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rndmc
Commit d6dab2ac authored by Jake Read's avatar Jake Read
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new basic for soma

parent 25547096
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Showing with 162 additions and 100 deletions
README.md
View file @ d6dab2ac
......@@ -267,6 +267,8 @@ View.assignProgram(program)
## Immediately
- saved program doesn't save state booleans
- ui objects ... refresh ... use state model ?
- ui objects client drop below inputs / outputs
......
client/client.js
View file @ d6dab2ac
......@@ -32,6 +32,7 @@ var wrapper = {}
var nav = {}
var verbose = false
var verboseComs = false
/*
......@@ -97,7 +98,7 @@ function socketSend(type, data) {
type: type,
data: data
}
console.log('SEND', msg)
if(verboseComs) console.log('SEND', msg)
sckt.send(JSON.stringify(msg))
}
......@@ -105,7 +106,7 @@ function socketRecv(evt) {
var recv = JSON.parse(evt.data)
var type = recv.type
var data = recv.data
console.log('RECV', recv)
if(verboseComs) console.log('RECV', recv)
// tree banger
switch (type) {
case 'console':
......@@ -233,7 +234,7 @@ function heapSendsStateChange(data) {
}
function heapSendsUiChange(data) {
if (true) console.log('HEAP SENDS MSG TO UI ELEMENT IN MDL', data)
if (verbose) console.log('HEAP SENDS MSG TO UI ELEMENT IN MDL', data)
program.modules[data.id].ui[data.key].lump.onMessage(data.msg)
}
......
client/ui/threeCanvas.js
View file @ d6dab2ac
......@@ -8,21 +8,23 @@
var container = document.createElement('div')
var scene = new THREE.Scene()
scene.background = new THREE.Color(0xd6d6d6)
var camera = new THREE.PerspectiveCamera(75, 1, 1, 1000)
var camera = new THREE.PerspectiveCamera(75, 1, 0.1, 1000)
camera.up.set(0, 0, 1)
var renderer = new THREE.WebGLRenderer()
renderer.setSize(396, 396)
container.appendChild(renderer.domElement)
// axes
var axesHelper = new THREE.AxesHelper(1)
var axesHelper = new THREE.AxesHelper(0.1)
scene.add(axesHelper)
// grid
/*
var gridHelper = new THREE.GridHelper(10, 100)
gridHelper.translateOnAxis(new THREE.Vector3(0, 0, 1), -0.01)
gridHelper.rotateX(-Math.PI / 2)
scene.add(gridHelper)
*/
// one line
var material = new THREE.LineBasicMaterial({ color: 0x00ffff })
......
modules/hardware/atkmrobot.js
View file @ d6dab2ac
......@@ -47,6 +47,8 @@ function ATKMathRobot() {
state.message = 'no packet yet'
state.enc_cnt = 16384
state.enc_offset = 0
state.enc_reverse = false
state.pc_t = 2048
state.onUiChange('pc_t', onPositionTargetUserChange)
......@@ -92,6 +94,11 @@ function ATKMathRobot() {
atkmr.route.subscribe(145, function(msg){
var pos = PCKT.unPack32(msg.slice(1))
if(state.enc_reverse){
pos = state.enc_cnt - pos
}
pos += state.enc_offset
pos %= state.enc_cnt
var rads = 2*Math.PI * (pos / state.enc_cnt)
atkmr.outputs.pos.emit(rads)
})
......
modules/robot/forwardTransform.js
View file @ d6dab2ac
......@@ -9,8 +9,6 @@ let State = JSUnit.State
function forwardTransform() {
var theta1 = 0
var theta2 = 0
var l1 = 0
var l2 = 0
var forwardTransform = {
description: {
......@@ -25,9 +23,9 @@ function forwardTransform() {
// one caveat here is that we can't dynamically add objects to this,
// or they don't get getter / settered when we do
forwardTransform.state = State()
// forwardTransform.state.mode = 'G0'
// forwardTransform.state.G0 = 1200
// forwardTransform.state.G1 = 400
var state = forwardTransform.state
state.l1 = 0.4
state.l2 = 0.2
forwardTransform.inputs = {
theta1: Input('any', intakeTheta1),
......@@ -37,11 +35,9 @@ function forwardTransform() {
}
forwardTransform.outputs = {
originpt: Output('tuple?'),
jointpt: Output('tuple?'),
touchpt: Output('tuple?')
// instructionOut: Output('move instruction'),
// modeChange: Output('string')
originpt: Output('array'),
jointpt: Output('array'),
touchpt: Output('array')
}
function intakeTheta1(num){
......@@ -63,97 +59,37 @@ function forwardTransform() {
}
function intakeL1(num){
l1 = num
state.l1 = num
var points = parseforwardTransform()
forwardTransform.outputs.originpt.emit(points.originpt)
forwardTransform.outputs.jointpt.emit(points.jointpt)
forwardTransform.outputs.touchpt.emit(points.touchpt)
//console.log('l1 input')
//console.log('state.l1 input')
}
function intakeL2(num){
l2 = num
state.l2 = num
var points = parseforwardTransform()
forwardTransform.outputs.originpt.emit(points.originpt)
forwardTransform.outputs.jointpt.emit(points.jointpt)
forwardTransform.outputs.touchpt.emit(points.touchpt)
//console.log('l2 input')
//console.log('state.l2 input')
}
// input functions
/*
function onLineIn(str){
var instruction = parseforwardTransform(str)
if (instruction.hasMove) {
if(verbose) console.log('forwardTransform:', instruction)
forwardTransform.outputs.instructionOut.emit(instruction)
} else {
if(verbose) console.log('forwardTransform:', forwardTransform.state.mode)
forwardTransform.outputs.modeChange.emit(forwardTransform.state.mode)
}
}
*/
/*
// local functions
function getKeyValues(str) {
var kv = {}
for (var i = 0; i < str.length; i++) {
if (str[i].match('[A-Za-z]')) { // regex to match upper case letters
var lastIndex = str.indexOf(' ', i)
if (lastIndex < 0) {
lastIndex = str.length
}
var key = str[i].toUpperCase()
kv[key] = parseFloat(str.slice(i + 1, lastIndex))
}
}
return kv
}
*/
// TODO: test, can we link global vars to ui objects ...
// forwardTransform.ui.mode.value = var ? no bc set / get etc
// more like var = forwardTransform.ui.mode.value ? is this referential?
function parseforwardTransform() {
var points = {
originpt: (0,0),
jointpt: (0,0),
touchpt: (0,0)
originpt: [0,0],
jointpt: [0,0],
touchpt: [0,0]
}
points.jointpt = (l1*Math.cos(theta1), l1*Math.sin(theta1))
points.touchpt = (l1*Math.cos(theta1)+l2*Math.cos(theta2), l1*Math.sin(theta1)+l2*Math.sin(theta2))
/* var instruction = {
position: {},
hasMove: false,
speed: 0
}
kv = getKeyValues(str)
// track modality
if (kv.G == 0 | kv.G == 1) {
forwardTransform.state.mode = 'G' + kv.G.toString()
} else if (kv.G != null) {
// no arcs pls
console.log('unfriendly forwardTransform mode!', kv)
}
for (key in kv) {
if (key.match('[A-EX-Z]')) {
instruction.position[key] = kv[key]
instruction.hasMove = true
} else if (key.match('[F]')) {
// tricky / ugly: sets using the mode state string as object key
forwardTransform.state[forwardTransform.state.mode] = kv.F
}
}
points.jointpt = [state.l1*Math.cos(theta1), state.l1*Math.sin(theta1)]
points.touchpt = [state.l1*Math.cos(theta1)+state.l2*Math.cos(theta2), state.l1*Math.sin(theta1)+state.l2*Math.sin(theta2)]
instruction.speed = forwardTransform.state[forwardTransform.state.mode]
// and this for help later?
instruction.kv = kv
*/
return points
}
......
modules/ui/threeCanvas.js
View file @ d6dab2ac
......@@ -45,7 +45,7 @@ function PointOnCanvas() {
}
function onNewXY2(array){
ui.threeCanvas.updateXY2f([array[0], 0, array[1]])
ui.threeCanvas.updateXY2([array[0], 0, array[1]])
}
function onUICallback(msg) {
......
programs/temp.json
View file @ d6dab2ac
{
"description": {
"name": "new program",
"counter": 14
"counter": 16
},
"modules": {
"SerialportATKLink-0": {
......@@ -20,9 +20,9 @@
"inputs": {},
"outputs": {},
"state": {
"portName": "---",
"portStatus": "closed",
"log": true
"portName": "COM18",
"portStatus": "open",
"log": false
},
"ui": {
"kickButton": {
......@@ -69,6 +69,10 @@
{
"parentId": "gateCounter-9",
"key": "thru"
},
{
"parentId": "forwardTransform Parser-15",
"key": "theta1"
}
]
}
......@@ -77,6 +81,8 @@
"message": "no packet yet",
"route": "0,0",
"enc_cnt": 16384,
"enc_offset": -6000,
"enc_reverse": false,
"pc_t": 2048,
"pKp": 4.5,
"pKi": 0,
......@@ -100,8 +106,8 @@
"id": "atk-math-robot-joint-2",
"path": "./modules/hardware/atkmrobot.js",
"position": {
"left": 600,
"top": 450
"left": 604,
"top": 492
}
},
"inputs": {
......@@ -130,6 +136,10 @@
{
"parentId": "logger-14",
"key": "thru"
},
{
"parentId": "forwardTransform Parser-15",
"key": "theta2"
}
]
}
......@@ -138,6 +148,8 @@
"message": "no packet yet",
"route": "0,1",
"enc_cnt": 16384,
"enc_offset": 550,
"enc_reverse": true,
"pc_t": 2048,
"pKp": 4.5,
"pKi": 0,
......@@ -289,7 +301,7 @@
},
"state": {
"prefix": "JTN1:",
"message": "---"
"message": "2.9398741799828314"
},
"ui": {}
},
......@@ -300,8 +312,8 @@
"id": "ThreeJS-Canvas-7",
"path": "./modules/ui/threeCanvas.js",
"position": {
"left": 2263,
"top": 326
"left": 1312,
"top": 133
}
},
"inputs": {
......@@ -329,8 +341,8 @@
"id": "collector-8",
"path": "./modules/util/collector.js",
"position": {
"left": 1728,
"top": 1057
"left": 1649,
"top": 1157
}
},
"inputs": {
......@@ -408,8 +420,8 @@
"id": "parallelContencator-11",
"path": "./modules/util/parallelContencator.js",
"position": {
"left": 1232,
"top": 1053
"left": 1193,
"top": 1147
}
},
"inputs": {
......@@ -556,7 +568,107 @@
},
"state": {
"prefix": "JTN2:",
"message": "---"
"message": "5.845233792238235"
},
"ui": {}
},
"forwardTransform Parser-15": {
"description": {
"name": "forwardTransform Parser",
"alt": "line of forwardTransform -> points",
"id": "forwardTransform Parser-15",
"path": "./modules/robot/forwardTransform.js",
"position": {
"left": 1323,
"top": 718
}
},
"inputs": {
"theta1": {
"accepts": "any"
},
"theta2": {
"accepts": "any"
},
"l1": {
"accepts": "any"
},
"l2": {
"accepts": "any"
}
},
"outputs": {
"originpt": {
"emits": "array",
"calls": []
},
"jointpt": {
"emits": "array",
"calls": [
{
"parentId": "ThreeJS-Canvas-7",
"key": "xy1"
}
]
},
"touchpt": {
"emits": "array",
"calls": [
{
"parentId": "ThreeJS-Canvas-7",
"key": "xy2"
}
]
}
},
"state": {
"l1": 0.4,
"l2": 0.2
},
"ui": {}
},
"leastSquares Parser-16": {
"description": {
"name": "leastSquares Parser",
"alt": "line of leastSquares -> l1 and l2 values",
"id": "leastSquares Parser-16",
"path": "./modules/robot/leastSquares.js",
"position": {
"left": 1823,
"top": 991
}
},
"inputs": {
"theta1s": {
"accepts": "any"
},
"theta2s": {
"accepts": "any"
}
},
"outputs": {
"l1": {
"emits": "num",
"calls": [
{
"parentId": "forwardTransform Parser-15",
"key": "l1"
}
]
},
"l2": {
"emits": "num",
"calls": [
{
"parentId": "forwardTransform Parser-15",
"key": "l2"
}
]
}
},
"state": {
"c": 1,
"d": -2
},
"ui": {}
}
......
src/jsunit.js
View file @ d6dab2ac
// event system to include type-checking etc
// dataflow types for javascript objects ...
var verbose = false
function Input(type, fn) {
var input = {
accepts: type,
......@@ -58,7 +60,7 @@ function Output(type) {
output.emit = function(data) {
if (this.calls.length == 0) {
console.log('no inputs bound to this output')
if(verbose) console.log('no inputs bound to this output')
} else {
for (index in this.calls) {
this.calls[index].fn(JSON.parse(JSON.stringify(data)))
......
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