ok radians conversion

modules/hardware/atkmrobot.js

@@ -46,9 +46,9 @@ function ATKMathRobot() {
     var state = atkmr.state
 
     state.message = 'no packet yet'
+    state.enc_cnt = 16384
     state.pc_t = 2048
     state.onUiChange('pc_t', onPositionTargetUserChange)
-    state.walk = 1024
 
     state.pKp = 4.5
     state.onUiChange('pKp', onKValsUpdate)
@@ -61,6 +61,8 @@ function ATKMathRobot() {
     state.cKi = 0.0
     state.onUiChange('cKi', onKValsUpdate)
 
+    state.walk = 1024
+
     atkmr.ui = UI()
     var ui = atkmr.ui
     ui.addElement('walkValButton', './ui/uiButton.js', onPositionTickTock)
@@ -89,7 +91,9 @@ function ATKMathRobot() {
     }
 
     atkmr.route.subscribe(145, function(msg){
-        console.log('145 return', msg)
+        var pos = PCKT.unPack32(msg.slice(1))
+        var rads = 2*Math.PI * (pos / state.enc_cnt)
+        atkmr.outputs.pos.emit(rads)
     })
 
     function onPositionTargetUserChange() {

modules/hardware/atkseriallink.js

@@ -29,6 +29,7 @@ function ATKSerialLink() {
 
     state.portName = '---'
     state.portStatus = 'closed' // or we hope it will be 
+    state.log = true 
 
     atkSerialLink.ui = UI() 
     var ui = atkSerialLink.ui 
@@ -117,12 +118,12 @@ function ATKSerialLink() {
             pckt = literalRoute.concat(pckt) // add route 
             pckt.unshift(pckt.length + 1) // add length byte 
             if (writeToSerialPort(pckt)) {
-                console.log('PCKT OUT >>', pckt.toString(), '---------------')
+                if(state.log) console.log('PCKT OUT >>', pckt.toString(), '---------------')
             } else {
                 // try to open ? 
                 openSerialPort()
                 if (writeToSerialPort(pckt)) {
-                    console.log('PCKT OOT >>', pckt.toString())
+                    if(state.log) console.log('PCKT OOT >>', pckt.toString())
                 } else {
                     console.log('LINK ERR: attempt to send to hardware, port not writable')
                 }
@@ -198,7 +199,7 @@ function ATKSerialLink() {
         // we're the last link, shift that pointer
         shiftPacketPointer(pckt)
         // log it
-        console.log('PCKT IN <<', pckt.toString(), '-----------------------')
+        if(state.log) console.log('PCKT IN <<', pckt.toString(), '-----------------------')
         // grab the routing header
         var incomingRoute = pckt.slice(2, pckt.indexOf(255))
         // flip to match outgoing 

robot.js

@@ -8,6 +8,7 @@ var program = Programs.new('new program')
 
 var link = Programs.loadModuleFromSource(program, './modules/hardware/atkseriallink.js')
 link.startUp()
+link.state.log = false 
 Programs.setUI(link, 1050, 50)
 
 var mrbot = Programs.loadModuleFromSource(program, './modules/hardware/atkmrobot.js')
@@ -28,6 +29,7 @@ delay.outputs.out.attach(gate.inputs.thru)
 gate.outputs.out.attach(button.inputs.thru)
 
 var log = Programs.loadModuleFromSource(program, './modules/util/log.js')
+log.state.prefix = "jnt1:"
 Programs.setUI(log, 840, 520)
 mrbot.outputs.pos.attach(log.inputs.thru)
 

views.js

@@ -19,6 +19,7 @@ SERVER AND WS SETUP --------------------------------------------------
 
 var program = null
 var sckt = null
+var verbose = false 
 
 function startHttp() {
     // serving this handful of static files
@@ -291,13 +292,13 @@ function uiRequestLinkChange(data) {
 }
 
 function uiRequestUiChange(data){
-    console.log('UI PUSH UI DATA DOWN', data)
+    if(verbose) console.log('UI PUSH UI DATA DOWN', data)
     var mdlUiElem = program.modules[data.id].ui[data.key]
     mdlUiElem.onMessage(data.msg)
 }
 
 function uiRequestMdlPositionChange(data) {
-    console.log('UI REQUEST ADD / CHANGE UI INFO TO MODULE', data)
+    if(verbose) console.log('UI REQUEST ADD / CHANGE UI INFO TO MODULE', data)
     var mod = program.modules[data.description.id]
     mod.description.position = data.description.position
 }