderListener;
@@ -16,8 +19,12 @@
  */
 public class As5048AEncoder extends AbstractPinEncoder<ServiceConfig> implements EncoderControl, EncoderPublisher {
 
+  private static final int HISTORY_SIZE = 5;
+
   private static final long serialVersionUID = 1L;
 
+  private LinkedBlockingQueue<EncoderData> history = new LinkedBlockingQueue<EncoderData>(HISTORY_SIZE);
+  
   public As5048AEncoder(String n, String id) {
     super(n, id);
     // 14 bit encoder is 2^16 steps of resolution
@@ -48,7 +55,26 @@ public static void main(String[] args) throws Exception {
   public void updateEncoderData(EncoderData data) {
     // publish the updated encoder data (this is updated from the arduino..)
     // log.info("Encoder data: {}", data);
-    invoke("publishEncoderData", data); 
+    // pop the first value
+    if (history.remainingCapacity() == 0) {
+      history.poll();
+    }
+    history.offer(data);
+    // This is computing a moving average for the encoder value to smooth it out a bit.
+    double avgVal = history.stream().mapToDouble(EncoderData::getValue).average().orElse(0.0);
+    double avgAngle = Precision.round(history.stream().mapToDouble(EncoderData::getAngle).average().orElse(0.0), 1);    
+    
+   // Precision.round(avgAngle, 2);
+   // double avgVal = (previousData.value + data.value)/2;
+   // double avgAngle = (previousData.angle + data.angle)/2;
+    // 0.1 degree resolution... truncate and filter the value for stability..
+    EncoderData filteredData = new EncoderData( data.source, data.pin, avgVal, avgAngle);
+   //  log.info("Original Angle: {}  Filtered Angle: {}", data.angle, filteredData.angle);
+    
+    // previousData = data;
+    //invoke("publishEncoderData", data); 
+
+    invoke("publishEncoderData", filteredData); 
   }
 
 }
diff --git a/src/main/java/org/myrobotlab/service/DiyServo2.java b/src/main/java/org/myrobotlab/service/DiyServo2.java
index 891a4b1b2c..c6d22ab5a2 100755
--- a/src/main/java/org/myrobotlab/service/DiyServo2.java
+++ b/src/main/java/org/myrobotlab/service/DiyServo2.java
@@ -67,7 +67,7 @@ public class DiyServo2 extends Service<DiyServo2Config> implements EncoderListen
   private double kd = 0.001; // 0.020;
   public double setpoint = 90.0; // Intial
   // samples per second.
-  public int sampleTime = 4;
+  public int sampleTime = 20;
   static final public int MODE_AUTOMATIC = 1;
   
   transient MotorUpdater motorUpdater;
@@ -136,7 +136,7 @@ public Double moveTo(Double angle) {
     // Why does this return a boolean?
     
     // invoke("publishMoveTo", this);
-    invoke("publishServoEvent", angle);
+    // invoke("publishServoEvent", angle.doubleValue());
     return angle;
   }
 
@@ -164,13 +164,17 @@ public void run() {
           if (isRunning()) {
             // log.info("Updating control loop");
             // Calculate the new value for the motor
-            if (pid.data.containsKey(pidKey)) {
+            if (pid.data.containsKey(pidKey) && currentAngle != null && pidKey != null) {
               // Update the pid input value.
               // pass the current angle from the encoder to the pid controller
-              double output = pid.compute(pidKey, currentAngle);
+              Double output = pid.compute(pidKey, currentAngle);
+              if (output == null) {
+                continue;
+              }
               double delta = Math.abs(currentAngle - setpoint);
               if (delta < threshold ) {
                 log.info("Arrived!");
+                motorControl.move(0);
                 // TODO: some debouncing logic here.
                 // TODO: publish the servo events for started/stopped here.
               } else if (output != lastOutput) {
@@ -580,14 +584,14 @@ public static void main(String[] args) throws Exception {
 
     LoggingFactory.init("info");
     
-    
+    Runtime.start("python", "Python");
     WebGui webgui = (WebGui)Runtime.start("webgui", "WebGui");
    
     // Compose the components of the diy servo and attach them.
     // Make one.. and stuff.
     // setup the encoder.
     Arduino ard = (Arduino)Runtime.start("ard", "Arduino");
-    ard.connect("COM5");
+    ard.connect("COM3");
     // ard.setDebug(true);
     As5048AEncoder encoder = (As5048AEncoder) Runtime.start("encoder", "As5048AEncoder");
     encoder.setPin(10);
@@ -617,12 +621,12 @@ public static void main(String[] args) throws Exception {
       //  diy.attachMotorControl(mot);
       // Tell the servo to move somewhere.
 
-      diy.moveTo(75.0);
-      Thread.sleep(2000);
+     // diy.moveTo(75.0);
+      //Thread.sleep(2000);
       // diy.disable();
       // Thread.sleep(1000);
       // diy.enable();
-      diy.moveTo(125.0);
+      diy.moveTo(250.0);
     }
     System.out.println("Press the any key");
     System.in.read();

From c17d36c989014926b533917a603be59948483386 Mon Sep 17 00:00:00 2001
From: kwatters <kwatters@kmwllc.com>
Date: Mon, 16 Jun 2025 13:58:04 -0400
Subject: [PATCH 13/15] reverting pom changes from the PR

---
 pom.xml | 361 +++++++++++++++++++++++++++-----------------------------
 1 file changed, 171 insertions(+), 190 deletions(-)

diff --git a/pom.xml b/pom.xml
index 1b97232ed9..37bf21e80a 100644
--- a/pom.xml
+++ b/pom.xml
@@ -137,26 +137,7 @@
   
 
   <dependencies>
-
-
-		<dependency>
-			<groupId>au.edu.federation.caliko</groupId>
-			<artifactId>caliko</artifactId>
-			<version>1.3.8</version>
-		</dependency>
-		<dependency>
-			<groupId>au.edu.federation.caliko.visualisation</groupId>
-			<artifactId>caliko-visualisation</artifactId>
-			<version>1.3.8</version>
-		</dependency>
-		<dependency>
-			<groupId>au.edu.federation.caliko.demo</groupId>
-			<artifactId>caliko-demo</artifactId>
-			<version>1.3.8</version>
-		</dependency>
-
-
-		<!-- AudioFile begin -->
+    <!-- AudioFile begin -->
     <dependency>
       <groupId>javazoom</groupId>
       <artifactId>jlayer</artifactId>
@@ -175,49 +156,49 @@
       <version>1.0.3.3</version>
       <scope>provided</scope>
     </dependency>
-		<!-- AudioFile end -->
+    <!-- AudioFile end -->
 
-		<!-- AzureTranslator begin -->
-		<!-- Duplicate entry for com.squareup.okhttp3-okhttp-3.9.0 skipping -->
-		<!-- AzureTranslator end -->
+    <!-- AzureTranslator begin -->
+    <!-- Duplicate entry for com.squareup.okhttp3-okhttp-3.9.0 skipping -->
+    <!-- AzureTranslator end -->
 
-		<!-- BoofCV begin -->
+    <!-- BoofCV begin -->
     <dependency>
       <groupId>org.boofcv</groupId>
       <artifactId>boofcv-all</artifactId>
       <version>0.40.1</version>
       <scope>provided</scope>
     </dependency>
-		<!-- BoofCV end -->
+    <!-- BoofCV end -->
 
-		<!-- ChessGame begin -->
+    <!-- ChessGame begin -->
     <dependency>
       <groupId>ChessBoard</groupId>
       <artifactId>ChessBoard</artifactId>
       <version>1.0.0</version>
       <scope>provided</scope>
     </dependency>
-		<!-- ChessGame end -->
+    <!-- ChessGame end -->
 
-		<!-- Cron begin -->
+    <!-- Cron begin -->
     <dependency>
       <groupId>it.sauronsoftware.cron4j</groupId>
       <artifactId>cron4j</artifactId>
       <version>2.2.5</version>
       <scope>provided</scope>
     </dependency>
-		<!-- Cron end -->
+    <!-- Cron end -->
 
-		<!-- CsvConnector begin -->
+    <!-- CsvConnector begin -->
     <dependency>
       <groupId>net.sf.opencsv</groupId>
       <artifactId>opencsv</artifactId>
       <version>2.3</version>
       <scope>provided</scope>
     </dependency>
-		<!-- CsvConnector end -->
+    <!-- CsvConnector end -->
 
-		<!-- DiscordBot begin -->
+    <!-- DiscordBot begin -->
     <dependency>
       <groupId>net.dv8tion</groupId>
       <artifactId>JDA</artifactId>
@@ -230,9 +211,9 @@
         </exclusion>
       </exclusions>
     </dependency>
-		<!-- DiscordBot end -->
+    <!-- DiscordBot end -->
 
-		<!-- Docker begin -->
+    <!-- Docker begin -->
     <dependency>
       <groupId>com.github.docker-java</groupId>
       <artifactId>docker-java</artifactId>
@@ -245,10 +226,10 @@
         </exclusion>
       </exclusions>
     </dependency>
-		<!-- Duplicate entry for io.netty-netty-all-4.1.82.Final skipping -->
-		<!-- Docker end -->
+    <!-- Duplicate entry for io.netty-netty-all-4.1.82.Final skipping -->
+    <!-- Docker end -->
 
-		<!-- DocumentPipeline begin -->
+    <!-- DocumentPipeline begin -->
     <dependency>
       <groupId>org.apache.tika</groupId>
       <artifactId>tika-core</artifactId>
@@ -335,58 +316,58 @@
       <version>1.4.19</version>
       <scope>provided</scope>
     </dependency>
-		<!-- DocumentPipeline end -->
+    <!-- DocumentPipeline end -->
 
-		<!-- Elasticsearch begin -->
+    <!-- Elasticsearch begin -->
     <dependency>
       <groupId>pl.allegro.tech</groupId>
       <artifactId>embedded-elasticsearch</artifactId>
       <version>2.7.0</version>
       <scope>provided</scope>
     </dependency>
-		<!-- Elasticsearch end -->
+    <!-- Elasticsearch end -->
 
-		<!-- Email begin -->
+    <!-- Email begin -->
     <dependency>
       <groupId>javax.mail</groupId>
       <artifactId>mail</artifactId>
       <version>1.4.7</version>
       <scope>provided</scope>
     </dependency>
-		<!-- Email end -->
+    <!-- Email end -->
 
-		<!-- FiniteStateMachine begin -->
+    <!-- FiniteStateMachine begin -->
     <dependency>
       <groupId>com.github.pnavais</groupId>
       <artifactId>state-machine</artifactId>
       <version>1.2.0</version>
       <scope>provided</scope>
     </dependency>
-		<!-- FiniteStateMachine end -->
+    <!-- FiniteStateMachine end -->
 
-		<!-- Git begin -->
+    <!-- Git begin -->
     <dependency>
       <groupId>org.eclipse.jgit</groupId>
       <artifactId>org.eclipse.jgit</artifactId>
       <version>6.6.1.202309021850-r</version>
       <scope>provided</scope>
     </dependency>
-		<!-- Git end -->
+    <!-- Git end -->
 
-		<!-- GoogleCloud begin -->
+    <!-- GoogleCloud begin -->
     <dependency>
       <groupId>com.google.cloud</groupId>
       <artifactId>google-cloud-vision</artifactId>
       <version>2.1.3</version>
       <scope>provided</scope>
     </dependency>
-		<!-- GoogleCloud end -->
+    <!-- GoogleCloud end -->
 
-		<!-- GoogleSearch begin -->
-		<!-- Duplicate entry for org.jsoup-jsoup-1.15.3 skipping -->
-		<!-- GoogleSearch end -->
+    <!-- GoogleSearch begin -->
+    <!-- Duplicate entry for org.jsoup-jsoup-1.15.3 skipping -->
+    <!-- GoogleSearch end -->
 
-		<!-- GoogleTranslate begin -->
+    <!-- GoogleTranslate begin -->
     <dependency>
       <groupId>com.google.cloud</groupId>
       <artifactId>google-cloud-translate</artifactId>
@@ -399,9 +380,9 @@
       <version>1.3.0</version>
       <scope>provided</scope>
     </dependency>
-		<!-- GoogleTranslate end -->
+    <!-- GoogleTranslate end -->
 
-		<!-- HtmlFilter begin -->
+    <!-- HtmlFilter begin -->
     <dependency>
       <groupId>org.jsoup</groupId>
       <artifactId>jsoup</artifactId>
@@ -414,34 +395,34 @@
       <version>3.3.2</version>
       <scope>provided</scope>
     </dependency>
-		<!-- HtmlFilter end -->
+    <!-- HtmlFilter end -->
 
-		<!-- HtmlParser begin -->
-		<!-- Duplicate entry for org.jsoup-jsoup-1.15.3 skipping -->
-		<!-- HtmlParser end -->
+    <!-- HtmlParser begin -->
+    <!-- Duplicate entry for org.jsoup-jsoup-1.15.3 skipping -->
+    <!-- HtmlParser end -->
 
-		<!-- ImapEmailConnector begin -->
-		<!-- Duplicate entry for javax.mail-mail-1.4.7 skipping -->
-		<!-- ImapEmailConnector end -->
+    <!-- ImapEmailConnector begin -->
+    <!-- Duplicate entry for javax.mail-mail-1.4.7 skipping -->
+    <!-- ImapEmailConnector end -->
 
-		<!-- InMoov2 begin -->
-		<!-- skipping fr.inmoov inmoov2 fr.inmoov-inmoov2-null null version/latest -->
-		<!-- InMoov2 end -->
+    <!-- InMoov2 begin -->
+    <!-- skipping fr.inmoov inmoov2 fr.inmoov-inmoov2-null null version/latest -->
+    <!-- InMoov2 end -->
 
-		<!-- IndianTts begin -->
-		<!-- Duplicate entry for org.myrobotlab.audio-voice-effects-1.0 skipping -->
-		<!-- IndianTts end -->
+    <!-- IndianTts begin -->
+    <!-- Duplicate entry for org.myrobotlab.audio-voice-effects-1.0 skipping -->
+    <!-- IndianTts end -->
 
-		<!-- JFugue begin -->
+    <!-- JFugue begin -->
     <dependency>
       <groupId>jfugue</groupId>
       <artifactId>jfugue</artifactId>
       <version>5.0.7</version>
       <scope>provided</scope>
     </dependency>
-		<!-- JFugue end -->
+    <!-- JFugue end -->
 
-		<!-- JMonkeyEngine begin -->
+    <!-- JMonkeyEngine begin -->
     <dependency>
       <groupId>org.jmonkeyengine</groupId>
       <artifactId>jme3-core</artifactId>
@@ -508,9 +489,9 @@
       <version>3.2.3</version>
       <scope>provided</scope>
     </dependency>
-		<!-- JMonkeyEngine end -->
+    <!-- JMonkeyEngine end -->
 
-		<!-- Joystick begin -->
+    <!-- Joystick begin -->
     <dependency>
       <groupId>net.java.jinput</groupId>
       <artifactId>jinput</artifactId>
@@ -524,27 +505,27 @@
       <scope>provided</scope>
       <type>zip</type>
     </dependency>
-		<!-- Joystick end -->
+    <!-- Joystick end -->
 
-		<!-- KafkaConnector begin -->
+    <!-- KafkaConnector begin -->
     <dependency>
       <groupId>org.apache.kafka</groupId>
       <artifactId>kafka-clients</artifactId>
       <version>1.0.1</version>
       <scope>provided</scope>
     </dependency>
-		<!-- KafkaConnector end -->
+    <!-- KafkaConnector end -->
 
-		<!-- Keyboard begin -->
+    <!-- Keyboard begin -->
     <dependency>
       <groupId>com.1stleg</groupId>
       <artifactId>jnativehook</artifactId>
       <version>2.0.3</version>
       <scope>provided</scope>
     </dependency>
-		<!-- Keyboard end -->
+    <!-- Keyboard end -->
 
-		<!-- LLM begin -->
+    <!-- LLM begin -->
     <dependency>
       <groupId>io.github.ollama4j</groupId>
       <artifactId>ollama4j</artifactId>
@@ -565,9 +546,9 @@
         </exclusion>
       </exclusions>
     </dependency>
-		<!-- LLM end -->
+    <!-- LLM end -->
 
-		<!-- LeapMotion begin -->
+    <!-- LeapMotion begin -->
     <dependency>
       <groupId>leapmotion</groupId>
       <artifactId>leap</artifactId>
@@ -595,9 +576,9 @@
       <scope>provided</scope>
       <type>zip</type>
     </dependency>
-		<!-- LeapMotion end -->
+    <!-- LeapMotion end -->
 
-		<!-- LocalSpeech begin -->
+    <!-- LocalSpeech begin -->
     <dependency>
       <groupId>org.myrobotlab.audio</groupId>
       <artifactId>voice-effects</artifactId>
@@ -605,10 +586,10 @@
       <scope>provided</scope>
       <type>zip</type>
     </dependency>
-		<!-- LocalSpeech end -->
+    <!-- LocalSpeech end -->
 
-		<!-- MarySpeech begin -->
-		<!-- Duplicate entry for org.myrobotlab.audio-voice-effects-1.0 skipping -->
+    <!-- MarySpeech begin -->
+    <!-- Duplicate entry for org.myrobotlab.audio-voice-effects-1.0 skipping -->
     <dependency>
       <groupId>de.dfki.mary</groupId>
       <artifactId>marytts</artifactId>
@@ -948,18 +929,18 @@
       <version>2.12.1</version>
       <scope>provided</scope>
     </dependency>
-		<!-- MarySpeech end -->
+    <!-- MarySpeech end -->
 
-		<!-- Mqtt begin -->
+    <!-- Mqtt begin -->
     <dependency>
       <groupId>org.eclipse.paho</groupId>
       <artifactId>org.eclipse.paho.client.mqttv3</artifactId>
       <version>1.2.1</version>
       <scope>provided</scope>
     </dependency>
-		<!-- Mqtt end -->
+    <!-- Mqtt end -->
 
-		<!-- MqttBroker begin -->
+    <!-- MqttBroker begin -->
     <dependency>
       <groupId>io.moquette</groupId>
       <artifactId>moquette-broker</artifactId>
@@ -980,22 +961,22 @@
         </exclusion>
       </exclusions>
     </dependency>
-		<!-- Duplicate entry for com.fasterxml.jackson.core-jackson-core-2.14.0 skipping -->
-		<!-- Duplicate entry for com.fasterxml.jackson.core-jackson-databind-2.14.0 skipping -->
-		<!-- Duplicate entry for com.fasterxml.jackson.core-jackson-annotations-2.14.0 skipping -->
-		<!-- Duplicate entry for io.netty-netty-all-4.1.82.Final skipping -->
-		<!-- MqttBroker end -->
+    <!-- Duplicate entry for com.fasterxml.jackson.core-jackson-core-2.14.0 skipping -->
+    <!-- Duplicate entry for com.fasterxml.jackson.core-jackson-databind-2.14.0 skipping -->
+    <!-- Duplicate entry for com.fasterxml.jackson.core-jackson-annotations-2.14.0 skipping -->
+    <!-- Duplicate entry for io.netty-netty-all-4.1.82.Final skipping -->
+    <!-- MqttBroker end -->
 
-		<!-- MyoThalmic begin -->
+    <!-- MyoThalmic begin -->
     <dependency>
       <groupId>com.github.nicholasastuart</groupId>
       <artifactId>myo-java</artifactId>
       <version>0.9.1</version>
       <scope>provided</scope>
     </dependency>
-		<!-- MyoThalmic end -->
+    <!-- MyoThalmic end -->
 
-		<!-- OculusRift begin -->
+    <!-- OculusRift begin -->
     <dependency>
       <groupId>org.saintandreas</groupId>
       <artifactId>jovr</artifactId>
@@ -1040,9 +1021,9 @@
         </exclusion>
       </exclusions>
     </dependency>
-		<!-- OculusRift end -->
+    <!-- OculusRift end -->
 
-		<!-- OpenCV begin -->
+    <!-- OpenCV begin -->
     <dependency>
       <groupId>org.bytedeco</groupId>
       <artifactId>javacv-platform</artifactId>
@@ -1061,8 +1042,8 @@
       <version>0.3.28-1.5.11</version>
       <scope>provided</scope>
     </dependency>
-		<!-- Duplicate entry for com.github.sarxos-webcam-capture-driver-v4l4j-0.3.13-SNAPSHOT skipping -->
-		<!-- Duplicate entry for org.apache.commons-commons-lang3-3.3.2 skipping -->
+    <!-- Duplicate entry for com.github.sarxos-webcam-capture-driver-v4l4j-0.3.13-SNAPSHOT skipping -->
+    <!-- Duplicate entry for org.apache.commons-commons-lang3-3.3.2 skipping -->
     <dependency>
       <groupId>net.sf.jipcam</groupId>
       <artifactId>jipcam</artifactId>
@@ -1121,9 +1102,9 @@
       <scope>provided</scope>
       <type>zip</type>
     </dependency>
-		<!-- OpenCV end -->
+    <!-- OpenCV end -->
 
-		<!-- OpenNi begin -->
+    <!-- OpenNi begin -->
     <dependency>
       <groupId>simpleopenni</groupId>
       <artifactId>openni</artifactId>
@@ -1155,31 +1136,31 @@
       <version>1.3.1</version>
       <scope>provided</scope>
     </dependency>
-		<!-- OpenNi end -->
+    <!-- OpenNi end -->
 
-		<!-- OpenWeatherMap begin -->
+    <!-- OpenWeatherMap begin -->
     <dependency>
       <groupId>org.json</groupId>
       <artifactId>json</artifactId>
       <version>20230227</version>
       <scope>provided</scope>
     </dependency>
-		<!-- OpenWeatherMap end -->
+    <!-- OpenWeatherMap end -->
 
-		<!-- Osc begin -->
+    <!-- Osc begin -->
     <dependency>
       <groupId>com.illposed.osc</groupId>
       <artifactId>javaosc-core</artifactId>
       <version>0.4</version>
       <scope>provided</scope>
     </dependency>
-		<!-- Osc end -->
+    <!-- Osc end -->
 
-		<!-- Polly begin -->
-		<!-- Duplicate entry for org.myrobotlab.audio-voice-effects-1.0 skipping -->
-		<!-- Duplicate entry for com.fasterxml.jackson.core-jackson-core-2.14.0 skipping -->
-		<!-- Duplicate entry for com.fasterxml.jackson.core-jackson-databind-2.14.0 skipping -->
-		<!-- Duplicate entry for com.fasterxml.jackson.core-jackson-annotations-2.14.0 skipping -->
+    <!-- Polly begin -->
+    <!-- Duplicate entry for org.myrobotlab.audio-voice-effects-1.0 skipping -->
+    <!-- Duplicate entry for com.fasterxml.jackson.core-jackson-core-2.14.0 skipping -->
+    <!-- Duplicate entry for com.fasterxml.jackson.core-jackson-databind-2.14.0 skipping -->
+    <!-- Duplicate entry for com.fasterxml.jackson.core-jackson-annotations-2.14.0 skipping -->
     <dependency>
       <groupId>com.amazonaws</groupId>
       <artifactId>aws-java-sdk-polly</artifactId>
@@ -1208,11 +1189,11 @@
         </exclusion>
       </exclusions>
     </dependency>
-		<!-- Duplicate entry for org.apache.commons-commons-lang3-3.3.2 skipping -->
-		<!-- Polly end -->
+    <!-- Duplicate entry for org.apache.commons-commons-lang3-3.3.2 skipping -->
+    <!-- Polly end -->
 
-		<!-- ProgramAB begin -->
-		<!-- skipping program-ab program-ab-data program-ab-program-ab-data-null null version/latest -->
+    <!-- ProgramAB begin -->
+    <!-- skipping program-ab program-ab-data program-ab-program-ab-data-null null version/latest -->
     <dependency>
       <groupId>program-ab</groupId>
       <artifactId>program-ab-kw</artifactId>
@@ -1235,8 +1216,8 @@
       <version>2.14.0</version>
       <scope>provided</scope>
     </dependency>
-		<!-- Duplicate entry for org.json-json-20230227 skipping -->
-		<!-- Duplicate entry for commons-io-commons-io-2.15.1 skipping -->
+    <!-- Duplicate entry for org.json-json-20230227 skipping -->
+    <!-- Duplicate entry for commons-io-commons-io-2.15.1 skipping -->
     <dependency>
       <groupId>org.apache.lucene</groupId>
       <artifactId>lucene-analysis-common</artifactId>
@@ -1249,35 +1230,35 @@
       <version>9.10.0</version>
       <scope>provided</scope>
     </dependency>
-		<!-- ProgramAB end -->
+    <!-- ProgramAB end -->
 
-		<!-- Py4j begin -->
+    <!-- Py4j begin -->
     <dependency>
       <groupId>net.sf.py4j</groupId>
       <artifactId>py4j</artifactId>
       <version>0.10.9.7</version>
       <scope>provided</scope>
     </dependency>
-		<!-- Py4j end -->
+    <!-- Py4j end -->
 
-		<!-- Python begin -->
+    <!-- Python begin -->
     <dependency>
       <groupId>org.python</groupId>
       <artifactId>jython-standalone</artifactId>
       <version>2.7.2</version>
     </dependency>
-		<!-- Python end -->
+    <!-- Python end -->
 
-		<!-- RSSConnector begin -->
+    <!-- RSSConnector begin -->
     <dependency>
       <groupId>rome</groupId>
       <artifactId>rome</artifactId>
       <version>1.0</version>
       <scope>provided</scope>
     </dependency>
-		<!-- RSSConnector end -->
+    <!-- RSSConnector end -->
 
-		<!-- RasPi begin -->
+    <!-- RasPi begin -->
     <dependency>
       <groupId>com.pi4j</groupId>
       <artifactId>pi4j-core</artifactId>
@@ -1291,18 +1272,18 @@
       <scope>provided</scope>
       <type>pom</type>
     </dependency>
-		<!-- RasPi end -->
+    <!-- RasPi end -->
 
-		<!-- Rekognition begin -->
+    <!-- Rekognition begin -->
     <dependency>
       <groupId>com.amazonaws</groupId>
       <artifactId>aws-java-sdk-rekognition</artifactId>
       <version>1.11.263</version>
       <scope>provided</scope>
     </dependency>
-		<!-- Rekognition end -->
+    <!-- Rekognition end -->
 
-		<!-- Runtime begin -->
+    <!-- Runtime begin -->
     <dependency>
       <groupId>ch.qos.logback</groupId>
       <artifactId>logback-classic</artifactId>
@@ -1363,19 +1344,19 @@
       <artifactId>okhttp</artifactId>
       <version>3.9.0</version>
     </dependency>
-		<!-- Duplicate entry for io.netty-netty-all-4.1.82.Final skipping -->
-		<!-- Runtime end -->
+    <!-- Duplicate entry for io.netty-netty-all-4.1.82.Final skipping -->
+    <!-- Runtime end -->
 
-		<!-- Serial begin -->
+    <!-- Serial begin -->
     <dependency>
       <groupId>io.github.java-native</groupId>
       <artifactId>jssc</artifactId>
       <version>2.9.4</version>
       <scope>provided</scope>
     </dependency>
-		<!-- Serial end -->
+    <!-- Serial end -->
 
-		<!-- SlackBot begin -->
+    <!-- SlackBot begin -->
     <dependency>
       <groupId>com.slack.api</groupId>
       <artifactId>bolt</artifactId>
@@ -1400,9 +1381,9 @@
       <version>1.19</version>
       <scope>provided</scope>
     </dependency>
-		<!-- SlackBot end -->
+    <!-- SlackBot end -->
 
-		<!-- Solr begin -->
+    <!-- Solr begin -->
     <dependency>
       <groupId>org.apache.lucene</groupId>
       <artifactId>lucene-core</artifactId>
@@ -1505,16 +1486,16 @@
         </exclusion>
       </exclusions>
     </dependency>
-		<!-- Duplicate entry for io.netty-netty-all-4.1.82.Final skipping -->
+    <!-- Duplicate entry for io.netty-netty-all-4.1.82.Final skipping -->
     <dependency>
       <groupId>org.glassfish.jersey.core</groupId>
       <artifactId>jersey-server</artifactId>
       <version>3.1.5</version>
       <scope>provided</scope>
     </dependency>
-		<!-- Solr end -->
+    <!-- Solr end -->
 
-		<!-- Sphinx begin -->
+    <!-- Sphinx begin -->
     <dependency>
       <groupId>edu.cmu.sphinx</groupId>
       <artifactId>sphinx4-core</artifactId>
@@ -1527,9 +1508,9 @@
       <version>5prealpha-SNAPSHOT</version>
       <scope>provided</scope>
     </dependency>
-		<!-- Sphinx end -->
+    <!-- Sphinx end -->
 
-		<!-- TesseractOcr begin -->
+    <!-- TesseractOcr begin -->
     <dependency>
       <groupId>org.bytedeco</groupId>
       <artifactId>tesseract</artifactId>
@@ -1549,37 +1530,37 @@
       <scope>provided</scope>
       <type>zip</type>
     </dependency>
-		<!-- Duplicate entry for org.bytedeco-openblas-0.3.28-1.5.11 skipping -->
-		<!-- TesseractOcr end -->
+    <!-- Duplicate entry for org.bytedeco-openblas-0.3.28-1.5.11 skipping -->
+    <!-- TesseractOcr end -->
 
-		<!-- Test begin -->
+    <!-- Test begin -->
     <dependency>
       <groupId>junit</groupId>
       <artifactId>junit</artifactId>
       <version>4.13.1</version>
       <scope>provided</scope>
     </dependency>
-		<!-- Test end -->
+    <!-- Test end -->
 
-		<!-- TopCodes begin -->
+    <!-- TopCodes begin -->
     <dependency>
       <groupId>topcodes</groupId>
       <artifactId>topcodes</artifactId>
       <version>1.0.0</version>
       <scope>provided</scope>
     </dependency>
-		<!-- TopCodes end -->
+    <!-- TopCodes end -->
 
-		<!-- Twitter begin -->
+    <!-- Twitter begin -->
     <dependency>
       <groupId>org.twitter4j</groupId>
       <artifactId>twitter4j-core</artifactId>
       <version>3.0.5</version>
       <scope>provided</scope>
     </dependency>
-		<!-- Twitter end -->
+    <!-- Twitter end -->
 
-		<!-- Vertx begin -->
+    <!-- Vertx begin -->
     <dependency>
       <groupId>io.vertx</groupId>
       <artifactId>vertx-core</artifactId>
@@ -1604,20 +1585,20 @@
         </exclusion>
       </exclusions>
     </dependency>
-		<!-- Duplicate entry for io.netty-netty-all-4.1.82.Final skipping -->
-		<!-- Vertx end -->
+    <!-- Duplicate entry for io.netty-netty-all-4.1.82.Final skipping -->
+    <!-- Vertx end -->
 
-		<!-- VoiceRss begin -->
-		<!-- Duplicate entry for org.myrobotlab.audio-voice-effects-1.0 skipping -->
+    <!-- VoiceRss begin -->
+    <!-- Duplicate entry for org.myrobotlab.audio-voice-effects-1.0 skipping -->
     <dependency>
       <groupId>com.voicerss</groupId>
       <artifactId>tts</artifactId>
       <version>1.0</version>
       <scope>provided</scope>
     </dependency>
-		<!-- VoiceRss end -->
+    <!-- VoiceRss end -->
 
-		<!-- WebGui begin -->
+    <!-- WebGui begin -->
     <dependency>
       <groupId>org.jmdns</groupId>
       <artifactId>jmdns</artifactId>
@@ -1652,35 +1633,35 @@
       <artifactId>netty-all</artifactId>
       <version>4.1.82.Final</version>
     </dependency>
-		<!-- WebGui end -->
+    <!-- WebGui end -->
 
-		<!-- Webcam begin -->
+    <!-- Webcam begin -->
     <dependency>
       <groupId>com.github.sarxos</groupId>
       <artifactId>webcam-capture-driver-v4l4j</artifactId>
       <version>0.3.13-SNAPSHOT</version>
       <scope>provided</scope>
     </dependency>
-		<!-- Webcam end -->
+    <!-- Webcam end -->
 
-		<!-- WebkitSpeechSynthesis begin -->
-		<!-- Duplicate entry for org.myrobotlab.audio-voice-effects-1.0 skipping -->
-		<!-- WebkitSpeechSynthesis end -->
+    <!-- WebkitSpeechSynthesis begin -->
+    <!-- Duplicate entry for org.myrobotlab.audio-voice-effects-1.0 skipping -->
+    <!-- WebkitSpeechSynthesis end -->
 
-		<!-- Wii begin -->
-		<!-- Duplicate entry for wiiusej-wiiusej-wiiusej skipping -->
-		<!-- Wii end -->
+    <!-- Wii begin -->
+    <!-- Duplicate entry for wiiusej-wiiusej-wiiusej skipping -->
+    <!-- Wii end -->
 
-		<!-- WiiDar begin -->
+    <!-- WiiDar begin -->
     <dependency>
       <groupId>wiiusej</groupId>
       <artifactId>wiiusej</artifactId>
       <version>wiiusej</version>
       <scope>provided</scope>
     </dependency>
-		<!-- WiiDar end -->
+    <!-- WiiDar end -->
 
-		<!-- WikiDataFetcher begin -->
+    <!-- WikiDataFetcher begin -->
     <dependency>
       <groupId>org.wikidata.wdtk</groupId>
       <artifactId>wdtk-client</artifactId>
@@ -1697,21 +1678,21 @@
         </exclusion>
       </exclusions>
     </dependency>
-		<!-- Duplicate entry for com.fasterxml.jackson.core-jackson-core-2.14.0 skipping -->
-		<!-- Duplicate entry for com.fasterxml.jackson.core-jackson-databind-2.14.0 skipping -->
-		<!-- Duplicate entry for com.fasterxml.jackson.core-jackson-annotations-2.14.0 skipping -->
-		<!-- WikiDataFetcher end -->
+    <!-- Duplicate entry for com.fasterxml.jackson.core-jackson-core-2.14.0 skipping -->
+    <!-- Duplicate entry for com.fasterxml.jackson.core-jackson-databind-2.14.0 skipping -->
+    <!-- Duplicate entry for com.fasterxml.jackson.core-jackson-annotations-2.14.0 skipping -->
+    <!-- WikiDataFetcher end -->
 
-		<!-- WolframAlpha begin -->
+    <!-- WolframAlpha begin -->
     <dependency>
       <groupId>WolframAlpha</groupId>
       <artifactId>WolframAlpha</artifactId>
       <version>1.1</version>
       <scope>provided</scope>
     </dependency>
-		<!-- WolframAlpha end -->
+    <!-- WolframAlpha end -->
 
-		<!-- Xmpp begin -->
+    <!-- Xmpp begin -->
     <dependency>
       <groupId>org.igniterealtime.smack</groupId>
       <artifactId>smack-java7</artifactId>
@@ -1736,7 +1717,7 @@
       <version>4.1.6</version>
       <scope>provided</scope>
     </dependency>
-		<!-- Xmpp end -->
+    <!-- Xmpp end -->
 
 
     <dependency>
@@ -1785,7 +1766,7 @@
       </testResource>
     </testResources>
 
-		<!-- define the plugin -->
+    <!-- define the plugin -->
     <pluginManagement>
       <plugins>
         <plugin>
@@ -1801,7 +1782,7 @@
       </plugins>
     </pluginManagement>
 
-		<!-- use plugin -->
+    <!-- use plugin -->
     <plugins>
       <plugin>
         <groupId>org.apache.maven.plugins</groupId>
@@ -1832,11 +1813,11 @@
             </goals>
             <configuration>
               <finalName>myrobotlab</finalName>
-							<!-- finalName>myrobotlab-${git.branch}-${version}</finalName -->
+              <!-- finalName>myrobotlab-${git.branch}-${version}</finalName -->
               <shadedArtifactAttached>true</shadedArtifactAttached>
               <shadedClassifierName>myrobotlab-full</shadedClassifierName>
               <minimizeJar>false</minimizeJar>
-							<!--  <artifactSet>
+              <!--  <artifactSet>
                                 <excludes>
                                     <exclude>edu.stanford.nlp:*</exclude>
                                 </excludes>
@@ -1853,7 +1834,7 @@
                     <Build-Host>${agent.name}</Build-Host>
                     <Build-User>${user.name}</Build-User>
 
-										<!-- maven git plugin id info -->
+                    <!-- maven git plugin id info -->
                     <GitTags>${git.tags}</GitTags>
                     <GitBranch>${git.branch}</GitBranch>
                     <GitDirty>${git.dirty}</GitDirty>
@@ -1865,7 +1846,7 @@
                     <GitCommitIdDescribeShort>${git.commit.id.describe-short}</GitCommitIdDescribeShort>
                     <GitCommitUserName>${git.commit.user.name}</GitCommitUserName>
                     <GitCommitUserEmail>${git.commit.user.email}</GitCommitUserEmail>
-										<!-- removed because multi-line value can break manifest
+                    <!-- removed because multi-line value can break manifest
                     GitCommitMessageFull>${git.commit.message.full}</GitCommitMessageFull
                     <GitCommitMessageShort>${git.commit.message.short}</GitCommitMessageShort>
                     -->
@@ -1956,7 +1937,7 @@
           <verbose>false</verbose>
           <generateGitPropertiesFile>true</generateGitPropertiesFile>
           <generateGitPropertiesFilename>${project.build.outputDirectory}/git.properties</generateGitPropertiesFilename>
-					<!-- format>json</format -->
+          <!-- format>json</format -->
           <gitDescribe>
             <skip>false</skip>
             <always>false</always>
@@ -1968,12 +1949,12 @@
       <plugin>
         <artifactId>maven-surefire-plugin</artifactId>
         <groupId>org.apache.maven.plugins</groupId>
-				<!-- do not upgrade this version jacoco will break -->
+        <!-- do not upgrade this version jacoco will break -->
         <version>3.2.2</version>
         <configuration>
           <forkCount>1</forkCount>  <!-- Use one JVM -->
           <reuseForks>true</reuseForks>  <!-- Reuse this JVM for all tests -->
-					<!-- critical for jacoco to have original argLine prefixed here-->
+          <!-- critical for jacoco to have original argLine prefixed here-->
           <argLine>${argLine} -Djava.library.path=libraries/native
             -Djna.library.path=libraries/native</argLine>
           <includes>
@@ -1993,12 +1974,12 @@
               <goal>test</goal>
             </goals>
             <configuration>
-							<!-- Additional configurations for the test execution -->
+              <!-- Additional configurations for the test execution -->
             </configuration>
           </execution>
         </executions>
       </plugin>
-			<!-- This plugin deletes the .myrobotlab on a build also the target directory from previous builds -->
+      <!-- This plugin deletes the .myrobotlab on a build also the target directory from previous builds -->
       <plugin>
         <groupId>org.apache.maven.plugins</groupId>
         <artifactId>maven-clean-plugin</artifactId>

From e8e2dfe22d2f6dcb06eb23c43683390f74a29b39 Mon Sep 17 00:00:00 2001
From: kwatters <kwatters@kmwllc.com>
Date: Fri, 20 Jun 2025 17:31:15 -0400
Subject: [PATCH 14/15] sync some code changes.. a little more clean up.

---
 .../org/myrobotlab/sensor/EncoderData.java    | 40 ++++++++++++++-----
 .../org/myrobotlab/service/Amt203Encoder.java |  3 +-
 .../java/org/myrobotlab/service/Arduino.java  | 14 ++++---
 .../myrobotlab/service/As5048AEncoder.java    | 32 ++++++++++++++-
 .../service/abstracts/AbstractMotor.java      | 28 ++++---------
 .../service/config/As5048AEncoderConfig.java  |  3 +-
 .../service/config/DiyServo2Config.java       |  1 +
 7 files changed, 83 insertions(+), 38 deletions(-)

diff --git a/src/main/java/org/myrobotlab/sensor/EncoderData.java b/src/main/java/org/myrobotlab/sensor/EncoderData.java
index c45ec857b4..97dc3a0e39 100644
--- a/src/main/java/org/myrobotlab/sensor/EncoderData.java
+++ b/src/main/java/org/myrobotlab/sensor/EncoderData.java
@@ -1,5 +1,7 @@
 package org.myrobotlab.sensor;
 
+import java.util.Objects;
+
 public class EncoderData {
 
   /**
@@ -30,6 +32,16 @@ public class EncoderData {
    */
   public double value;
 
+  /**
+   * time data was generated
+   */
+  public long timestamp;
+
+  /**
+   * mapped value of input
+   */
+  public double mappedValue;
+  
   public String getPin() {
     return pin;
   }
@@ -78,15 +90,6 @@ public void setTimestamp(long timestamp) {
     this.timestamp = timestamp;
   }
 
-  /**
-   * time data was generated
-   */
-  public long timestamp;
-
-  /**
-   * mapped value of input
-   */
-  public double mappedValue;
 
   public EncoderData(String source, String pin, double value, Double angle) {
     this.timestamp = System.currentTimeMillis();
@@ -109,4 +112,23 @@ public String toString() {
     return sb.toString();
   }
 
+  @Override
+  public int hashCode() {
+    return Objects.hash(angle, mappedValue, pin, source, timestamp, type, value);
+  }
+
+  @Override
+  public boolean equals(Object obj) {
+    if (this == obj)
+      return true;
+    if (obj == null)
+      return false;
+    if (getClass() != obj.getClass())
+      return false;
+    EncoderData other = (EncoderData) obj;
+    return Objects.equals(angle, other.angle) && Double.doubleToLongBits(mappedValue) == Double.doubleToLongBits(other.mappedValue) && Objects.equals(pin, other.pin)
+        && Objects.equals(source, other.source) && timestamp == other.timestamp && Objects.equals(type, other.type)
+        && Double.doubleToLongBits(value) == Double.doubleToLongBits(other.value);
+  }
+
 }
diff --git a/src/main/java/org/myrobotlab/service/Amt203Encoder.java b/src/main/java/org/myrobotlab/service/Amt203Encoder.java
index 8549ef9051..ce2b80219e 100755
--- a/src/main/java/org/myrobotlab/service/Amt203Encoder.java
+++ b/src/main/java/org/myrobotlab/service/Amt203Encoder.java
@@ -4,6 +4,7 @@
 import org.myrobotlab.sensor.EncoderData;
 import org.myrobotlab.sensor.EncoderPublisher;
 import org.myrobotlab.service.abstracts.AbstractPinEncoder;
+import org.myrobotlab.service.config.Amt203EncoderConfig;
 import org.myrobotlab.service.config.ServiceConfig;
 import org.myrobotlab.service.interfaces.EncoderControl;
 
@@ -25,7 +26,7 @@
  * @author kwatters
  *
  */
-public class Amt203Encoder extends AbstractPinEncoder<ServiceConfig> implements EncoderControl, EncoderPublisher {
+public class Amt203Encoder extends AbstractPinEncoder<Amt203EncoderConfig> implements EncoderControl, EncoderPublisher {
 
   private static final long serialVersionUID = 1L;
 
diff --git a/src/main/java/org/myrobotlab/service/Arduino.java b/src/main/java/org/myrobotlab/service/Arduino.java
index 796ceb1ccc..f45695c452 100644
--- a/src/main/java/org/myrobotlab/service/Arduino.java
+++ b/src/main/java/org/myrobotlab/service/Arduino.java
@@ -504,19 +504,23 @@ public void reattach(DeviceMapping dm) {
         msg.servoAttachPin(dm.getId(), pin);
       }
     } else if (attachable instanceof As5048AEncoder) {
-      // TODO: reattach it!
+      // reattach it!
       As5048AEncoder enc = (As5048AEncoder)attachable;
       log.info("================ re-attaching {} {} {} ================", enc.getName(), dm.getId(), enc.getPin());
       msg.encoderAttach(dm.getId(), 1, Integer.valueOf(enc.getPin()));
+    } else if (attachable instanceof Amt203Encoder) {
+      // reattach it!
+      Amt203Encoder enc = (Amt203Encoder)attachable;
+      log.info("================ re-attaching {} {} {} ================", enc.getName(), dm.getId(), enc.getPin());
+      msg.encoderAttach(dm.getId(), 0, Integer.valueOf(enc.getPin()));
     } else if (attachable instanceof MotorDualPwm) {
-      // TODO: reattach it!
+      // reattach it!
       MotorDualPwm motor = (MotorDualPwm)attachable;
       int[] pins = new int[] {Integer.valueOf(motor.getLeftPwmPin()), Integer.valueOf(motor.getRightPwmPin())};
       // TODO: what's the type?!
       int type = 0;
       log.info("================ re-attaching {} {} {} ================", motor.getName(), dm.getId(), pins);
       msg.motorAttach(dm.getId(),type, pins );
-      
     } else if (attachable instanceof UltrasonicSensorControl) {
       log.warn("UltrasonicSensorControl not implemented");
       // reattach logic
@@ -525,7 +529,6 @@ public void reattach(DeviceMapping dm) {
     } else if (attachable instanceof PinListener) {
       PinListener pl = (PinListener) attachable;
       attachPinListener(pl);
-
       // on reattach get back to its previous state enabled/disabled
       if (attachable instanceof Pir) {
         Pir pir = (Pir) attachable;
@@ -533,7 +536,6 @@ public void reattach(DeviceMapping dm) {
           pir.enable();
         }
       }
-
     } else if (attachable instanceof I2CControl) {
       error("I2CControl sync not implemented");
     } else {
@@ -1705,6 +1707,8 @@ public EncoderData publishEncoderData(Integer deviceId, Integer position) {
     if (ec instanceof Amt203Encoder) {
       // type = 0;
       pin = ((Amt203Encoder) ec).getPin();
+      // TODO: test this is this correct? is the resolution correct?
+      angle = 360.0 * position / ((Amt203Encoder) ec).resolution;
     } else if (ec instanceof As5048AEncoder) {
       // type = 1;
       pin = ((As5048AEncoder) ec).getPin();
diff --git a/src/main/java/org/myrobotlab/service/As5048AEncoder.java b/src/main/java/org/myrobotlab/service/As5048AEncoder.java
index b39512133f..d26f0c63b8 100755
--- a/src/main/java/org/myrobotlab/service/As5048AEncoder.java
+++ b/src/main/java/org/myrobotlab/service/As5048AEncoder.java
@@ -1,13 +1,19 @@
 package org.myrobotlab.service;
 
+import java.nio.file.Path;
+import java.nio.file.Paths;
+import java.util.ArrayList;
 import java.util.concurrent.LinkedBlockingQueue;
 
 import org.apache.commons.math3.util.Precision;
 import org.myrobotlab.logging.LoggingFactory;
+import org.myrobotlab.programab.BotInfo;
 import org.myrobotlab.sensor.EncoderData;
 import org.myrobotlab.sensor.EncoderListener;
 import org.myrobotlab.sensor.EncoderPublisher;
 import org.myrobotlab.service.abstracts.AbstractPinEncoder;
+import org.myrobotlab.service.config.As5048AEncoderConfig;
+import org.myrobotlab.service.config.ProgramABConfig;
 import org.myrobotlab.service.config.ServiceConfig;
 import org.myrobotlab.service.interfaces.EncoderControl;
 
@@ -17,7 +23,7 @@
  * @author kwatters
  *
  */
-public class As5048AEncoder extends AbstractPinEncoder<ServiceConfig> implements EncoderControl, EncoderPublisher {
+public class As5048AEncoder extends AbstractPinEncoder<As5048AEncoderConfig> implements EncoderControl, EncoderPublisher {
 
   private static final int HISTORY_SIZE = 5;
 
@@ -45,7 +51,8 @@ public static void main(String[] args) throws Exception {
     ard.connect(port);
     ard.setDebug(true);
     As5048AEncoder encoder = (As5048AEncoder) Runtime.start("encoder", "As5048AEncoder");
-    encoder.setPin(10);
+    As5048AEncoderConfig cfg = (As5048AEncoderConfig)(encoder.config);
+    encoder.setPin(cfg.pin);
     ard.attachEncoderControl(encoder);
     Thread.sleep(10000);
     encoder.setZeroPoint();
@@ -76,5 +83,26 @@ public void updateEncoderData(EncoderData data) {
 
     invoke("publishEncoderData", filteredData); 
   }
+  
+  @Override
+  public As5048AEncoderConfig getConfig() {
+    return (As5048AEncoderConfig)super.getConfig();
+  }
+  
+  @Override
+  public As5048AEncoderConfig apply(As5048AEncoderConfig c) {
+    // TODO?? : controller ?  attach?  
+    this.setPin(c.pin);
+    return c;
+  }
+  
+  public void apply() {
+    // TODO?? 
+    As5048AEncoderConfig config = getConfig();
+    this.setPin(config.pin);
+  }
 
+  
 }
+
+
diff --git a/src/main/java/org/myrobotlab/service/abstracts/AbstractMotor.java b/src/main/java/org/myrobotlab/service/abstracts/AbstractMotor.java
index f5ae969a6a..b9f5577b9f 100644
--- a/src/main/java/org/myrobotlab/service/abstracts/AbstractMotor.java
+++ b/src/main/java/org/myrobotlab/service/abstracts/AbstractMotor.java
@@ -92,6 +92,8 @@ abstract public class AbstractMotor<C extends GeneralMotorConfig> extends Servic
    * isAttached is if that controller is or is not attached
    */
   protected boolean isAttached = false;
+  
+  protected EncoderData encData = null;
 
   public AbstractMotor(String n, String id) {
     super(n, id);
@@ -289,27 +291,13 @@ public double getTargetPos() {
 
   @Override
   public void onEncoderData(EncoderData data) {
-    // TODO Auto-generated method stub
-    log.info("Encoder Data (to motor): {}", data);
-    // TODO: this should probably not be here.. but rather in a DiyServo service instead.
-    if (false) {
-    double target = 180.0;
-    double delta = data.angle - target;
+    // log.info("Encoder Data (to motor): {}", data);
+    // What do we want to do with encoder data here?
+    // grab a handle to the last encoder data returned
+    // TODO: does a motor need to be an encoder listener?  
+    // Nothing uses this!
+    this.encData = data;
     
-    if (Math.abs(delta) > 0.5) {
-      // move the motor a bit.
-      // TODO: this hsould be controlled by a PID algorithm.
-      if (delta > 0) {
-        this.move(0.5);
-      } else {
-        this.move(0.5);
-      }
-      
-    } else {
-      this.move(0);
-    }
-    }
-
   }
 
   @Override
diff --git a/src/main/java/org/myrobotlab/service/config/As5048AEncoderConfig.java b/src/main/java/org/myrobotlab/service/config/As5048AEncoderConfig.java
index 4f1c8cf2bd..646b846ea1 100644
--- a/src/main/java/org/myrobotlab/service/config/As5048AEncoderConfig.java
+++ b/src/main/java/org/myrobotlab/service/config/As5048AEncoderConfig.java
@@ -1,5 +1,6 @@
 package org.myrobotlab.service.config;
 
 public class As5048AEncoderConfig extends ServiceConfig {
-    // Add your configuration here
+  // the only config i guess is what pin it attaches to it's controller on.
+  public Integer pin = 10;
 }
diff --git a/src/main/java/org/myrobotlab/service/config/DiyServo2Config.java b/src/main/java/org/myrobotlab/service/config/DiyServo2Config.java
index 15def3a605..cccd711201 100755
--- a/src/main/java/org/myrobotlab/service/config/DiyServo2Config.java
+++ b/src/main/java/org/myrobotlab/service/config/DiyServo2Config.java
@@ -26,6 +26,7 @@ public Plan getDefault(Plan plan, String name) {
     
     // TODO: how do we handle the controller for the encoder?  (could be different than the motor)
     As5048AEncoderConfig encoder = (As5048AEncoderConfig) plan.get(getPeerName("encoder"));
+    encoder.pin = 10;
     
     PidConfig pid = (PidConfig) plan.get(getPeerName("pid"));
     pid.data.put(name, new PidData());

From c13d16c14b6fa2d1fa57192b88fb55cd0c4feb2e Mon Sep 17 00:00:00 2001
From: kwatters <kwatters@kmwllc.com>
Date: Sun, 29 Jun 2025 20:59:38 -0400
Subject: [PATCH 15/15] sync some local changes

---
 .../org/myrobotlab/service/Amt203Encoder.java | 19 ++++++
 .../myrobotlab/service/As5048AEncoder.java    | 61 ++++++++++---------
 .../org/myrobotlab/service/DiyServo2.java     | 30 +++++----
 .../service/config/Amt203EncoderConfig.java   |  7 ++-
 .../service/config/As5048AEncoderConfig.java  |  6 ++
 5 files changed, 76 insertions(+), 47 deletions(-)

diff --git a/src/main/java/org/myrobotlab/service/Amt203Encoder.java b/src/main/java/org/myrobotlab/service/Amt203Encoder.java
index ce2b80219e..182a3a6f9d 100755
--- a/src/main/java/org/myrobotlab/service/Amt203Encoder.java
+++ b/src/main/java/org/myrobotlab/service/Amt203Encoder.java
@@ -59,4 +59,23 @@ public void updateEncoderData(EncoderData data) {
     invoke("publishEncoderData", data); 
   }
 
+  @Override
+  public Amt203EncoderConfig apply(Amt203EncoderConfig c) {
+    super.apply(c);  
+    this.setPin(c.pin);
+    // TODO: how we apply the config of the controller?
+    // String controllerName = c.controller;
+    // this.controller= null;    
+    // TODO: should we have a handle to our controller?
+    //this.controller = c.controller;
+    if (c.controller != null) {
+      try {
+        attach(c.controller);
+      } catch (Exception e) {
+        error(e);
+      }
+    }
+    return c;
+  }
+
 }
diff --git a/src/main/java/org/myrobotlab/service/As5048AEncoder.java b/src/main/java/org/myrobotlab/service/As5048AEncoder.java
index d26f0c63b8..45ab45c49d 100755
--- a/src/main/java/org/myrobotlab/service/As5048AEncoder.java
+++ b/src/main/java/org/myrobotlab/service/As5048AEncoder.java
@@ -42,23 +42,6 @@ public void setZeroPoint() {
     log.warn("Setting the Zero point not supported on AS5048A because memory register is OTP");
   }
 
-  public static void main(String[] args) throws Exception {
-
-    LoggingFactory.init("INFO");
-    String port = "COM4";
-    Runtime.start("gui", "SwingGui");
-    Arduino ard = (Arduino) Runtime.start("ard", "Arduino");
-    ard.connect(port);
-    ard.setDebug(true);
-    As5048AEncoder encoder = (As5048AEncoder) Runtime.start("encoder", "As5048AEncoder");
-    As5048AEncoderConfig cfg = (As5048AEncoderConfig)(encoder.config);
-    encoder.setPin(cfg.pin);
-    ard.attachEncoderControl(encoder);
-    Thread.sleep(10000);
-    encoder.setZeroPoint();
-    log.info("Here we are..");
-  }
-  
   public void updateEncoderData(EncoderData data) {
     // publish the updated encoder data (this is updated from the arduino..)
     // log.info("Encoder data: {}", data);
@@ -70,20 +53,17 @@ public void updateEncoderData(EncoderData data) {
     // This is computing a moving average for the encoder value to smooth it out a bit.
     double avgVal = history.stream().mapToDouble(EncoderData::getValue).average().orElse(0.0);
     double avgAngle = Precision.round(history.stream().mapToDouble(EncoderData::getAngle).average().orElse(0.0), 1);    
-    
-   // Precision.round(avgAngle, 2);
-   // double avgVal = (previousData.value + data.value)/2;
-   // double avgAngle = (previousData.angle + data.angle)/2;
+    // Precision.round(avgAngle, 2);
+    // double avgVal = (previousData.value + data.value)/2;
+    // double avgAngle = (previousData.angle + data.angle)/2;
     // 0.1 degree resolution... truncate and filter the value for stability..
     EncoderData filteredData = new EncoderData( data.source, data.pin, avgVal, avgAngle);
-   //  log.info("Original Angle: {}  Filtered Angle: {}", data.angle, filteredData.angle);
-    
+    //  log.info("Original Angle: {}  Filtered Angle: {}", data.angle, filteredData.angle);
     // previousData = data;
     //invoke("publishEncoderData", data); 
-
     invoke("publishEncoderData", filteredData); 
   }
-  
+
   @Override
   public As5048AEncoderConfig getConfig() {
     return (As5048AEncoderConfig)super.getConfig();
@@ -93,15 +73,36 @@ public As5048AEncoderConfig getConfig() {
   public As5048AEncoderConfig apply(As5048AEncoderConfig c) {
     // TODO?? : controller ?  attach?  
     this.setPin(c.pin);
+    // TODO: how we apply the config of the controller?
+    // String controllerName = c.controller;
+    // this.controller= null;    
+    // TODO: should we have a handle to our controller?
+    //this.controller = c.controller;
+    if (c.controller != null) {
+      try {
+        attach(c.controller);
+      } catch (Exception e) {
+        error(e);
+      }
+    }
     return c;
   }
   
-  public void apply() {
-    // TODO?? 
-    As5048AEncoderConfig config = getConfig();
-    this.setPin(config.pin);
+  public static void main(String[] args) throws Exception {
+    LoggingFactory.init("INFO");
+    String port = "COM4";
+    Runtime.start("gui", "SwingGui");
+    Arduino ard = (Arduino) Runtime.start("ard", "Arduino");
+    ard.connect(port);
+    ard.setDebug(true);
+    As5048AEncoder encoder = (As5048AEncoder) Runtime.start("encoder", "As5048AEncoder");
+    As5048AEncoderConfig cfg = (As5048AEncoderConfig)(encoder.config);
+    encoder.setPin(cfg.pin);
+    ard.attachEncoderControl(encoder);
+    Thread.sleep(10000);
+    encoder.setZeroPoint();
+    log.info("Here we are..");
   }
-
   
 }
 
diff --git a/src/main/java/org/myrobotlab/service/DiyServo2.java b/src/main/java/org/myrobotlab/service/DiyServo2.java
index c6d22ab5a2..fb65534e0f 100755
--- a/src/main/java/org/myrobotlab/service/DiyServo2.java
+++ b/src/main/java/org/myrobotlab/service/DiyServo2.java
@@ -105,6 +105,7 @@ void initPid() {
   public void onEncoderData(EncoderData data) {
     // System.err.println("DIY Servo Encoder Data: " + data);
     this.currentAngle = data.angle;
+    // TODO: could we just update the PID here?
   }
 
   public void attachEncoderControl(EncoderControl enc) {
@@ -213,6 +214,7 @@ private boolean isRunning() {
   public void disable() {
     // TODO: what do do here?
     // motorControl.disable();
+    // TODO: we should disable the encoder also here.. 
     motorControl.stop();
     enabled = false;
     // TODO: broadcast enabled/disabled messages?
@@ -222,7 +224,7 @@ public void disable() {
   public void enable() {
     // TODO: what do to here?  
     // motorControl.enable();
-      enabled = true;
+    enabled = true;
   }
 
   @Override
@@ -241,7 +243,7 @@ public boolean isAutoDisable() {
   public void attach(ServoController listener) {
     // TODO: remove from ServoControl interface... NoOp here.
     // NoOp : no servo controllers here..
-    log.warn("Diy Servo doesn't use a controller..  no implemented.");
+    log.warn("Diy Servo 2 doesn't use a controller..  no implemented.");
   }
 
   @Override
@@ -253,7 +255,7 @@ public void detach(ServoController listener) {
   @Override
   public String getController() {
     // TODO remove from interface?. we have no controller.
-    log.warn("Diy Servo doesn't use a controller..  no implemented.");
+    log.warn("Diy Servo 2 doesn't use a controller..  no implemented.");
     return null;
   }
 
@@ -394,7 +396,7 @@ public void setMinMaxOutput(double minY, double maxY) {
 
   @Override
   public void setPin(Integer pin) {
-    // TODO: There are no pins!  we have no pins!
+    // TODO: There are no pins!  we have no pins! perhaps this could be the pin that the encoder is connected to?
     log.warn("setPin not implemented in DiyServo.");
   }
 
@@ -425,7 +427,7 @@ public void setSpeed(Double degreesPerSecond) {
 
   @Override
   public void stop() {
-    // Stop the motor... anything else?
+    // Stop the motor.
     motorControl.move(0.0);
   }
 
@@ -441,10 +443,7 @@ public void unsync(ServoControl sc) {
 
   @Override
   public void waitTargetPos() {
-    // TODO Auto-generated method stub
-    // really? ok.
-    // here we should wait until we have "arrived"  ...
-    
+    // TODO: here we should wait until we have "arrived"  ...
   }
 
   @Override
@@ -453,12 +452,11 @@ public void writeMicroseconds(int uS) {
     log.warn("Write Microseconds not implemented for DiyServo.");
   }
 
-
-
   @Override
   public void fullSpeed() {
     // TODO: add a velocity control.
     // TODO: deprecated, remove from interface?
+    // This would disable any velocity control for the servo.
   }
 
   @Override
@@ -473,13 +471,13 @@ public ServoControl publishServoStop(ServoControl sc) {
 
   @Override
   public Double moveToBlocking(Integer newPos) {
-    // TODO Auto-generated method stub
+    // TODO this should get implemented for certain.
     return null;
   }
 
   @Override
   public Double moveToBlocking(Integer newPos, Long timeoutMs) {
-    // TODO Auto-generated method stub
+    // TODO this should get implemented for certain.
     return null;
   }
 
@@ -509,7 +507,7 @@ public String publishServoEnable(String name) {
 
   @Override
   public void attachServoControlListener(String name) {
-    // TODO Auto-generated method stub
+    // TODO: this should get implemented like the normal Servo
     
   }
 
@@ -545,8 +543,8 @@ public void unsync(String name) {
 
   @Override
   public void attachServoController(String sc) {
-    // TODO Auto-generated method stub
-    
+   // NoOp for DiyServo2, the Motor Control and the Encoder will have their own controllers...
+    log.info("DiyServo2 doesn't use attachServoController");
   }
 
   @Override
diff --git a/src/main/java/org/myrobotlab/service/config/Amt203EncoderConfig.java b/src/main/java/org/myrobotlab/service/config/Amt203EncoderConfig.java
index 250b198e03..7bae7db652 100644
--- a/src/main/java/org/myrobotlab/service/config/Amt203EncoderConfig.java
+++ b/src/main/java/org/myrobotlab/service/config/Amt203EncoderConfig.java
@@ -1,5 +1,10 @@
 package org.myrobotlab.service.config;
 
+/**
+ * configuration for an AMT203 absolute position rotary encoder.
+ * This is a capacitive encoder. 
+ */
 public class Amt203EncoderConfig extends ServiceConfig {
-    // Add your configuration here
+  public Integer pin = 10;
+  public String controller = null;
 }
diff --git a/src/main/java/org/myrobotlab/service/config/As5048AEncoderConfig.java b/src/main/java/org/myrobotlab/service/config/As5048AEncoderConfig.java
index 646b846ea1..730a52cb49 100644
--- a/src/main/java/org/myrobotlab/service/config/As5048AEncoderConfig.java
+++ b/src/main/java/org/myrobotlab/service/config/As5048AEncoderConfig.java
@@ -1,6 +1,12 @@
 package org.myrobotlab.service.config;
 
+/**
+ * config for an as5048a spi based absolute position encoder
+ * This is a magenetic encoder.
+ */
 public class As5048AEncoderConfig extends ServiceConfig {
   // the only config i guess is what pin it attaches to it's controller on.
   public Integer pin = 10;
+  public String controller = null;
+  
 }