From 8f18e3412c7c260dc50ed93fa33840a08a56be41 Mon Sep 17 00:00:00 2001
From: Jake Read <jake.read@cba.mit.edu>
Date: Thu, 15 Nov 2018 14:54:27 -0500
Subject: [PATCH] ready to machine demo
---
README.md | 5 +
client/client.js | 9 +-
client/divtools.js | 12 +-
modules/dev/depricated/bridge.js | 287 ---------------------
modules/dev/depricated/servo.js | 63 -----
modules/dev/depricated/test.js | 56 -----
modules/hardware/atkseriallink.js | 5 +-
modules/motion/planner.js | 2 +
programs/{hwtst-3.json => hwtest-4.json} | 62 ++---
programs/hwtest.json | 308 -----------------------
programs/{hwtest-2.json => hwtst-5.json} | 116 +++++----
11 files changed, 130 insertions(+), 795 deletions(-)
delete mode 100644 modules/dev/depricated/bridge.js
delete mode 100644 modules/dev/depricated/servo.js
delete mode 100644 modules/dev/depricated/test.js
rename programs/{hwtst-3.json => hwtest-4.json} (93%)
delete mode 100644 programs/hwtest.json
rename programs/{hwtest-2.json => hwtst-5.json} (85%)
diff --git a/README.md b/README.md
index e3f2c10..733f49b 100644
--- a/README.md
+++ b/README.md
@@ -112,6 +112,9 @@ Herein will contain a list of known problems / common errors and their fixes.
## For MW
+ - want that better-planner
+ - do axis pullout separately from stepper motor ?
+
- bug hunting
- dereferenced events / stepper axis vector
- multiple button calls ...
@@ -165,6 +168,8 @@ To assemble a representation of these, we want to have a kind of 'netlist' that,
- heirarchy zoom
- architectural clarity betwixt UI and Heap
- some auto load / save currently.json file so that we can restart program w/o pain ... maybe just save on new user inputs ?
+- state.setDefault('var', num) or etc / types
+- perhaps all state objects like this ... still somehow state.var = // is a good operator ? don't really want state.var.set(num) and state.var.get()
- states / uis / etc - one off / one-at-a-time for updates
- i.e. all f'n update calls are to single module-global state update
- !
diff --git a/client/client.js b/client/client.js
index 7932d80..72aba40 100644
--- a/client/client.js
+++ b/client/client.js
@@ -312,6 +312,9 @@ function redrawLinks() {
while (svg.firstChild) {
svg.removeChild(svg.firstChild)
}
+ // draw origin
+ var og1 = newLine(-15,0,15,0,5, false)
+ var og2 = newLine(0,-15,0,15,5, false)
// find that link
var lnkPt
var nLnk = 0
@@ -343,7 +346,7 @@ function redrawLinks() {
nLnk++
var hwPt = getRightWall(mdlRep.ui.domElem)
lnkPt.y += 5 * nLnk
- var ln = newLine(hwPt.x, hwPt.y, lnkPt.x, lnkPt.y)
+ var ln = newLine(hwPt.x, hwPt.y, lnkPt.x, lnkPt.y, 7, true)
}
}
}
@@ -592,6 +595,10 @@ function heapSendsProgramMenu(tree) {
menuDom.id = 'programMenu'
menuDom.style.left = lastPos.x + 'px'
menuDom.style.top = lastPos.y + 'px'
+ var title = document.createElement('div')
+ title.className = 'title'
+ title.innerHTML = 'program menu'
+ menuDom.appendChild(title)
for (key in tree) {
var li = document.createElement('li')
var path = tree[key].path
diff --git a/client/divtools.js b/client/divtools.js
index ba16c01..0a50ee2 100644
--- a/client/divtools.js
+++ b/client/divtools.js
@@ -298,13 +298,19 @@ function getInputArrow(div) {
return pos
}
-function newLine(x1, y1, x2, y2) {
+function newLine(x1, y1, x2, y2, stroke, dashed) {
var ln = {}
ln.elem = document.createElementNS(svgns, 'line')
ln.elem.style.stroke = '#1a1a1a'
- ln.elem.setAttribute('stroke-dasharray', '21, 7, 7, 7')
+ if(dashed){
+ ln.elem.setAttribute('stroke-dasharray', '21, 7, 7, 7')
+ }
ln.elem.style.fill = 'none'
- ln.elem.style.strokeWidth = '6px'
+ if(stroke){
+ ln.elem.style.strokeWidth = stroke + 'px'
+ } else {
+ ln.elem.style.strokeWidth = '6px'
+ }
ln.x1 = x1
ln.y1 = y1
ln.x2 = x2
diff --git a/modules/dev/depricated/bridge.js b/modules/dev/depricated/bridge.js
deleted file mode 100644
index ddf2d97..0000000
--- a/modules/dev/depricated/bridge.js
+++ /dev/null
@@ -1,287 +0,0 @@
-// boilerplate atkapi header
-const InOut = require('../../lib/jsunit.js')
-let Input = InOut.Input
-let Output = InOut.Output
-
-let State = InOut.State
-let Button = InOut.Button
-
-const serialport = require('serialport')
-
-function ATKBridge() {
- var bridge = {
- description: {
- name: 'ATK Hardware Bridge',
- alt: 'talks over serialport',
- isHardware: true
- }
- }
-
- var state = State()
- bridge.state = state
-
- state.rA = '0,0'
- state.rB = '0,1'
- state.rC = '0,2'
- state.rD = '0,3'
- state.rE = '0,4'
- state.rF = '0,5'
- state.rG = '0'
-
- state.findPort = Button('click to find atk port', findPort)
- state.portName = '---'
- state.connect = Button('click to connect', openPort)
- state.portStatus = 'closed' // or we hope it will be
- state.terminal = 'address | key:values'
-
- /*
- ------------------------------------------------------
- SERIALPORT MANAGEMENT
- ------------------------------------------------------
- */
-
- port = null
-
- function findPort() {
- serialport.list(function(err, ports) {
- ports.forEach(function(port) {
- if (port.manufacturer == 'Silicon Labs') {
- console.log('found cp2102 port')
- state.portName = port.comName
- openPort()
- }
- })
- })
- }
-
- bridge.init = openPort
-
- function openPort() {
- if (state.portName == '---') {
- findPort()
- } else {
- if (port == null) {
- port = new serialport(state.portName, {
- baudRate: 250000
- })
- port.on('open', function() {
- state.portStatus = 'open'
- })
- port.on('error', function(err) {
- state.portStatus = err.message
- })
- port.on('data', onPortData)
- }
- }
- }
-
-
- function sendToHardware(pckt) {
- if (port != null && port.writable) {
- if (port.write(pckt)) {
- return true
- } else {
- console.log('------------------ !ACHTUNG! -------------------')
- console.log('------------------ !ACHTUNG! -------------------')
- console.log('---------- port.write(pckt) false --------------')
- // https://nodejs.org/api/stream.html#stream_event_drain
- // https://serialport.io/docs/api-stream
- }
- return true
- } else {
- return false
- }
- }
-
- /*
- ------------------------------------------------------
- PACKETS TO HARDWARE
- ------------------------------------------------------
- */
-
- // from software output to hardware ...
- bridge.inputs = {
- A: Input('headless packet', function(pckt) {
- onSoftwareInput('rA', pckt)
- }),
- B: Input('headless packet', function(pckt) {
- onSoftwareInput('rB', pckt)
- }),
- C: Input('headless packet', function(pckt) {
- onSoftwareInput('rC', pckt)
- }),
- D: Input('headless packet', function(pckt) {
- onSoftwareInput('rD', pckt)
- }),
- E: Input('headless packet', function(pckt) {
- onSoftwareInput('rE', pckt)
- }),
- F: Input('headless packet', function(pckt) {
- onSoftwareInput('rF', pckt)
- }),
- G: Input('headless packet', function(pckt) {
- onSoftwareInput('rG', pckt)
- })
- }
-
- function onSoftwareInput(key, pckt) {
- // it would be responsible to check this over now, but hey
- var packet = JSON.parse(JSON.stringify(pckt))
- if (Array.isArray(pckt)) {
- packet.unshift(255) // end delimiter
- packet.unshift(254) // ptr
- var route = state[key].split(',')
- packet = route.concat(packet)
- if (packet.length > 128) {
- console.log("LARGE PACKET ALERT:", packet.length)
- }
- packet.unshift(packet.length + 1)
- if (sendToHardware(packet)) {
- console.log('PCKT OOT >>', packet.toString())
- } else {
- console.log('ERR: attempt to send to hardware, port not writable')
- }
-
- } else {
- console.log('non-array on bridge input')
- }
-
- }
-
- function parseTerminal(str) {
- console.log('ready to parse...', str, 'as packet')
- }
-
- /*
- ------------------------------------------------------
- PACKETS FROM HARDWARE
- ------------------------------------------------------
- */
-
- // from hardware outputs to software ...
- bridge.outputs = {
- A: Output('headless packet'),
- B: Output('headless packet'),
- C: Output('headless packet'),
- D: Output('headless packet'),
- E: Output('headless packet'),
- F: Output('headless packet'),
- G: Output('headless packet')
- }
-
- bridge.pairs = {
- A: {
- route: state.rA,
- output: bridge.outputs.A
- },
- B: {
- route: state.rB,
- output: bridge.outputs.B
- },
- C: {
- route: state.rC,
- output: bridge.outputs.C
- },
- D: {
- route: state.rD,
- output: bridge.outputs.D
- },
- E: {
- route: state.rE,
- output: bridge.outputs.E
- }
- }
-
- var thisPacket = new Array()
-
- function onPortData(data) {
- // we'll make sure it's what we think it will be
- // console.log("PORT DATA")
- var dtArray = new Array()
- if (Buffer.isBuffer(data)) {
- for (var i = 0; i < data.length; i++) {
- dtArray[i] = data[i]
- }
- } else {
- console.log("ERR: port data non-buffer")
- }
-
- //console.log('DATA IN', dtArray.toString())
-
- thisPacket = thisPacket.concat(dtArray)
- if (thisPacket[0] <= 0) {
- thisPacket = []
- console.log('throwing packet with leading zero')
- }
-
- while (thisPacket.length >= thisPacket[0]) {
- if (thisPacket.length == thisPacket[0]) {
- var packetCopy = thisPacket.slice(0) // copy, deref
- thisPacket = []
- onPacket(packetCopy)
- } else { // rare case of two packets saddling break
- var fullPacket = thisPacket.slice(0, thisPacket[0])
- onPacket(fullPacket)
- thisPacket = thisPacket.slice(thisPacket[0])
- }
-
- }
- }
-
- function onPacket(pckt) {
- var debug = false
- shiftPacketPointer(pckt)
- console.log('PCKT IN <<', pckt.toString(), '-----------------------')
- var incomingRoute = pckt.slice(2, pckt.indexOf(255))
- // flip to match outgoing
- var returnRoute = new Array()
- for (i in incomingRoute) {
- returnRoute[i] = incomingRoute[incomingRoute.length - 1 - i]
- }
- var match = null
- for (key in bridge.state) {
- if (returnRoute.toString() === bridge.state[key].toString()) {
- //console.log("FFFFFFFFFFFFFFFFFFOUND", key)
- if (key.toString().charAt(0) == '_') {
- // bail
- } else {
- //console.log(bridge.state[key])
- var outKey = key.toString().charAt(1)
- match = outKey
- var headless = pckt.slice(pckt.indexOf(255) + 1)
- //console.log('headless', headless)
- bridge.outputs[outKey].emit(headless)
- return true
- }
- }
- }
- if (match == null) {
- console.log("PACKET RETURN AND NO KEY FOUND")
- console.log(pckt)
- console.log(bridge.pairs)
- }
- }
-
- function shiftPacketPointer(pckt) {
- var end = 0
- var i = 0
- while (end == 0) {
- if (pckt[i] === 255) {
- end = i
- } else if (i >= pckt.length) {
- break
- }
- i++
- }
- //array[1] = 254
- for (var j = 1; j < end - 1; j++) {
- pckt[j] = pckt[j + 1]
- }
- pckt[end - 1] = 0
- // console.log('shifted', pckt)
- }
-
- return bridge
-}
-
-module.exports = ATKBridge
\ No newline at end of file
diff --git a/modules/dev/depricated/servo.js b/modules/dev/depricated/servo.js
deleted file mode 100644
index 1c1978b..0000000
--- a/modules/dev/depricated/servo.js
+++ /dev/null
@@ -1,63 +0,0 @@
-// boilerplate atkapi header
-const InOut = require('../../lib/jsunit.js')
-let Input = InOut.Input
-let Output = InOut.Output
-let State = InOut.State
-let Button = InOut.Button
-
-const PCKT = require('../../lib/packets.js')
-
-// a constructor, a fn, a javascript mess
-function Servo() {
-
- var servo = {
- // descriptions are used in UI
- description: {
- name: 'Breadboard Servo Signal Generator',
- alt: 'servo',
- isHardware: true
- }
- }
-
- servo.state = State()
- // alias !
- var state = servo.state
-
- state.button = Button('SEND')
- state.onChange('button', onButtonPress)
- state.servoVal = 0 // 0->100 does 1 -> 2ms duty on 20ms period
- state.onChange('servoVal', onButtonPress)
-
- servo.inputs = {
- packet: Input('headless packet', onPacketReturn) // makes anything into '1' event
- }
-
- servo.outputs = {
- packet: Output('number')
- }
-
- function onButtonPress(evt) {
- var pwm = state.servoVal
- if(pwm > 100){
- pwm = 100
- } else if (pwm < 0){
- pwm = 0
- }
-
- var microval = Math.round(7.5 * pwm)
- console.log('pwm on line', microval)
-
- var pwmpack = PCKT.pack32(microval)
- pwmpack.unshift(141)
-
- servo.outputs.packet.emit(pwmpack)
- }
-
- function onPacketReturn(evt) {
- }
-
- return servo
-}
-
-// exports
-module.exports = Servo
\ No newline at end of file
diff --git a/modules/dev/depricated/test.js b/modules/dev/depricated/test.js
deleted file mode 100644
index 08fc4a1..0000000
--- a/modules/dev/depricated/test.js
+++ /dev/null
@@ -1,56 +0,0 @@
-// boilerplate atkapi header
-const InOut = require('../../lib/jsunit.js')
-let Input = InOut.Input
-let Output = InOut.Output
-let State = InOut.State
-let Button = InOut.Button
-
-// a constructor, a fn, a javascript mess
-function Test() {
-
- var test = {
- // descriptions are used in UI
- description: {
- name: 'Test Packet',
- alt: 'net state',
- isHardware:true
- }
- }
-
- test.state = State()
- // alias !
- var state = test.state
-
- state.button = Button('TEST')
- state.onChange('button', onButtonPress)
- state.message = 'no test started'
-
- test.inputs = {
- packet: Input('headless packet', onPacketReturn),
- trigger: Input('event', onButtonPress)
- }
-
- test.outputs = {
- packet: Output('number')
- }
-
- function onButtonPress(evt) {
- state.message = 'packet out'
- var tstpck = new Array()
- tstpck.push(127)
- test.outputs.packet.emit(tstpck)
- }
-
- function onPacketReturn(evt) {
- if (evt[0] == '127') {
- state.message = 'packet return OK'
- } else {
- state.message = 'other packet return'
- }
- }
-
- return test
-}
-
-// exports
-module.exports = Test
\ No newline at end of file
diff --git a/modules/hardware/atkseriallink.js b/modules/hardware/atkseriallink.js
index a42a6e2..c1d21cd 100644
--- a/modules/hardware/atkseriallink.js
+++ b/modules/hardware/atkseriallink.js
@@ -64,10 +64,6 @@ function ATKSerialLink() {
}
})
})
- if(!found){
- console.log('LINK ERR: no CP2102 device found, try serialport-list to make sure it is available to the system')
- state.portStatus = 'no CP2102 device found'
- }
}
function openSerialPort() {
@@ -78,6 +74,7 @@ function ATKSerialLink() {
serialport = new SerialPort(state.portName, {
baudRate: 250000
})
+ state.portStatus = 'opening'
serialport.on('open', function() {
state.portStatus = 'open'
})
diff --git a/modules/motion/planner.js b/modules/motion/planner.js
index aec37ff..8f2f19c 100644
--- a/modules/motion/planner.js
+++ b/modules/motion/planner.js
@@ -59,6 +59,7 @@ function Planner() {
// i.e. one thing we can do is assert a starting value
planner.init = function(){
state.isRunning = 0
+ state.netState = [0, 0, 0]
}
/*
@@ -166,6 +167,7 @@ function Planner() {
for (i in state.netState) {
state.netState[i]++
}
+ state.netState = state.netState
// dereference
var move = JSON.parse(JSON.stringify(mq.shift()))
console.log("MOVE FROM PLANNER", move)
diff --git a/programs/hwtst-3.json b/programs/hwtest-4.json
similarity index 93%
rename from programs/hwtst-3.json
rename to programs/hwtest-4.json
index d0adf2a..4d8925b 100644
--- a/programs/hwtst-3.json
+++ b/programs/hwtest-4.json
@@ -13,14 +13,14 @@
"isHardware": true,
"isLink": true,
"position": {
- "left": 968,
- "top": 347
+ "left": 1922,
+ "top": 383
}
},
"inputs": {},
"outputs": {},
"state": {
- "portName": "COM10",
+ "portName": "COM3",
"connect": {
"type": "button",
"label": "click to find and connect"
@@ -36,8 +36,8 @@
"path": "./modules/hardware/atkstepper.js",
"isHardware": true,
"position": {
- "left": 457,
- "top": 91
+ "left": 1427,
+ "top": 127
}
},
"inputs": {
@@ -70,7 +70,7 @@
"type": "button",
"label": "test network"
},
- "message": "test OK",
+ "message": "click above to test network",
"route": "0,3",
"rate": 2000,
"axis": "X",
@@ -92,8 +92,8 @@
"path": "./modules/hardware/atkstepper.js",
"isHardware": true,
"position": {
- "left": 456,
- "top": 491
+ "left": 1432,
+ "top": 504
}
},
"inputs": {
@@ -126,7 +126,7 @@
"type": "button",
"label": "test network"
},
- "message": "test OK",
+ "message": "click above to test network",
"route": "0,0",
"rate": 2000,
"axis": "Y",
@@ -148,8 +148,8 @@
"path": "./modules/hardware/atkstepper.js",
"isHardware": true,
"position": {
- "left": 457,
- "top": 883
+ "left": 1438,
+ "top": 871
}
},
"inputs": {
@@ -182,7 +182,7 @@
"type": "button",
"label": "test network"
},
- "message": "test OK",
+ "message": "click above to test network",
"route": "0,5",
"rate": 2000,
"axis": "Y",
@@ -204,8 +204,8 @@
"path": "./modules/hardware/atkstepper.js",
"isHardware": true,
"position": {
- "left": 459,
- "top": 1274
+ "left": 1440,
+ "top": 1248
}
},
"inputs": {
@@ -238,7 +238,7 @@
"type": "button",
"label": "test network"
},
- "message": "test packet out",
+ "message": "click above to test network",
"route": "0,1",
"rate": 2000,
"axis": "Z",
@@ -260,8 +260,8 @@
"path": "./modules/hardware/atkbreadboard.js",
"isHardware": true,
"position": {
- "left": 891,
- "top": 1354
+ "left": 1886,
+ "top": 1362
}
},
"inputs": {
@@ -291,7 +291,7 @@
"type": "button",
"label": "test network"
},
- "message": "test OK",
+ "message": "click above to test network",
"route": "0,2",
"servoButton": {
"type": "button",
@@ -311,8 +311,8 @@
"alt": "for clicking",
"path": "./modules/ui/button.js",
"position": {
- "left": -544,
- "top": 337
+ "left": 591,
+ "top": 332
}
},
"inputs": {
@@ -349,8 +349,8 @@
"alt": "for clicking",
"path": "./modules/ui/number.js",
"position": {
- "left": -545,
- "top": 605
+ "left": 586,
+ "top": 566
}
},
"inputs": {
@@ -387,8 +387,8 @@
"alt": "in ... out",
"path": "./modules/util/delay.js",
"position": {
- "left": -546,
- "top": 499
+ "left": 589,
+ "top": 464
}
},
"inputs": {
@@ -418,8 +418,8 @@
"alt": "movements -> acceleration planned moves",
"path": "./modules/motion/planner.js",
"position": {
- "left": -31,
- "top": 91
+ "left": 822,
+ "top": 1020
}
},
"inputs": {
@@ -478,7 +478,7 @@
0,
0
],
- "isRunning": 1,
+ "isRunning": 0,
"netWindow": 3,
"netState": [
0,
@@ -494,8 +494,8 @@
"alt": "line of gcode -> planner recognized move",
"path": "./modules/parsing/gcode.js",
"position": {
- "left": -556,
- "top": 83
+ "left": 583,
+ "top": 111
}
},
"inputs": {
@@ -531,8 +531,8 @@
"alt": "sequential txt input",
"path": "./modules/ui/multiline.js",
"position": {
- "left": -1117,
- "top": 89
+ "left": 24,
+ "top": 99
}
},
"inputs": {
diff --git a/programs/hwtest.json b/programs/hwtest.json
deleted file mode 100644
index 7ccaf45..0000000
--- a/programs/hwtest.json
+++ /dev/null
@@ -1,308 +0,0 @@
-{
- "description": {
- "name": "new program",
- "counter": 5
- },
- "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": 968,
- "top": 347
- }
- },
- "inputs": {},
- "outputs": {},
- "state": {
- "portName": "COM10",
- "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": 457,
- "top": 91
- }
- },
- "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": "test OK",
- "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": 456,
- "top": 491
- }
- },
- "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": "test OK",
- "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": 457,
- "top": 883
- }
- },
- "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": "test OK",
- "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": 459,
- "top": 1274
- }
- },
- "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": "test packet out",
- "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": 891,
- "top": 1354
- }
- },
- "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": "test OK",
- "route": "0,2",
- "servoButton": {
- "type": "button",
- "label": "SEND VALUE"
- },
- "servoVal": 0,
- "adcButton": {
- "type": "button",
- "label": "REQUEST ADC CONVERSION"
- }
- }
- }
- }
-}
\ No newline at end of file
diff --git a/programs/hwtest-2.json b/programs/hwtst-5.json
similarity index 85%
rename from programs/hwtest-2.json
rename to programs/hwtst-5.json
index 0886e2e..fa74ebb 100644
--- a/programs/hwtest-2.json
+++ b/programs/hwtst-5.json
@@ -13,14 +13,14 @@
"isHardware": true,
"isLink": true,
"position": {
- "left": 968,
- "top": 347
+ "left": 1922,
+ "top": 383
}
},
"inputs": {},
"outputs": {},
"state": {
- "portName": "COM10",
+ "portName": "COM3",
"connect": {
"type": "button",
"label": "click to find and connect"
@@ -36,8 +36,8 @@
"path": "./modules/hardware/atkstepper.js",
"isHardware": true,
"position": {
- "left": 457,
- "top": 91
+ "left": 1427,
+ "top": 127
}
},
"inputs": {
@@ -54,7 +54,12 @@
"outputs": {
"ack": {
"emits": "move acknowledgement",
- "calls": []
+ "calls": [
+ {
+ "parentId": "Lookahead-Motion-Planner-10",
+ "key": "acks"
+ }
+ ]
},
"position": {
"emits": "number",
@@ -70,7 +75,7 @@
"type": "button",
"label": "test network"
},
- "message": "test OK",
+ "message": "click above to test network",
"route": "0,3",
"rate": 2000,
"axis": "X",
@@ -92,8 +97,8 @@
"path": "./modules/hardware/atkstepper.js",
"isHardware": true,
"position": {
- "left": 456,
- "top": 491
+ "left": 1432,
+ "top": 504
}
},
"inputs": {
@@ -110,7 +115,12 @@
"outputs": {
"ack": {
"emits": "move acknowledgement",
- "calls": []
+ "calls": [
+ {
+ "parentId": "Lookahead-Motion-Planner-10",
+ "key": "acks"
+ }
+ ]
},
"position": {
"emits": "number",
@@ -126,7 +136,7 @@
"type": "button",
"label": "test network"
},
- "message": "test OK",
+ "message": "click above to test network",
"route": "0,0",
"rate": 2000,
"axis": "Y",
@@ -148,8 +158,8 @@
"path": "./modules/hardware/atkstepper.js",
"isHardware": true,
"position": {
- "left": 457,
- "top": 883
+ "left": 1438,
+ "top": 871
}
},
"inputs": {
@@ -182,7 +192,7 @@
"type": "button",
"label": "test network"
},
- "message": "test OK",
+ "message": "click above to test network",
"route": "0,5",
"rate": 2000,
"axis": "Y",
@@ -204,8 +214,8 @@
"path": "./modules/hardware/atkstepper.js",
"isHardware": true,
"position": {
- "left": 459,
- "top": 1274
+ "left": 1440,
+ "top": 1248
}
},
"inputs": {
@@ -222,7 +232,12 @@
"outputs": {
"ack": {
"emits": "move acknowledgement",
- "calls": []
+ "calls": [
+ {
+ "parentId": "Lookahead-Motion-Planner-10",
+ "key": "acks"
+ }
+ ]
},
"position": {
"emits": "number",
@@ -238,7 +253,7 @@
"type": "button",
"label": "test network"
},
- "message": "test packet out",
+ "message": "click above to test network",
"route": "0,1",
"rate": 2000,
"axis": "Z",
@@ -248,7 +263,7 @@
"type": "button",
"label": "test move"
},
- "lead": -2000,
+ "lead": -6000,
"position": 0
}
},
@@ -260,8 +275,8 @@
"path": "./modules/hardware/atkbreadboard.js",
"isHardware": true,
"position": {
- "left": 891,
- "top": 1354
+ "left": 1886,
+ "top": 1362
}
},
"inputs": {
@@ -291,7 +306,7 @@
"type": "button",
"label": "test network"
},
- "message": "test OK",
+ "message": "click above to test network",
"route": "0,2",
"servoButton": {
"type": "button",
@@ -311,8 +326,8 @@
"alt": "for clicking",
"path": "./modules/ui/button.js",
"position": {
- "left": -544,
- "top": 337
+ "left": 591,
+ "top": 332
}
},
"inputs": {
@@ -349,8 +364,8 @@
"alt": "for clicking",
"path": "./modules/ui/number.js",
"position": {
- "left": -545,
- "top": 605
+ "left": 586,
+ "top": 566
}
},
"inputs": {
@@ -387,8 +402,8 @@
"alt": "in ... out",
"path": "./modules/util/delay.js",
"position": {
- "left": -546,
- "top": 499
+ "left": 589,
+ "top": 464
}
},
"inputs": {
@@ -418,8 +433,8 @@
"alt": "movements -> acceleration planned moves",
"path": "./modules/motion/planner.js",
"position": {
- "left": -31,
- "top": 91
+ "left": 822,
+ "top": 1020
}
},
"inputs": {
@@ -436,7 +451,24 @@
"outputs": {
"moves": {
"emits": "move instruction",
- "calls": []
+ "calls": [
+ {
+ "parentId": "ATKStepper-0",
+ "key": "trapezoid"
+ },
+ {
+ "parentId": "ATKStepper-2",
+ "key": "trapezoid"
+ },
+ {
+ "parentId": "ATKStepper-3",
+ "key": "trapezoid"
+ },
+ {
+ "parentId": "ATKStepper-4",
+ "key": "trapezoid"
+ }
+ ]
},
"moveComplete": {
"emits": "number",
@@ -464,9 +496,9 @@
"isRunning": 1,
"netWindow": 3,
"netState": [
- 0,
- 0,
- 0
+ 3,
+ 3,
+ 3
]
}
},
@@ -477,8 +509,8 @@
"alt": "line of gcode -> planner recognized move",
"path": "./modules/parsing/gcode.js",
"position": {
- "left": -556,
- "top": 83
+ "left": 583,
+ "top": 111
}
},
"inputs": {
@@ -503,7 +535,7 @@
},
"state": {
"mode": "G0",
- "G0": 1200,
+ "G0": 50,
"G1": 400
}
},
@@ -514,8 +546,8 @@
"alt": "sequential txt input",
"path": "./modules/ui/multiline.js",
"position": {
- "left": -1117,
- "top": 89
+ "left": 24,
+ "top": 99
}
},
"inputs": {
@@ -553,19 +585,19 @@
"type": "multiline",
"label": "lines complete",
"rows": 11,
- "value": ""
+ "value": "\n\nG0 F50 X10Y10Z10\nG0 X20Y20Z0\nG0 X0\nG0 Y10\nG0 F50 X10Y10Z10\nG0 X20Y20Z0\nG0 X0\nG0 Y10\nG0 F50 X10Y10Z10"
},
"now": {
"type": "multiline",
"label": "line just out",
"rows": 1,
- "value": ""
+ "value": "G0 X20Y20Z0"
},
"incoming": {
"type": "multiline",
"label": "future lines",
"rows": 36,
- "value": "G0 F50 X10Y10Z10\nG0 X20Y20Z0\nG0 X0\nG0 Y10\nG0 F50 X10Y10Z10\nG0 X20Y20Z0\nG0 X0\nG0 Y10\nG0 F50 X10Y10Z10\nG0 X20Y20Z0\nG0 X0\nG0 Y10\nG0 F50 X10Y10Z10\nG0 X20Y20Z0\nG0 X0\nG0 Y10\n"
+ "value": "G0 X0\nG0 Y10\nG0 F50 X10Y10Z10\nG0 X20Y20Z0\nG0 X0\nG0 Y10\n"
}
}
}
--
GitLab