add robot notes

robot.js

@@ -6,13 +6,32 @@ const Programs = require('./programs.js')
 // the program object: real simple, just has a description, and a 'modules' 
 var program = Programs.new('new program')
 
+/* ok
+
+- robot reads robot joints
+- robot takes joint angle samples into array like
+	[[t1, t2],[t1, t2],...,[t1,t2]]
+- robot sends this array to python scripto 
+- python scripto does l1, l2 guesses
+- robot does forward transform with live [t1, t2]
+- robot displays forward transform with [t1, t2]
+
+- modules needed
+ - object collector (i.e. collects inputs into a list, has 'output' and 'reset' input triggers / buttons as well)
+ - two-up contencator (i.e. takes two inputs, puts them into arrays) 
+ - gate opens, lets a count thru, shuts 
+
+*/
+
 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')
-Programs.setUI(mrbot, 600, 50)
+var mrbotone = Programs.loadModuleFromSource(program, './modules/hardware/atkmrobot.js')
+Programs.setUI(mrbotone, 600, 50)
+var mrbottwo = Programs.loadModuleFromSource(program, './modules/hardware/atkmrobot.js')
+Programs.setUI(mrbottwo, 600, 450)
 
 var button = Programs.loadModuleFromSource(program, './modules/ui/button.js')
 var delay = Programs.loadModuleFromSource(program, './modules/util/delay.js')
@@ -23,18 +42,18 @@ Programs.setUI(button, 90, 50)
 Programs.setUI(delay, 90, 250)
 Programs.setUI(gate, 90, 400)
 
-button.outputs.whammy.attach(mrbot.inputs.get_pos)
+button.outputs.whammy.attach(mrbotone.inputs.get_pos)
 button.outputs.whammy.attach(delay.inputs.thru)
 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)
+Programs.setUI(log, 1050, 520)
+mrbotone.outputs.pos.attach(log.inputs.thru)
 
 var canvas = Programs.loadModuleFromSource(program, './modules/ui/threeCanvas.js')
-Programs.setUI(canvas, 600, 650)
+Programs.setUI(canvas, 1500, 650)
 
 /*
 var stest = Programs.loadModuleFromSource(program, './modules/ui/stest.js')