Commit 38a5c2a2 authored by Jake Read's avatar Jake Read
Browse files

ok radians conversion

parent 2cfe5959
...@@ -46,9 +46,9 @@ function ATKMathRobot() { ...@@ -46,9 +46,9 @@ function ATKMathRobot() {
var state = atkmr.state var state = atkmr.state
state.message = 'no packet yet' state.message = 'no packet yet'
state.enc_cnt = 16384
state.pc_t = 2048 state.pc_t = 2048
state.onUiChange('pc_t', onPositionTargetUserChange) state.onUiChange('pc_t', onPositionTargetUserChange)
state.walk = 1024
state.pKp = 4.5 state.pKp = 4.5
state.onUiChange('pKp', onKValsUpdate) state.onUiChange('pKp', onKValsUpdate)
...@@ -61,6 +61,8 @@ function ATKMathRobot() { ...@@ -61,6 +61,8 @@ function ATKMathRobot() {
state.cKi = 0.0 state.cKi = 0.0
state.onUiChange('cKi', onKValsUpdate) state.onUiChange('cKi', onKValsUpdate)
state.walk = 1024
atkmr.ui = UI() atkmr.ui = UI()
var ui = atkmr.ui var ui = atkmr.ui
ui.addElement('walkValButton', './ui/uiButton.js', onPositionTickTock) ui.addElement('walkValButton', './ui/uiButton.js', onPositionTickTock)
...@@ -89,7 +91,9 @@ function ATKMathRobot() { ...@@ -89,7 +91,9 @@ function ATKMathRobot() {
} }
atkmr.route.subscribe(145, function(msg){ 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() { function onPositionTargetUserChange() {
......
...@@ -29,6 +29,7 @@ function ATKSerialLink() { ...@@ -29,6 +29,7 @@ function ATKSerialLink() {
state.portName = '---' state.portName = '---'
state.portStatus = 'closed' // or we hope it will be state.portStatus = 'closed' // or we hope it will be
state.log = true
atkSerialLink.ui = UI() atkSerialLink.ui = UI()
var ui = atkSerialLink.ui var ui = atkSerialLink.ui
...@@ -117,12 +118,12 @@ function ATKSerialLink() { ...@@ -117,12 +118,12 @@ function ATKSerialLink() {
pckt = literalRoute.concat(pckt) // add route pckt = literalRoute.concat(pckt) // add route
pckt.unshift(pckt.length + 1) // add length byte pckt.unshift(pckt.length + 1) // add length byte
if (writeToSerialPort(pckt)) { if (writeToSerialPort(pckt)) {
console.log('PCKT OUT >>', pckt.toString(), '---------------') if(state.log) console.log('PCKT OUT >>', pckt.toString(), '---------------')
} else { } else {
// try to open ? // try to open ?
openSerialPort() openSerialPort()
if (writeToSerialPort(pckt)) { if (writeToSerialPort(pckt)) {
console.log('PCKT OOT >>', pckt.toString()) if(state.log) console.log('PCKT OOT >>', pckt.toString())
} else { } else {
console.log('LINK ERR: attempt to send to hardware, port not writable') console.log('LINK ERR: attempt to send to hardware, port not writable')
} }
...@@ -198,7 +199,7 @@ function ATKSerialLink() { ...@@ -198,7 +199,7 @@ function ATKSerialLink() {
// we're the last link, shift that pointer // we're the last link, shift that pointer
shiftPacketPointer(pckt) shiftPacketPointer(pckt)
// log it // log it
console.log('PCKT IN <<', pckt.toString(), '-----------------------') if(state.log) console.log('PCKT IN <<', pckt.toString(), '-----------------------')
// grab the routing header // grab the routing header
var incomingRoute = pckt.slice(2, pckt.indexOf(255)) var incomingRoute = pckt.slice(2, pckt.indexOf(255))
// flip to match outgoing // flip to match outgoing
......
...@@ -8,6 +8,7 @@ var program = Programs.new('new program') ...@@ -8,6 +8,7 @@ var program = Programs.new('new program')
var link = Programs.loadModuleFromSource(program, './modules/hardware/atkseriallink.js') var link = Programs.loadModuleFromSource(program, './modules/hardware/atkseriallink.js')
link.startUp() link.startUp()
link.state.log = false
Programs.setUI(link, 1050, 50) Programs.setUI(link, 1050, 50)
var mrbot = Programs.loadModuleFromSource(program, './modules/hardware/atkmrobot.js') var mrbot = Programs.loadModuleFromSource(program, './modules/hardware/atkmrobot.js')
...@@ -28,6 +29,7 @@ delay.outputs.out.attach(gate.inputs.thru) ...@@ -28,6 +29,7 @@ delay.outputs.out.attach(gate.inputs.thru)
gate.outputs.out.attach(button.inputs.thru) gate.outputs.out.attach(button.inputs.thru)
var log = Programs.loadModuleFromSource(program, './modules/util/log.js') var log = Programs.loadModuleFromSource(program, './modules/util/log.js')
log.state.prefix = "jnt1:"
Programs.setUI(log, 840, 520) Programs.setUI(log, 840, 520)
mrbot.outputs.pos.attach(log.inputs.thru) mrbot.outputs.pos.attach(log.inputs.thru)
......
...@@ -19,6 +19,7 @@ SERVER AND WS SETUP -------------------------------------------------- ...@@ -19,6 +19,7 @@ SERVER AND WS SETUP --------------------------------------------------
var program = null var program = null
var sckt = null var sckt = null
var verbose = false
function startHttp() { function startHttp() {
// serving this handful of static files // serving this handful of static files
...@@ -291,13 +292,13 @@ function uiRequestLinkChange(data) { ...@@ -291,13 +292,13 @@ function uiRequestLinkChange(data) {
} }
function uiRequestUiChange(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] var mdlUiElem = program.modules[data.id].ui[data.key]
mdlUiElem.onMessage(data.msg) mdlUiElem.onMessage(data.msg)
} }
function uiRequestMdlPositionChange(data) { 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] var mod = program.modules[data.description.id]
mod.description.position = data.description.position mod.description.position = data.description.position
} }
......
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