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Jake Read
rndmc
Commits
621eabca
Commit
621eabca
authored
Nov 15, 2018
by
Jake Read
Browse files
example program moves some axis
parent
8f18e341
Changes
5
Expand all
Hide whitespace changes
Inline
Side-by-side
modules/hardware/atkseriallink.js
View file @
621eabca
...
...
@@ -27,7 +27,7 @@ function ATKSerialLink() {
state
.
portStatus
=
'
closed
'
// or we hope it will be
atkSerialLink
.
init
=
function
(){
findSerialPort
()
//
findSerialPort()
}
/*
...
...
@@ -74,7 +74,7 @@ function ATKSerialLink() {
serialport
=
new
SerialPort
(
state
.
portName
,
{
baudRate
:
250000
})
state
.
portStatus
=
'
opening
'
//
state.portStatus = 'opening'
serialport
.
on
(
'
open
'
,
function
()
{
state
.
portStatus
=
'
open
'
})
...
...
@@ -150,6 +150,7 @@ function ATKSerialLink() {
// we'll make sure it's what we think it will be
// console.log("PORT DATA")
var
dtArray
=
new
Array
()
console
.
log
(
'
sp data
'
,
data
)
if
(
Buffer
.
isBuffer
(
data
))
{
for
(
var
i
=
0
;
i
<
data
.
length
;
i
++
)
{
dtArray
[
i
]
=
data
[
i
]
...
...
package-lock.json
View file @
621eabca
This diff is collapsed.
Click to expand it.
programs/
hwtst-5
.json
→
programs/
fourmotors-oneplanner
.json
View file @
621eabca
...
...
@@ -20,12 +20,12 @@
"inputs"
:
{},
"outputs"
:
{},
"state"
:
{
"portName"
:
"
COM3
"
,
"portName"
:
"
---
"
,
"connect"
:
{
"type"
:
"button"
,
"label"
:
"click to find and connect"
},
"portStatus"
:
"
open
"
"portStatus"
:
"
closed
"
}
},
"ATKStepper-0"
:
{
...
...
@@ -76,7 +76,7 @@
"label"
:
"test network"
},
"message"
:
"click above to test network"
,
"route"
:
"0,
3
"
,
"route"
:
"0,
0
"
,
"rate"
:
2000
,
"axis"
:
"X"
,
"spu"
:
200
,
...
...
@@ -137,10 +137,10 @@
"label"
:
"test network"
},
"message"
:
"click above to test network"
,
"route"
:
"0,
0
"
,
"route"
:
"0,
3
"
,
"rate"
:
2000
,
"axis"
:
"Y"
,
"spu"
:
-
200
,
"spu"
:
200
,
"rawMove"
:
-10
,
"makeMove"
:
{
"type"
:
"button"
,
...
...
@@ -196,7 +196,7 @@
"route"
:
"0,5"
,
"rate"
:
2000
,
"axis"
:
"Y"
,
"spu"
:
200
,
"spu"
:
-
200
,
"rawMove"
:
-10
,
"makeMove"
:
{
"type"
:
"button"
,
...
...
@@ -257,13 +257,13 @@
"route"
:
"0,1"
,
"rate"
:
2000
,
"axis"
:
"Z"
,
"spu"
:
200
,
"spu"
:
-
200
,
"rawMove"
:
-10
,
"makeMove"
:
{
"type"
:
"button"
,
"label"
:
"test move"
},
"lead"
:
-600
0
,
"lead"
:
0
,
"position"
:
0
}
},
...
...
@@ -433,8 +433,8 @@
"alt"
:
"movements -> acceleration planned moves"
,
"path"
:
"./modules/motion/planner.js"
,
"position"
:
{
"left"
:
822
,
"top"
:
10
20
"left"
:
693
,
"top"
:
10
15
}
},
"inputs"
:
{
...
...
@@ -472,7 +472,12 @@
},
"moveComplete"
:
{
"emits"
:
"number"
,
"calls"
:
[]
"calls"
:
[
{
"parentId"
:
"Multi-line Text Input-12"
,
"key"
:
"req"
}
]
}
},
"state"
:
{
...
...
@@ -493,12 +498,12 @@
0
,
0
],
"isRunning"
:
1
,
"isRunning"
:
0
,
"netWindow"
:
3
,
"netState"
:
[
3
,
3
,
3
0
,
0
,
0
]
}
},
...
...
@@ -585,19 +590,19 @@
"type"
:
"multiline"
,
"label"
:
"lines complete"
,
"rows"
:
11
,
"value"
:
"
\n\n
G0 F50 X10Y10Z10
\n
G0 X20Y20Z0
\n
G0 X0
\n
G0 Y10
\n
G0 F50 X10Y10Z10
\n
G0 X20Y20Z0
\n
G0 X0
\n
G0 Y10
\n
G0 F50 X10Y10Z10
"
"value"
:
""
},
"now"
:
{
"type"
:
"multiline"
,
"label"
:
"line just out"
,
"rows"
:
1
,
"value"
:
"
G0 X20Y20Z0
"
"value"
:
""
},
"incoming"
:
{
"type"
:
"multiline"
,
"label"
:
"future lines"
,
"rows"
:
36
,
"value"
:
"G0 X0
\n
G0 Y10
\n
G0 F50 X10Y10Z10
\n
G0 X20Y20Z0
\n
G0 X0
\n
G0 Y10
\n
"
"value"
:
"G0
F50 X10Y10Z10
\n
G0 X20Y20Z0
\n
G0 X0
\n
G0 Y10
\n
G0 F50 X10Y10Z10
\n
G0 X20Y20Z0
\n
G0 X0
\n
G0 Y10
\n
G0 F50 X10Y10Z10
\n
G0 X20Y20Z0
\n
G0
X0
\n
G0 Y10
\n
G0 F50 X10Y10Z10
\n
G0 X20Y20Z0
\n
G0 X0
\n
G0 Y10
\n
"
}
}
}
...
...
programs/hwtest-4.json
deleted
100644 → 0
View file @
8f18e341
{
"description"
:
{
"name"
:
"new program"
,
"counter"
:
12
},
"modules"
:
{
"Serialport ATK Link-1"
:
{
"description"
:
{
"id"
:
"Serialport ATK Link-1"
,
"name"
:
"Serialport ATK Link"
,
"alt"
:
"window into hardware world"
,
"path"
:
"./modules/hardware/atkseriallink.js"
,
"isHardware"
:
true
,
"isLink"
:
true
,
"position"
:
{
"left"
:
1922
,
"top"
:
383
}
},
"inputs"
:
{},
"outputs"
:
{},
"state"
:
{
"portName"
:
"COM3"
,
"connect"
:
{
"type"
:
"button"
,
"label"
:
"click to find and connect"
},
"portStatus"
:
"open"
}
},
"ATKStepper-0"
:
{
"description"
:
{
"id"
:
"ATKStepper-0"
,
"name"
:
"ATKStepper"
,
"alt"
:
"software representation of stepper motor"
,
"path"
:
"./modules/hardware/atkstepper.js"
,
"isHardware"
:
true
,
"position"
:
{
"left"
:
1427
,
"top"
:
127
}
},
"inputs"
:
{
"trapezoid"
:
{
"accepts"
:
"move instruction"
},
"accel"
:
{
"accepts"
:
"number"
},
"rmtrig"
:
{
"accepts"
:
"event"
}
},
"outputs"
:
{
"ack"
:
{
"emits"
:
"move acknowledgement"
,
"calls"
:
[]
},
"position"
:
{
"emits"
:
"number"
,
"calls"
:
[]
}
},
"state"
:
{
"reset"
:
{
"type"
:
"button"
,
"label"
:
"reset hardware"
},
"test"
:
{
"type"
:
"button"
,
"label"
:
"test network"
},
"message"
:
"click above to test network"
,
"route"
:
"0,3"
,
"rate"
:
2000
,
"axis"
:
"X"
,
"spu"
:
200
,
"rawMove"
:
-10
,
"makeMove"
:
{
"type"
:
"button"
,
"label"
:
"test move"
},
"lead"
:
0
,
"position"
:
0
}
},
"ATKStepper-2"
:
{
"description"
:
{
"id"
:
"ATKStepper-2"
,
"name"
:
"ATKStepper"
,
"alt"
:
"software representation of stepper motor"
,
"path"
:
"./modules/hardware/atkstepper.js"
,
"isHardware"
:
true
,
"position"
:
{
"left"
:
1432
,
"top"
:
504
}
},
"inputs"
:
{
"trapezoid"
:
{
"accepts"
:
"move instruction"
},
"accel"
:
{
"accepts"
:
"number"
},
"rmtrig"
:
{
"accepts"
:
"event"
}
},
"outputs"
:
{
"ack"
:
{
"emits"
:
"move acknowledgement"
,
"calls"
:
[]
},
"position"
:
{
"emits"
:
"number"
,
"calls"
:
[]
}
},
"state"
:
{
"reset"
:
{
"type"
:
"button"
,
"label"
:
"reset hardware"
},
"test"
:
{
"type"
:
"button"
,
"label"
:
"test network"
},
"message"
:
"click above to test network"
,
"route"
:
"0,0"
,
"rate"
:
2000
,
"axis"
:
"Y"
,
"spu"
:
-200
,
"rawMove"
:
-10
,
"makeMove"
:
{
"type"
:
"button"
,
"label"
:
"test move"
},
"lead"
:
0
,
"position"
:
0
}
},
"ATKStepper-3"
:
{
"description"
:
{
"id"
:
"ATKStepper-3"
,
"name"
:
"ATKStepper"
,
"alt"
:
"software representation of stepper motor"
,
"path"
:
"./modules/hardware/atkstepper.js"
,
"isHardware"
:
true
,
"position"
:
{
"left"
:
1438
,
"top"
:
871
}
},
"inputs"
:
{
"trapezoid"
:
{
"accepts"
:
"move instruction"
},
"accel"
:
{
"accepts"
:
"number"
},
"rmtrig"
:
{
"accepts"
:
"event"
}
},
"outputs"
:
{
"ack"
:
{
"emits"
:
"move acknowledgement"
,
"calls"
:
[]
},
"position"
:
{
"emits"
:
"number"
,
"calls"
:
[]
}
},
"state"
:
{
"reset"
:
{
"type"
:
"button"
,
"label"
:
"reset hardware"
},
"test"
:
{
"type"
:
"button"
,
"label"
:
"test network"
},
"message"
:
"click above to test network"
,
"route"
:
"0,5"
,
"rate"
:
2000
,
"axis"
:
"Y"
,
"spu"
:
200
,
"rawMove"
:
-10
,
"makeMove"
:
{
"type"
:
"button"
,
"label"
:
"test move"
},
"lead"
:
0
,
"position"
:
0
}
},
"ATKStepper-4"
:
{
"description"
:
{
"id"
:
"ATKStepper-4"
,
"name"
:
"ATKStepper"
,
"alt"
:
"software representation of stepper motor"
,
"path"
:
"./modules/hardware/atkstepper.js"
,
"isHardware"
:
true
,
"position"
:
{
"left"
:
1440
,
"top"
:
1248
}
},
"inputs"
:
{
"trapezoid"
:
{
"accepts"
:
"move instruction"
},
"accel"
:
{
"accepts"
:
"number"
},
"rmtrig"
:
{
"accepts"
:
"event"
}
},
"outputs"
:
{
"ack"
:
{
"emits"
:
"move acknowledgement"
,
"calls"
:
[]
},
"position"
:
{
"emits"
:
"number"
,
"calls"
:
[]
}
},
"state"
:
{
"reset"
:
{
"type"
:
"button"
,
"label"
:
"reset hardware"
},
"test"
:
{
"type"
:
"button"
,
"label"
:
"test network"
},
"message"
:
"click above to test network"
,
"route"
:
"0,1"
,
"rate"
:
2000
,
"axis"
:
"Z"
,
"spu"
:
200
,
"rawMove"
:
-10
,
"makeMove"
:
{
"type"
:
"button"
,
"label"
:
"test move"
},
"lead"
:
-2000
,
"position"
:
0
}
},
"ATKBBB-Servo-5"
:
{
"description"
:
{
"id"
:
"ATKBBB-Servo-5"
,
"name"
:
"ATKBBB-Servo"
,
"alt"
:
"software representation of networked hardware object"
,
"path"
:
"./modules/hardware/atkbreadboard.js"
,
"isHardware"
:
true
,
"position"
:
{
"left"
:
1886
,
"top"
:
1362
}
},
"inputs"
:
{
"servoVal"
:
{
"accepts"
:
"number"
},
"adcRequest"
:
{
"accepts"
:
"event"
}
},
"outputs"
:
{
"servoConf"
:
{
"emits"
:
"event"
,
"calls"
:
[]
},
"adcValue"
:
{
"emits"
:
"number"
,
"calls"
:
[]
}
},
"state"
:
{
"reset"
:
{
"type"
:
"button"
,
"label"
:
"reset hardware"
},
"test"
:
{
"type"
:
"button"
,
"label"
:
"test network"
},
"message"
:
"click above to test network"
,
"route"
:
"0,2"
,
"servoButton"
:
{
"type"
:
"button"
,
"label"
:
"SEND VALUE"
},
"servoVal"
:
0
,
"adcButton"
:
{
"type"
:
"button"
,
"label"
:
"REQUEST ADC CONVERSION"
}
}
},
"Button-7"
:
{
"description"
:
{
"id"
:
"Button-7"
,
"name"
:
"Button"
,
"alt"
:
"for clicking"
,
"path"
:
"./modules/ui/button.js"
,
"position"
:
{
"left"
:
591
,
"top"
:
332
}
},
"inputs"
:
{
"thru"
:
{
"accepts"
:
"any"
}
},
"outputs"
:
{
"whammy"
:
{
"emits"
:
"number"
,
"calls"
:
[
{
"parentId"
:
"delay-9"
,
"key"
:
"thru"
},
{
"parentId"
:
"number output-8"
,
"key"
:
"evt"
}
]
}
},
"state"
:
{
"button"
:
{
"type"
:
"button"
,
"label"
:
"WHAM"
}
}
},
"number output-8"
:
{
"description"
:
{
"id"
:
"number output-8"
,
"name"
:
"number output"
,
"alt"
:
"for clicking"
,
"path"
:
"./modules/ui/number.js"
,
"position"
:
{
"left"
:
586
,
"top"
:
566
}
},
"inputs"
:
{
"thru"
:
{
"accepts"
:
"any"
},
"evt"
:
{
"accepts"
:
"any"
}
},
"outputs"
:
{
"out"
:
{
"emits"
:
"number"
,
"calls"
:
[
{
"parentId"
:
"Multi-line Text Input-12"
,
"key"
:
"req"
}
]
}
},
"state"
:
{
"number"
:
10
,
"button"
:
{
"type"
:
"button"
,
"label"
:
"WHAM"
}
}
},
"delay-9"
:
{
"description"
:
{
"id"
:
"delay-9"
,
"name"
:
"delay"
,
"alt"
:
"in ... out"
,
"path"
:
"./modules/util/delay.js"
,
"position"
:
{
"left"
:
589
,
"top"
:
464
}
},
"inputs"
:
{
"thru"
:
{
"accepts"
:
"any"
}
},
"outputs"
:
{
"out"
:
{
"emits"
:
"any"
,
"calls"
:
[
{
"parentId"
:
"Lookahead-Motion-Planner-10"
,
"key"
:
"run"
}
]
}
},
"state"
:
{
"ms"
:
100
}
},
"Lookahead-Motion-Planner-10"
:
{
"description"
:
{
"id"
:
"Lookahead-Motion-Planner-10"
,
"name"
:
"Lookahead-Motion-Planner"
,
"alt"
:
"movements -> acceleration planned moves"
,
"path"
:
"./modules/motion/planner.js"
,
"position"
:
{
"left"
:
822
,
"top"
:
1020
}
},
"inputs"
:
{
"instruction"
:
{
"accepts"
:
"move instruction"
},
"acks"
:
{
"accepts"
:
"move acknowledgement"
},
"run"
:
{
"accepts"
:
"boolean"
}
},
"outputs"
:
{
"moves"
:
{
"emits"
:
"move instruction"
,
"calls"
:
[
{
"parentId"
:
"ATKStepper-0"
,
"key"
:
"trapezoid"
},
{
"parentId"
:
"ATKStepper-2"
,
"key"
:
"trapezoid"
},
{
"parentId"
:
"ATKStepper-3"
,
"key"
:
"trapezoid"
},
{
"parentId"
:
"ATKStepper-4"
,
"key"
:
"trapezoid"
}
]
},
"moveComplete"
:
{
"emits"
:
"number"
,
"calls"
:
[]
}
},
"state"
:
{
"axisIDs"
:
"X,Y,Z"
,
"reset"
:
{
"type"
:
"button"
,
"label"
:
"reset planner"
},
"accel"
:
200
,
"jd"
:
0.1
,