From 15d185318697621b3fa05ace8e4432815247f1b7 Mon Sep 17 00:00:00 2001
From: Jake <jake.read@cba.mit.edu>
Date: Sat, 11 Aug 2018 10:51:29 -0400
Subject: [PATCH] mud printer
---
README.md | 2 +
files.html | 9 +-
js/atkbridge.js | 2 +-
modules/hardware/test | 104 ++++++++
modules/index.js | 6 +-
modules/motion/gcodeParser | 2 +-
modules/motion/machineController | 10 +
modules/motion/moveInstructionQue | 170 +++++++++++++
modules/motion/planner | 11 +-
modules/motion/planner-ye-olden | 407 ------------------------------
modules/motion/textBlockIn | 5 +-
tinymachine-image.png | Bin 208405 -> 0 bytes
tinymachine-planner-02 | 1 -
tinymachine-planning | 1 -
14 files changed, 311 insertions(+), 419 deletions(-)
create mode 100644 modules/hardware/test
create mode 100644 modules/motion/moveInstructionQue
delete mode 100644 modules/motion/planner-ye-olden
delete mode 100644 tinymachine-image.png
delete mode 100644 tinymachine-planner-02
delete mode 100644 tinymachine-planning
diff --git a/README.md b/README.md
index 5bd31cd..fbf44cd 100644
--- a/README.md
+++ b/README.md
@@ -15,6 +15,8 @@
- SVG export
- ...
+298
+
# To install and run mods locally
You need to first install [node.js](https://docs.npmjs.com/getting-started/installing-node).
diff --git a/files.html b/files.html
index 1733a50..ca9bed4 100644
--- a/files.html
+++ b/files.html
@@ -13,7 +13,7 @@
<a href='./files.html'>files.html</a><br>
<a href='./index.html'>index.html</a><br>
<i> js</i><br>
- <a href='./js/atkserialserver.js'>atkserialserver.js</a><br>
+ <a href='./js/atkbridge.js'>atkbridge.js</a><br>
<a href='./js/deviceserver.js'>deviceserver.js</a><br>
<a href='./js/echoserver.js'>echoserver.js</a><br>
<a href='./js/files.js'>files.js</a><br>
@@ -106,7 +106,10 @@
<a href='./modules/hardware/motors/stepper'>stepper</a><br>
<i> network</i><br>
<a href='./modules/hardware/network/atkbridge'>atkbridge</a><br>
+ <a href='./modules/hardware/pot'>pot</a><br>
+ <a href='./modules/hardware/profile'>profile</a><br>
<a href='./modules/hardware/reset'>reset</a><br>
+ <a href='./modules/hardware/test'>test</a><br>
<i> image</i><br>
<a href='./modules/image/boundingbox'>boundingbox</a><br>
<a href='./modules/image/color%20separation'>color separation</a><br>
@@ -148,8 +151,9 @@
<i> motion</i><br>
<a href='./modules/motion/gcodeParser'>gcodeParser</a><br>
<a href='./modules/motion/machineController'>machineController</a><br>
+ <a href='./modules/motion/moveInstructionQue'>moveInstructionQue</a><br>
+ <a href='./modules/motion/neilParser'>neilParser</a><br>
<a href='./modules/motion/planner'>planner</a><br>
- <a href='./modules/motion/planner-ye-olden'>planner-ye-olden</a><br>
<a href='./modules/motion/segments'>segments</a><br>
<a href='./modules/motion/textBlockIn'>textBlockIn</a><br>
<a href='./modules/motion/textLineIn'>textLineIn</a><br>
@@ -1684,7 +1688,6 @@
<a href='./node_modules/xtend/package.json'>package.json</a><br>
<a href='./node_modules/xtend/README.md'>README.md</a><br>
<a href='./node_modules/xtend/test.js'>test.js</a><br>
- <a href='./planner-pre'>planner-pre</a><br>
<i> programs</i><br>
<i> frep</i><br>
<a href='./programs/frep/gears'>gears</a><br>
diff --git a/js/atkbridge.js b/js/atkbridge.js
index ea24c42..a185cae 100644
--- a/js/atkbridge.js
+++ b/js/atkbridge.js
@@ -21,7 +21,7 @@ if (process.argv.length < 4 && process.argv[2] != 'default') {
} else if (process.argv[2] === 'default' || process.argv.length < 3) {
client_address = '::ffff:127.0.0.1'
server_port = '6789'
- com_port = 'COM8'
+ com_port = 'COM3'
} else {
client_address = process.argv[2]
server_port = process.argv[3]
diff --git a/modules/hardware/test b/modules/hardware/test
new file mode 100644
index 0000000..f84934c
--- /dev/null
+++ b/modules/hardware/test
@@ -0,0 +1,104 @@
+//
+// hardware reset command
+//
+// Neil Gershenfeld and Jake Read
+// (c) Massachusetts Institute of Technology 2018
+//
+// This work may be reproduced, modified, distributed, performed, and
+// displayed for any purpose, but must acknowledge the mods
+// project. Copyright is retained and must be preserved. The work is
+// provided as is; no warranty is provided, and users accept all
+// liability.
+//
+// closure
+//
+(function() {
+ // globals
+ var mod = {}
+
+ // name
+ var name = 'test'
+
+ var init = function() {
+ //
+ }
+
+ var inputs = {
+ //
+ }
+
+ var outputs = {
+ test: {
+ type: 'packet',
+ label: 'headless packet out',
+ event: function() {
+ var test = [127]
+ mods.output(mod, 'test', test)
+ }
+ }
+ }
+
+ var interface = function(div) {
+ mod.div = div
+
+ mod.resetButton = make_button_input(div, 'send')
+ mod.resetButton.addEventListener('click', function() {
+ outputs.test.event()
+ })
+ }
+
+
+ /*
+ UI helpers
+ */
+ function make_text_input(div, name, size) {
+ div.appendChild(document.createElement('br'))
+ div.appendChild(document.createTextNode(name + ': '))
+ var input = document.createElement('input')
+ input.type = 'text'
+ input.size = size
+ div.appendChild(input)
+
+ return input
+ }
+
+ function make_button_input(div, text) {
+ div.appendChild(document.createElement('br'))
+ var button = document.createElement('button')
+ button.style.padding = mods.ui.padding
+ button.style.margin = 1
+ button.appendChild(document.createTextNode(text))
+ div.appendChild(button)
+
+ return button
+ }
+
+ function make_checkbox_input(div, prefix) {
+ div.appendChild(document.createElement('br'))
+ div.appendChild(document.createTextNode(prefix + ': '))
+ var checkbox = document.createElement('input')
+ checkbox.type = 'checkbox'
+ div.appendChild(checkbox)
+
+ return checkbox
+ }
+
+ function make_text_display(div, prefix) {
+ div.appendChild(document.createElement('br'))
+ div.appendChild(document.createTextNode(prefix + ': '))
+ var span = document.createElement('span')
+ span.innerHTML = ''
+ div.appendChild(span)
+
+ return span
+ }
+
+ return ({
+ mod: mod,
+ name: name,
+ init: init,
+ inputs: inputs,
+ outputs: outputs,
+ interface: interface
+ })
+}())
\ No newline at end of file
diff --git a/modules/index.js b/modules/index.js
index 2cb8cd9..7ad1ad1 100644
--- a/modules/index.js
+++ b/modules/index.js
@@ -77,7 +77,10 @@ module_label(' motors')
module_menu(' stepper','modules/hardware/motors/stepper')
module_label(' network')
module_menu(' atkbridge','modules/hardware/network/atkbridge')
+module_menu(' pot','modules/hardware/pot')
+module_menu(' profile','modules/hardware/profile')
module_menu(' reset','modules/hardware/reset')
+module_menu(' test','modules/hardware/test')
module_label('image')
module_menu(' boundingbox','modules/image/boundingbox')
module_menu(' color separation','modules/image/color%20separation')
@@ -118,8 +121,9 @@ module_menu(' move','modules/module/move')
module_label('motion')
module_menu(' gcodeParser','modules/motion/gcodeParser')
module_menu(' machineController','modules/motion/machineController')
+module_menu(' moveInstructionQue','modules/motion/moveInstructionQue')
+module_menu(' neilParser','modules/motion/neilParser')
module_menu(' planner','modules/motion/planner')
-module_menu(' planner-ye-olden','modules/motion/planner-ye-olden')
module_menu(' segments','modules/motion/segments')
module_menu(' textBlockIn','modules/motion/textBlockIn')
module_menu(' textLineIn','modules/motion/textLineIn')
diff --git a/modules/motion/gcodeParser b/modules/motion/gcodeParser
index f14249c..3af139d 100644
--- a/modules/motion/gcodeParser
+++ b/modules/motion/gcodeParser
@@ -92,7 +92,7 @@ turns lines of text into objects for machine controller
}
// loop to find position vals, check for feed update
for (key in keyvals) {
- if (key.match('[A-CX-Z]')) {
+ if (key.match('[A-EX-Z]')) {
output.position[key] = keyvals[key]
} else if (key.match('[F]')){
if(mod.codeMode.value == 'G0'){
diff --git a/modules/motion/machineController b/modules/motion/machineController
index 675b09f..3e4ac1f 100644
--- a/modules/motion/machineController
+++ b/modules/motion/machineController
@@ -107,6 +107,16 @@ dishes gcodes -> planner, spindle codes -> spindle
jog('Y', -parseFloat(mod.jogStepSizeIn.value))
})
+ mod.jogYPButton = make_button_input(div, 'z+')
+ mod.jogYPButton.addEventListener('click', function(evt) {
+ jog('Z', parseFloat(mod.jogStepSizeIn.value))
+ })
+
+ mod.jogYMButton = make_button_input(div, 'z-')
+ mod.jogYMButton.addEventListener('click', function(evt) {
+ jog('Z', -parseFloat(mod.jogStepSizeIn.value))
+ })
+
// sequence begin, stop
mod.startSequenceButton = make_button_input(div, 'start sequence')
diff --git a/modules/motion/moveInstructionQue b/modules/motion/moveInstructionQue
new file mode 100644
index 0000000..b0fc3ec
--- /dev/null
+++ b/modules/motion/moveInstructionQue
@@ -0,0 +1,170 @@
+//
+// generic line input
+//
+// Neil Gershenfeld and Jake Read
+// (c) Massachusetts Institute of Technology 2018
+//
+// This work may be reproduced, modified, distributed, performed, and
+// displayed for any purpose, but must acknowledge the mods
+// project. Copyright is retained and must be preserved. The work is
+// provided as is; no warranty is provided, and users accept all
+// liability.
+//
+// closure
+//
+(function() {
+ //
+ // module globals
+ //
+ var mod = {}
+ //
+ // name
+ //
+ var name = 'move instruction queue'
+ //
+ // initialization
+ //
+ var init = function() {
+
+ }
+ //
+ // inputs
+ //
+ var inputs = {
+ lineRequest: {
+ type: 'number',
+ label: 'line request',
+ event: function(evt) {
+ sendLine()
+ }
+ },
+ instructions: {
+ type: 'objects',
+ label: 'move instructions',
+ event: function(evt){
+ newInstructions(evt.detail)
+ }
+ }
+ }
+ //
+ // outputs
+ //
+ var outputs = {
+ instruction: {
+ type: 'object',
+ label: 'instruction',
+ event: function(instr) {
+ mods.output(mod, 'instruction', instr)
+ }
+ }
+ }
+ //
+ // interface
+ //
+ var interface = function(div) {
+ mod.div = div
+ //
+ // inputs
+ //
+ mod.lineCountDisplay = make_text_display(div, 'current line')
+ mod.resetCurrentLine = make_button_input(div, 'reset lines')
+ mod.resetCurrentLine.addEventListener('click', function(){
+ mod.lineCountDisplay.innerHTML = '0'
+ currentLine = 0
+ })
+ mod.sendOneLine = make_button_input(div, 'send a line')
+ mod.sendOneLine.addEventListener('click', function(){
+ sendLine()
+ })
+ }
+
+ var currentLine = 0
+ var moveArray = []
+
+ function newInstructions(instructions){
+ moveArray = instructions
+ }
+
+ function sendLine() {
+ var moveOut = moveArray[currentLine]
+ currentLine++
+ if (currentLine > moveArray.length) {
+ currentLine = moveArray.length
+ } else {
+ outputs.instruction.event(moveOut)
+ }
+ mod.lineCountDisplay.innerHTML = currentLine.toString()
+ }
+
+
+ /*
+ UI helpers
+ */
+ function make_text_input(div, name, size) {
+ div.appendChild(document.createElement('br'))
+ div.appendChild(document.createTextNode(name + ': '))
+ var input = document.createElement('input')
+ input.type = 'text'
+ input.size = size
+ div.appendChild(input)
+
+ return input
+ }
+
+ function makeTextArea(div, name, width, height) {
+ div.appendChild(document.createElement('br'))
+ div.appendChild(document.createTextNode(name + ': '))
+ div.appendChild(document.createElement('br'))
+ var textArea = document.createElement('textarea')
+ textArea.setAttribute('cols', width)
+ textArea.setAttribute('rows', height)
+ textArea.type = 'textarea'
+ div.appendChild(textArea)
+
+ return textArea
+ }
+
+ function make_button_input(div, text) {
+ div.appendChild(document.createElement('br'))
+ var button = document.createElement('button')
+ button.style.padding = mods.ui.padding
+ button.style.margin = 1
+ button.appendChild(document.createTextNode(text))
+ div.appendChild(button)
+
+ return button
+ }
+
+ function make_checkbox_input(div, prefix) {
+ div.appendChild(document.createElement('br'))
+ div.appendChild(document.createTextNode(prefix + ': '))
+ var checkbox = document.createElement('input')
+ checkbox.type = 'checkbox'
+ div.appendChild(checkbox)
+
+ return checkbox
+ }
+
+ function make_text_display(div, prefix) {
+ div.appendChild(document.createElement('br'))
+ div.appendChild(document.createTextNode(prefix + ': '))
+ var span = document.createElement('span')
+ span.innerHTML = ''
+ div.appendChild(span)
+
+ return span
+ }
+
+
+ //
+ // return values
+ //
+ return ({
+ mod: mod,
+ name: name,
+ init: init,
+ inputs: inputs,
+ outputs: outputs,
+ interface: interface
+ })
+}())
\ No newline at end of file
diff --git a/modules/motion/planner b/modules/motion/planner
index 891da8d..34a6ef3 100644
--- a/modules/motion/planner
+++ b/modules/motion/planner
@@ -48,9 +48,9 @@ motors
var init = function() {
mod.accelIn.value = '500'
mod.junctionDeviationIn.value = '1'
- mod.minSpeedIn.value = '4'
+ mod.minSpeedIn.value = '12'
- mod.axisIdentifiers.value = 'X,Y'
+ mod.axisIdentifiers.value = 'X,Y,Z'
resetNetwork()
mod.netWindowIn.value = '12'
@@ -211,13 +211,18 @@ motors
*/
if(ok){
var opening = packetWindowSize - axisNetCounters[0]
+ var newrequest = true
if(opening > moveQue.length){
opening = moveQue.length
+ newrequest = false
+
}
for(var i = 0; i < opening; i++){
//console.log('sending', i)
sendMove()
- outputs.moveComplete.event()
+ if(newrequest){
+ outputs.moveComplete.event()
+ }
}
}
}
diff --git a/modules/motion/planner-ye-olden b/modules/motion/planner-ye-olden
deleted file mode 100644
index 506b806..0000000
--- a/modules/motion/planner-ye-olden
+++ /dev/null
@@ -1,407 +0,0 @@
-//
-// converts toolpath objects into segments for accel planning
-//
-// Neil Gershenfeld and Jake Read
-// (c) Massachusetts Institute of Technology 2018
-//
-// This work may be reproduced, modified, distributed, performed, and
-// displayed for any purpose, but must acknowledge the mods
-// project. Copyright is retained and must be preserved. The work is
-// provided as is; no warranty is provided, and users accept all
-// liability.
-
-
-/*
-eats objects like
-var move = {
- position: {
- X: float
- Y: float
- Z: float
- A: float
- }
- rate: float
-}
-
-
-*/
-
-//
-// closure
-//
-(function() {
- //
- // module globals
- //
- var mod = {}
- //
- // name
- //
- var name = 'motion planner'
- //
- // initialization
- //
- var init = function() {
- mod.accel_in.value = '25'
- mod.junction_deviation_in.value = '0.5'
- mod.current_block_in.value = '0'
- mod.current_window_size_in.value = '0'
- mod.window = 0
- mod.packets_awaiting_reply = 0
- }
- //
- // inputs
- var twoCount = 0
- //
- var inputs = {
- segments: {
- type: 'objects',
- label: 'segments',
- event: function(evt) {
- mod.segments = JSON.parse(JSON.stringify(evt.detail)) // dereference pls
- // console.log('segments to planner: ', mod.segments)
- runQueue()
- }
- },
- next: {
- type: 'event',
- label: 'call for next block',
- event: function(evt) {
- twoCount++
- if (twoCount > 1) {
- mod.packets_awaiting_reply--;
- if (mod.packets_awaiting_reply < mod.window) {
- sendBlock()
- }
- twoCount = 0
- }
- }
- }
- }
- //
- // outputs
- //
- var outputs = {
- nextblock: {
- type: 'object',
- label: 'next block',
- event: function() {
- //mods.output(mod, 'segments', null)
- }
- }
- }
- //
- // interface
- //
- var interface = function(div) {
- mod.div = div
- //
- // inputs
- //
- // settings
- mod.accel_in = make_text_input(div, 'acceleration, mm/s/s', 12)
- mod.junction_deviation_in = make_text_input(div, 'junction deviation, mm', 12)
- //
- // request to do the business
- //
- mod.parse_button = make_button_input(div, 'parse')
- mod.parse_button.addEventListener('click', function() {
- runQueue()
- })
-
- // current block
- mod.current_block_in = make_text_input(div, 'next block to send', 12)
-
- mod.current_window_size_in = make_text_input(div, 'current window size', 12)
-
- //
- // send a block
- //
- mod.send_button = make_button_input(div, 'send next block')
- mod.send_button.addEventListener('click', function() {
- sendBlock()
- })
- mod.open_window_button = make_button_input(div, 'open transmit window')
- mod.open_window_button.addEventListener('click', function() {
- console.log('opening window')
- if (mod.window < 2) {
- mod.window = 3
- } else {
- mod.window++
- }
- mod.current_window_size_in.value = mod.window.toString()
- mod.packets_awaiting_reply = 0
- while (mod.packets_awaiting_reply < mod.window) {
- sendBlock()
- }
- })
- mod.close_window_button = make_button_input(div, 'close transmit window')
- mod.close_window_button.addEventListener('click', function() {
- mod.window = 0;
- mod.current_window_size_in.value = mod.window.toString()
- })
- }
-
- function cartesianDistance(p1, p2) {
- // takes p1, p2 to be arrays of same length
- // computes cartesian distance
- var sum = 0
- for (var i = 0; i < p1.length; i++) {
- sum += Math.pow((p1[i] - p2[i]), 2)
- }
- return Math.sqrt(sum)
- }
-
- function cartesianLength(v) {
- // length of vector
- var sum = 0
- for (var i = 0; i < v.length; i++) {
- sum += Math.pow(v[i], 2)
- }
- return Math.sqrt(sum)
- }
-
- function addMatrix(a, b, c) {
- // c = a + b
- a.forEach(function(item, index) {
- c[index] = b[index] + a[index]
- })
- }
-
- function subtractMatrix(a, b, c) {
- // c = a - b
- b.forEach(function(item, index) {
- c[index] = a[index] - b[index]
- })
- }
-
- function multiplyMatrix(a, scalar, b) {
- // b = a * scalar
- a.forEach(function(item, index) {
- b[index] = a[index] * scalar
- })
- }
-
- function multiply2dMatrix(a, scalar, b) {
- // b = a * scalar
- for (var i = 0; i < a.length; i++) {
- for (var j = 0; j < a[i].length; j++) {
- b[i][j] = a[i][j] * scalar;
- }
- }
- }
-
- function divideMatrix(a, scalar, b) {
- // b = a / scalar
- for (var i = 0; i < a.length; i++) {
- b[i] = a[i] / scalar
- }
- }
-
- function unitVector(p1, p2) {
- // returns new array, is unit vector of p2-p1
- var unit = new Array()
- subtractMatrix(p2, p1, unit)
- var length = cartesianLength(unit)
- divideMatrix(unit, length, unit)
-
- return unit
- }
-
- function dotProduct(a, b) {
- // returns a dot b
- var sum = 0;
- for (var i = 0; i < a.length; i++) {
- sum += a[i] * b[i]
- }
-
- return sum
- }
-
- function toFixedMatrix(a, digits) {
- var rounded = new Array()
- for (var i = 0; i < a.length; i++) {
- rounded[i] = a[i].toFixed(digits)
- }
-
- return rounded
- }
-
- /*
- now:
-
- start from segment and find a corner
- do planner
-
- */
-
- //
- // local functions
- //
- function runQueue() {
- // converting from mm/s or dpi (pixel units) to mm based units
- // https://github.com/grbl/grbl/blob/master/grbl/planner.c
- // https://onehossshay.wordpress.com/2011/09/24/improving_grbl_cornering_algorithm/
- /*
- first we walk the queue:
- going backwards, end at 0 speed exit
- - find junction speed (junction deviation) between this and previous block
- - this is entry speed, calculate trapezoid to exit speed
- next block
- - exit speed is recently calculated entry speed
- - do junction deviation, this is entry speed
- - calculate trapezoid
- .. why is this simpler? find entry and exit speed of each block,
- find accel limits per axis, do trapezoid with that accel
-
- */
-
- var jdsize = parseFloat(mod.junction_deviation_in.value)
- var accel = parseFloat(mod.accel_in.value)
-
- mod.segments[mod.segments.length - 1].exit = 0 // trailing edge always full stop
-
- for (var i = mod.segments.length - 1; i > 0; i--) {
- // reverse pass
- // find junction deviation
- /*
- - really, could only do this once per segment when a new one is added
- - unitize entry and exit vectors
- - find cos(theta) = Ventry dot Vexit / (|Ventry| * |Vexit|) -> this is (1*1 bc unit)
- - find sin(theta/2) = sqrt((1-cos(theta))/2)
- - find r = j(sin(theta/2)/(1-sin(theta/2)))
- - find Fj = sqrt(Ac*r)
- - junction speed is min(Fj, min(entry,exit))
- */
-
- var v_entry = unitVector(mod.segments[i - 1].p1, mod.segments[i - 1].p2)
- var v_exit = unitVector(mod.segments[i].p1, mod.segments[i].p2)
- //console.log('unit entry, unit exit', toFixedMatrix(v_entry, 3), toFixedMatrix(v_exit, 3))
- var cos_theta = dotProduct(v_entry, v_exit) // dot product / mag * mag where mags are 1 each bc unit
- // catch corner cases (get it? - actually they are very straight cases, or very turnaround cases)
- if (cos_theta < -0.9999999999999) {
- cos_theta = -0.9999999999999
- } else if (cos_theta > 0.9999999999999) {
- cos_theta = 0.9999999999999
- }
- //console.log('cos_theta', cos_theta, Math.acos(cos_theta) * (180 / Math.PI))
- var sin_theta_overtwo = Math.sqrt((1 - cos_theta) / 2)
- //console.log('sin_theta_overtwo', sin_theta_overtwo)
- var radius = jdsize * ((1 - sin_theta_overtwo) / sin_theta_overtwo)
- //console.log('radius', radius)
- var fj = Math.sqrt(accel * radius)
- //console.log('fj', fj)
-
- var feed_junction = Math.min(fj, mod.segments[i].cruise, mod.segments[i - 1].cruise)
- //console.log('feed_junction', feed_junction)
-
- // ok we have the maximum feed at the preceeding junction
- // now: find the maximum entry speeds as if we spent the whole block decelerating
-
- // size of segment
- var distance = cartesianDistance(mod.segments[i].p1, mod.segments[i].p2)
- //console.log('distance', distance)
- var max_entry_speed = Math.sqrt(mod.segments[i].exit * mod.segments[i].exit + 2 * distance * accel)
- //console.log('max_entry_speed', max_entry_speed)
- var entry_speed = Math.min(max_entry_speed, feed_junction)
- //console.log('entry_speed', entry_speed)
- mod.segments[i].entry = entry_speed
- mod.segments[i - 1].exit = entry_speed
- //console.log('segment:', mod.segments[i])
- mod.segments[i].accel = accel
- mod.segments[i].distance = distance
- }
-
- // bad bad not very good implementation to start:
- mod.segments[0].entry = 0
- mod.segments[0].accel = accel
- mod.segments[0].distance = cartesianDistance(mod.segments[0].p1, mod.segments[0].p2)
-
- // forward pass to make sure we can accelerate to set exit speed in length
- for (var i = 0; i < mod.segments.length - 1; i++) {
- var distance = mod.segments[i].distance
- var max_exit_speed = Math.sqrt(mod.segments[i].entry * mod.segments[i].entry + 2 * distance * accel)
-
- if (max_exit_speed < mod.segments[i + 1].entry_speed) {
- mod.segments[i + 1].entry = max_exit_speed
- mod.segments[i].exit = max_exit_speed
- }
- }
-
- console.log('segments in planner:', mod.segments)
-
- }
-
- function sendBlock() {
- var index = parseInt(mod.current_block_in.value)
- if (index < 0) {
- index = 0
- } else if (index > mod.segments.length - 1) {
- index = 0
- }
-
- mods.output(mod, 'nextblock', mod.segments[index])
- mod.packets_awaiting_reply++;
-
- index++
- mod.current_block_in.value = index
- }
-
-
- /*
- UI helpers
- */
- function make_text_input(div, name, size) {
- div.appendChild(document.createElement('br'))
- div.appendChild(document.createTextNode(name + ': '))
- var input = document.createElement('input')
- input.type = 'text'
- input.size = size
- div.appendChild(input)
-
- return input
- }
-
- function make_button_input(div, text) {
- div.appendChild(document.createElement('br'))
- var button = document.createElement('button')
- button.style.padding = mods.ui.padding
- button.style.margin = 1
- button.appendChild(document.createTextNode(text))
- div.appendChild(button)
-
- return button
- }
-
- function make_checkbox_input(div, prefix) {
- div.appendChild(document.createElement('br'))
- div.appendChild(document.createTextNode(prefix + ': '))
- var checkbox = document.createElement('input')
- checkbox.type = 'checkbox'
- div.appendChild(checkbox)
-
- return checkbox
- }
-
- function make_text_display(div, prefix) {
- div.appendChild(document.createElement('br'))
- div.appendChild(document.createTextNode(prefix + ': '))
- var span = document.createElement('span')
- span.innerHTML = ''
- div.appendChild(span)
-
- return span
- }
-
- //
- // return values
- //
- return ({
- mod: mod,
- name: name,
- init: init,
- inputs: inputs,
- outputs: outputs,
- interface: interface
- })
-}())
\ No newline at end of file
diff --git a/modules/motion/textBlockIn b/modules/motion/textBlockIn
index f5f39c1..66b6541 100644
--- a/modules/motion/textBlockIn
+++ b/modules/motion/textBlockIn
@@ -152,7 +152,10 @@ X0 Y0\n\ "
mod.lineCountDisplay.innerHTML = '0'
currentLine = 0
})
- mod.textAreaIn = makeTextArea(div, 'lines', 24, 48)
+ mod.textAreaIn = makeTextArea(div, 'lines', 48, 48)
+ mod.textAreaIn.addEventListener('change', function(){
+ linesToArray()
+ })
}
var currentLine = 0
diff --git a/tinymachine-image.png b/tinymachine-image.png
deleted file mode 100644
index c0bf09d12c14419ce426769adc3a843bf2da95bf..0000000000000000000000000000000000000000
GIT binary patch
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diff --git a/tinymachine-planner-02 b/tinymachine-planner-02
deleted file mode 100644
index 855c3b8..0000000
--- a/tinymachine-planner-02
+++ /dev/null
@@ -1 +0,0 @@
-{"modules":{"0.6719905562745752":{"definition":"//\r\n// converts toolpath objects into segments for accel planning\r\n//\r\n// Neil Gershenfeld and Jake Read\r\n// (c) Massachusetts Institute of Technology 2018\r\n//\r\n// This work may be reproduced, modified, distributed, performed, and\r\n// displayed for any purpose, but must acknowledge the mods\r\n// project. Copyright is retained and must be preserved. The work is\r\n// provided as is; no warranty is provided, and users accept all\r\n// liability.\r\n//\r\n// closure\r\n//\r\n(function() {\r\n //\r\n // module globals\r\n //\r\n var mod = {}\r\n //\r\n // name\r\n //\r\n var name = 'atk network bridge'\r\n //\r\n // initialization\r\n //\r\n var init = function() {\r\n mod.address.value = '127.0.0.1'\r\n mod.port.value = 6789\r\n mod.socket = null\r\n socket_open()\r\n }\r\n //\r\n // inputs\r\n //\r\n var inputs = {\r\n packetOne: {\r\n type: 'packet',\r\n label: '1 packet payload',\r\n event: function(evt) {\r\n var headlessPacket = JSON.parse(JSON.stringify(evt.detail))\r\n packetOutput(0, headlessPacket)\r\n }\r\n },\r\n packetTwo: {\r\n type: 'packet',\r\n label: '2 packet payload',\r\n event: function(evt) {\r\n var headlessPacket = JSON.parse(JSON.stringify(evt.detail))\r\n packetOutput(1, headlessPacket)\r\n }\r\n },\r\n packetThree: {\r\n type: 'packet',\r\n label: '3 packet payload',\r\n event: function(evt) {\r\n var headlessPacket = JSON.parse(JSON.stringify(evt.detail))\r\n packetOutput(2, headlessPacket)\r\n }\r\n },\r\n packetFour: {\r\n type: 'packet',\r\n label: '4 packet payload',\r\n event: function(evt) {\r\n var headlessPacket = JSON.parse(JSON.stringify(evt.detail))\r\n packetOutput(3, headlessPacket)\r\n }\r\n },\r\n packetFive: {\r\n type: 'packet',\r\n label: '5 packet payload',\r\n event: function(evt) {\r\n var headlessPacket = JSON.parse(JSON.stringify(evt.detail))\r\n packetOutput(4, headlessPacket)\r\n }\r\n }\r\n }\r\n //\r\n // outputs\r\n //\r\n var outputs = {\r\n packetOne: {\r\n type: 'packet',\r\n label: '1 packet payload',\r\n event: function(evt) {\r\n // fires elswhere with mods.output(mod, 'packetOne', data)\r\n }\r\n },\r\n packetTwo: {\r\n type: 'packet',\r\n label: '2 packet payload'\r\n },\r\n packetThree: {\r\n type: 'packet',\r\n label: '3 packet payload'\r\n },\r\n packetFour: {\r\n type: 'packet',\r\n label: '4 packet payload'\r\n },\r\n packetFive: {\r\n type: 'packet',\r\n label: '5 packet payload'\r\n }\r\n }\r\n //\r\n // interface\r\n //\r\n var interface = function(div) {\r\n mod.div = div\r\n //\r\n // inputs\r\n //\r\n mod.netpath_in = new Array() // of UI\r\n mod.netpath = new Array() // of paths\r\n // settings\r\n // the network paths to the thing\r\n for (var i = 0; i < 5; i++) {\r\n add_netpath(div)\r\n }\r\n\r\n div.appendChild(document.createElement('br'))\r\n\r\n var a = document.createElement('a')\r\n a.href = './js/serialserver.js'\r\n a.innerHTML = 'serialserver:'\r\n a.target = '_blank'\r\n div.appendChild(a)\r\n div.appendChild(document.createElement('br'))\r\n //\r\n // open/close\r\n //\r\n var btn = document.createElement('button')\r\n btn.style.margin = 1\r\n btn.appendChild(document.createTextNode('open'))\r\n btn.addEventListener('click', function() {\r\n socket_open()\r\n })\r\n div.appendChild(btn)\r\n var btn = document.createElement('button')\r\n btn.style.margin = 1\r\n btn.appendChild(document.createTextNode('close'))\r\n btn.addEventListener('click', function() {\r\n socket_close()\r\n })\r\n div.appendChild(btn)\r\n div.appendChild(document.createElement('br'))\r\n //\r\n // address\r\n //\r\n div.appendChild(document.createTextNode('address: '))\r\n input = document.createElement('input')\r\n input.type = 'text'\r\n input.size = 10\r\n div.appendChild(input)\r\n mod.address = input\r\n div.appendChild(document.createElement('br'))\r\n //\r\n // port\r\n //\r\n div.appendChild(document.createTextNode('\\u00a0\\u00a0\\u00a0\\u00a0\\u00a0port: '))\r\n var input = document.createElement('input')\r\n input.type = 'text'\r\n input.size = 10\r\n div.appendChild(input)\r\n mod.port = input\r\n div.appendChild(document.createElement('br'))\r\n //\r\n // status\r\n //\r\n div.appendChild(document.createTextNode('\\u00a0\\u00a0status: '))\r\n var input = document.createElement('input')\r\n input.type = 'text'\r\n input.size = 10\r\n div.appendChild(input)\r\n mod.status = input\r\n div.appendChild(document.createElement('br'))\r\n //\r\n // serial\r\n //\r\n div.appendChild(document.createTextNode('serial device:'))\r\n div.appendChild(document.createElement('br'))\r\n //\r\n // open/close\r\n //\r\n var btn = document.createElement('button')\r\n btn.style.margin = 1\r\n btn.appendChild(document.createTextNode('open'))\r\n btn.addEventListener('click', function() {\r\n serial_open()\r\n })\r\n div.appendChild(btn)\r\n var btn = document.createElement('button')\r\n btn.style.margin = 1\r\n btn.appendChild(document.createTextNode('close'))\r\n btn.addEventListener('click', function() {\r\n serial_close()\r\n })\r\n div.appendChild(btn)\r\n div.appendChild(document.createElement('br'))\r\n }\r\n\r\n function add_netpath(div) {\r\n var numCurrentPaths = mod.netpath.length;\r\n mod.netpath_in[numCurrentPaths] = make_text_input(div, (numCurrentPaths + 1).toString() + ' network path', 12)\r\n mod.netpath_in[numCurrentPaths].addEventListener('change', function() {\r\n mod.netpath[numCurrentPaths] = mod.netpath_in[numCurrentPaths].value.split(',')\r\n if (mod.netpath[numCurrentPaths] == '') {\r\n mod.netpath[0] = []\r\n console.log('zero length address')\r\n } else {\r\n for (var i = 0; i < mod.netpath[numCurrentPaths].length; i++) {\r\n mod.netpath[numCurrentPaths][i] = parseInt(mod.netpath[numCurrentPaths][i])\r\n }\r\n console.log('new address', mod.netpath)\r\n }\r\n })\r\n mod.netpath_in[numCurrentPaths].value = '0,' + numCurrentPaths.toString()\r\n mod.netpath[numCurrentPaths] = [0, numCurrentPaths]\r\n }\r\n\r\n function packetOutput(index, headlessPacket) {\r\n // add ptr and delimiter (unshifting, so reverse order)\r\n headlessPacket.unshift(255) //end addr delimiter\r\n headlessPacket.unshift(254) //ptr\r\n // add path descending thru\r\n for (var i = mod.netpath[index].length - 1; i >= 0; i--) {\r\n headlessPacket.unshift(mod.netpath[index][i])\r\n }\r\n // add length\r\n headlessPacket.unshift(headlessPacket.length + 1)\r\n // log it\r\n // console.log('packet from demux', headlessPacket)\r\n // put it on the serial\r\n var wsMessage = {\r\n type: 'packet',\r\n packet: JSON.parse(JSON.stringify(headlessPacket))\r\n }\r\n socket_send(JSON.stringify(wsMessage))\r\n }\r\n\r\n function packetInput(packet) {\r\n // shift pointer\r\n shiftPacketPointer(packet)\r\n // find address in packet, address has been flipped\r\n // assuming this is a terminal packet, i.e. we are the recipient,\r\n // cut \r\n var returnPacketHeader = packet.slice(2, packet.indexOf(255))\r\n // and then flip the header\r\n var packetHeader = new Array()\r\n for (var i = 0; i < returnPacketHeader.length; i++) {\r\n packetHeader[i] = returnPacketHeader[returnPacketHeader.length - i - 1]\r\n }\r\n var indexMatch = null\r\n // match to addresses mod.netpath[i]\r\n for (var i = 0; i < mod.netpath.length; i++) {\r\n if (packetHeader.length === mod.netpath[i].length) {\r\n if (packetHeader.toString() === mod.netpath[i].toString()) {\r\n // just takes 1st match\r\n // actually, we are receiving ack'd packets, w/ reversed headers\r\n\r\n indexMatch = i\r\n }\r\n }\r\n }\r\n // is match?\r\n if (indexMatch != null) {\r\n // console.log('match on ', indexMatch)\r\n // dereference header\r\n var headlessPacket = packet.slice(packetHeader.length + 3, packet.length)\r\n // console.log('headless', headlessPacket)\r\n // send on port\r\n // big messy nasty no thank you\r\n switch (indexMatch) {\r\n case 0:\r\n mods.output(mod, 'packetOne', headlessPacket)\r\n break\r\n case 1:\r\n mods.output(mod, 'packetTwo', headlessPacket)\r\n break\r\n case 2:\r\n mods.output(mod, 'packetThree', headlessPacket)\r\n break\r\n case 3:\r\n mods.output(mod, 'packetFour', headlessPacket)\r\n break\r\n case 4:\r\n mods.output(mod, 'packetFive', headlessPacket)\r\n break\r\n }\r\n } else {\r\n console.log('no match on returned packet')\r\n }\r\n }\r\n\r\n function shiftPacketPointer(array) {\r\n // find end of packet header\r\n var end = 0\r\n var i = 0\r\n while (end == 0) {\r\n if (array[i] === 255) {\r\n end = i\r\n } else if (i >= array.length) {\r\n break\r\n }\r\n i++\r\n }\r\n // we'll assume we're the last drop, put the pointer at the head\r\n array[1] = 254\r\n // and then shift the address bytes forward\r\n for (var j = 2; j < end - 1; j++) {\r\n array[j] = array[j + 1]\r\n }\r\n array[end-1] = 0 // incoming port\r\n }\r\n\r\n var thisPacket = new Array() // we sometimes receive incomplete packets, have to track and parse\r\n //\r\n function socket_open() {\r\n var url = \"ws://\" + mod.address.value + ':' + mod.port.value\r\n mod.socket = new WebSocket(url)\r\n mod.socket.onopen = function(event) {\r\n mod.status.value = \"socket opened\"\r\n serial_open()\r\n }\r\n mod.socket.onerror = function(event) {\r\n mod.status.value = \"can not open\"\r\n mod.socket = null\r\n }\r\n mod.socket.onmessage = function(event) {\r\n var wsMessage = JSON.parse(event.data)\r\n if (wsMessage.type === 'message') {\r\n mod.status.value = wsMessage.message\r\n } else if (wsMessage.type === 'array') {\r\n // we are the 0th port, \r\n thisPacket = thisPacket.concat(wsMessage.array)\r\n\r\n if (thisPacket[0] <= 0) {\r\n thisPacket = []\r\n console.log('throwing packet with leading zero')\r\n }\r\n\r\n while (thisPacket.length >= thisPacket[0]) {\r\n if (thisPacket.length == thisPacket[0]) {\r\n //console.log('one packet', thisPacket)\r\n packetInput(JSON.parse(JSON.stringify(thisPacket)))\r\n thisPacket = []\r\n } else {\r\n var fullPacket = thisPacket.slice(0, thisPacket[0])\r\n packetInput(JSON.parse(JSON.stringify(fullPacket)))\r\n //console.log('second packet', fullPacket)\r\n thisPacket = thisPacket.slice(thisPacket[0])\r\n }\r\n }\r\n\r\n } else {\r\n mod.status.value = 'message not recognized'\r\n }\r\n }\r\n }\r\n\r\n function socket_close() {\r\n mod.socket.close()\r\n mod.status.value = \"socket closed\"\r\n mod.socket = null\r\n }\r\n\r\n function socket_send(msg) {\r\n if (mod.socket != null) {\r\n mod.status.value = \"send\"\r\n mod.socket.send(msg)\r\n } else {\r\n mod.status.value = \"can't send, not open\"\r\n }\r\n }\r\n\r\n function serial_open() {\r\n if (mod.socket == null) {\r\n mod.status.value = \"socket not open\"\r\n } else {\r\n var msg = {}\r\n msg.type = 'open'\r\n mod.socket.send(JSON.stringify(msg))\r\n }\r\n }\r\n\r\n function serial_close() {\r\n if (mod.socket == null) {\r\n mod.status.value = \"socket not open\"\r\n } else {\r\n var msg = {}\r\n msg.type = 'close'\r\n msg.device = mod.device.value\r\n mod.socket.send(JSON.stringify(msg))\r\n }\r\n }\r\n\r\n function serial_send(wsMessage) {\r\n if (mod.socket == null) {\r\n mod.status.value = \"socket not open\"\r\n } else {\r\n mod.socket.send(JSON.stringify(wsMessage))\r\n mod.status.value = 'transmit'\r\n }\r\n }\r\n\r\n /*\r\n UI helpers\r\n */\r\n function make_text_input(div, name, size) {\r\n div.appendChild(document.createElement('br'))\r\n div.appendChild(document.createTextNode(name + ': '))\r\n var input = document.createElement('input')\r\n input.type = 'text'\r\n input.size = size\r\n div.appendChild(input)\r\n\r\n return input\r\n }\r\n\r\n function make_button_input(div, text) {\r\n div.appendChild(document.createElement('br'))\r\n var button = document.createElement('button')\r\n button.style.padding = mods.ui.padding\r\n button.style.margin = 1\r\n button.appendChild(document.createTextNode(text))\r\n div.appendChild(button)\r\n\r\n return button\r\n }\r\n\r\n function make_checkbox_input(div, prefix) {\r\n div.appendChild(document.createElement('br'))\r\n div.appendChild(document.createTextNode(prefix + ': '))\r\n var checkbox = document.createElement('input')\r\n checkbox.type = 'checkbox'\r\n div.appendChild(checkbox)\r\n\r\n return checkbox\r\n }\r\n\r\n function make_text_display(div, prefix) {\r\n div.appendChild(document.createElement('br'))\r\n div.appendChild(document.createTextNode(prefix + ': '))\r\n var span = document.createElement('span')\r\n span.innerHTML = ''\r\n div.appendChild(span)\r\n\r\n return span\r\n }\r\n\r\n\r\n //\r\n // return values\r\n //\r\n return ({\r\n mod: mod,\r\n name: name,\r\n init: init,\r\n inputs: inputs,\r\n outputs: outputs,\r\n interface: interface\r\n })\r\n}())","top":"1237.8217036023414","left":"2236.2670037054045","inputs":{},"outputs":{}},"0.6070416201560498":{"definition":"//\r\n// converts toolpath objects into segments for accel planning\r\n//\r\n// Neil Gershenfeld and Jake Read\r\n// (c) Massachusetts Institute of Technology 2018\r\n//\r\n// This work may be reproduced, modified, distributed, performed, and\r\n// displayed for any purpose, but must acknowledge the mods\r\n// project. Copyright is retained and must be preserved. The work is\r\n// provided as is; no warranty is provided, and users accept all\r\n// liability.\r\n//\r\n// closure\r\n//\r\n(function() {\r\n //\r\n // module globals\r\n //\r\n var mod = {}\r\n //\r\n // name\r\n //\r\n var name = 'stepper'\r\n //\r\n // initialization\r\n //\r\n var init = function() {\r\n mod.stepper_axis_num_in.value = '0'\r\n mod.axis_num = 0\r\n mod.steps_per_mm_in.value = '80'\r\n mod.convert = 80\r\n mod.block = {\r\n accel: 50,\r\n cruise: 120,\r\n entry: 0,\r\n exit: 30,\r\n p1: [0, 0, 0],\r\n p2: [10, 10, 10]\r\n }\r\n }\r\n //\r\n // inputs\r\n //\r\n var inputs = {\r\n block: {\r\n type: 'object',\r\n label: 'block',\r\n event: function(evt) {\r\n mod.block = JSON.parse(JSON.stringify(evt.detail)) // dereference pls\r\n shipIt()\r\n }\r\n },\r\n ack: {\r\n type: 'packet',\r\n label: 'headless packet in',\r\n event: function(evt) {\r\n onAcknowledgement(evt.detail)\r\n }\r\n }\r\n }\r\n //\r\n // outputs\r\n //\r\n var outputs = {\r\n acknowledgement: {\r\n type: 'object',\r\n label: 'acknowledgement',\r\n event: function(obj) {\r\n mods.output(mod, 'acknowledgement', obj)\r\n }\r\n },\r\n packet: {\r\n type: 'packet',\r\n label: 'headless packet out',\r\n event: function() {\r\n //mods.output(mod, 'segments', null)\r\n }\r\n }\r\n }\r\n //\r\n // interface\r\n //\r\n var interface = function(div) {\r\n mod.div = div\r\n //\r\n // inputs\r\n //\r\n // settings\r\n // the axis to pull out of the block - index of posistions on p1, p2\r\n mod.stepper_axis_num_in = make_text_input(div, 'axis index', 12)\r\n mod.stepper_axis_num_in.addEventListener('change', function() {\r\n mod.axis_num = parseInt(mod.stepper_axis_num_in.value)\r\n })\r\n // steps per mm\r\n mod.steps_per_mm_in = make_text_input(div, 'steps per mm', 12)\r\n mod.steps_per_mm_in.addEventListener('change', function() {\r\n mod.covert = parseFloat(mod.steps_per_mm_in.value)\r\n })\r\n // reverse?\r\n mod.reverseCheck = make_checkbox_input(div, 'reversed')\r\n //\r\n // request to do the business\r\n //\r\n mod.send_button = make_button_input(div, 'send')\r\n mod.send_button.addEventListener('click', function() {\r\n shipIt()\r\n })\r\n }\r\n\r\n function cartesianDistance(p1, p2) {\r\n // takes p1, p2 to be arrays of same length\r\n // computes cartesian distance\r\n var sum = 0\r\n for (var i = 0; i < p1.length; i++) {\r\n sum += Math.pow((p1[i] - p2[i]), 2)\r\n }\r\n return Math.sqrt(sum)\r\n }\r\n\r\n function cartesianLength(v) {\r\n // length of vector\r\n var sum = 0\r\n for (var i = 0; i < v.length; i++) {\r\n sum += Math.pow(v[i], 2)\r\n }\r\n return Math.sqrt(sum)\r\n }\r\n\r\n function addMatrix(a, b, c) {\r\n // c = a + b\r\n a.forEach(function(item, index) {\r\n c[index] = b[index] + a[index]\r\n })\r\n }\r\n\r\n function subtractMatrix(a, b, c) {\r\n // c = a - b\r\n b.forEach(function(item, index) {\r\n c[index] = a[index] - b[index]\r\n })\r\n }\r\n\r\n function multiplyMatrix(a, scalar, b) {\r\n // b = a * scalar\r\n a.forEach(function(item, index) {\r\n b[index] = a[index] * scalar\r\n })\r\n }\r\n\r\n function multiply2dMatrix(a, scalar, b) {\r\n // b = a * scalar\r\n for (var i = 0; i < a.length; i++) {\r\n for (var j = 0; j < a[i].length; j++) {\r\n b[i][j] = a[i][j] * scalar;\r\n }\r\n }\r\n }\r\n\r\n function divideMatrix(a, scalar, b) {\r\n // b = a / scalar\r\n for (var i = 0; i < a.length; i++) {\r\n b[i] = a[i] / scalar\r\n }\r\n }\r\n\r\n function unitVector(p1, p2) {\r\n // returns new array, is unit vector of p2-p1\r\n var unit = new Array()\r\n subtractMatrix(p2, p1, unit)\r\n var length = cartesianLength(unit)\r\n divideMatrix(unit, length, unit)\r\n\r\n return unit\r\n }\r\n\r\n function dotProduct(a, b) {\r\n // returns a dot b\r\n var sum = 0;\r\n for (var i = 0; i < a.length; i++) {\r\n sum += a[i] * b[i]\r\n }\r\n\r\n return sum\r\n }\r\n\r\n function toFixedMatrix(a, digits) {\r\n var rounded = new Array()\r\n for (var i = 0; i < a.length; i++) {\r\n rounded[i] = a[i].toFixed(digits)\r\n }\r\n\r\n return rounded\r\n }\r\n\r\n /*\r\n now:\r\n\r\n start from segment and find a corner\r\n do planner\r\n\r\n */\r\n\r\n //\r\n // local functions\r\n //\r\n\r\n function onAcknowledgement(packet){\r\n if(packet[0] == 132){\r\n // wait move\r\n var ack = {}\r\n ack.axis = mod.axis_num\r\n ack.type = 'wait acknowledgement'\r\n outputs.acknowledgement.event(ack)\r\n } else if (packet[0] == 131){\r\n var ack = {}\r\n ack.axis = mod.axis_num \r\n ack.type = 'move acknowledgement'\r\n var steps = unpack32(packet, 1)\r\n ack.increment = steps / mod.convert\r\n outputs.acknowledgement.event(ack)\r\n } else {\r\n console.log('nonrecognized ack to stepper')\r\n }\r\n // check if was wait / was move, send response accordingly \r\n }\r\n\r\n function shipIt() {\r\n // sends integer values, I think we maintain positioning because we round before subtracting\r\n\r\n var trapezoid = calculateTrapezoid(mod.axis_num)\r\n if (trapezoid.length == 0) {\r\n var ok = 0\r\n var i = 0\r\n var waitTrap\r\n while (!ok && i < mod.block.p1.length) {\r\n waitTrap = calculateTrapezoid(i)\r\n if (waitTrap.delta != 0) {\r\n ok = 1\r\n } else {\r\n i++\r\n }\r\n }\r\n if (ok) {\r\n sendWait(waitTrap)\r\n } else {\r\n console.log('step zero packet, but no axis of nonzero length found', JSON.parse(JSON.stringify(mod.block)))\r\n }\r\n } else {\r\n sendTrapezoid(trapezoid)\r\n }\r\n }\r\n\r\n function calculateTrapezoid(axis) {\r\n // packet (per stepper block)\r\n // steps, entry, accel, accelLength, deccelLength\r\n // first we fill this with all of the info we'll use to calculated\r\n // the trapezoid in planner-space units, then we convert to steps last\r\n var trap = {}\r\n\r\n // lengths and positions for the move\r\n trap.x1 = mod.block.p1[axis]\r\n trap.x2 = mod.block.p2[axis]\r\n trap.delta = trap.x2 - trap.x1\r\n trap.length = Math.abs(trap.delta)\r\n\r\n // rates for the move\r\n var unit = unitVector(mod.block.p1, mod.block.p2)\r\n var relativeRate = Math.abs(unit[axis])\r\n trap.entry = mod.block.entry * relativeRate\r\n trap.accel = mod.block.accel * relativeRate\r\n trap.cruise = mod.block.cruise * relativeRate\r\n trap.exit = mod.block.exit * relativeRate\r\n\r\n // now accelLength and deccelLength\r\n // using the maximum deltaV for the move,\r\n // we'll figure out what type of move we have\r\n var maxExit = Math.sqrt(trap.entry * trap.entry + 2 * trap.accel * trap.length)\r\n var maxEntry = Math.sqrt(trap.exit * trap.entry + 2 * trap.accel * trap.length)\r\n\r\n // there are 7 possible profiles\r\n if (trap.length <= 0) {\r\n // console.log('zero length trap')\r\n } else if (maxExit <= trap.exit) {\r\n // full ramp-up: have to push iiit to get there\r\n //console.log('full rampup')\r\n trap.ramptype = 'rampup'\r\n trap.accelLength = trap.length\r\n trap.deccelLength = trap.length + mod.convert // never decel\r\n // for the wait function\r\n trap.vAvg = (trap.entry + trap.exit) / 2\r\n } else if (maxEntry <= trap.entry) {\r\n // full ramp-down: have to deccel all the way with this rate\r\n //console.log('full rampdown')\r\n trap.ramptype = 'rampdown'\r\n trap.deccelLength = 0 // start immmeeeeediately\r\n trap.accelLength = 0 // never accel\r\n // for the wait\r\n trap.vAvg = (trap.entry + trap.exit) / 2\r\n } else if (trap.cruise == trap.entry && trap.cruise == trap.exit) {\r\n // str8 relaxin, no maxin\r\n //console.log('full cruise')\r\n trap.ramptype = 'cruise'\r\n trap.accelLength = 0 // never accel\r\n trap.deccelLength = trap.length + mod.convert // never decel\r\n // wait\r\n trap.vAvg = trap.cruise\r\n } else if (trap.cruise == trap.entry) {\r\n // cruise, then deccel\r\n //console.log('cruise then deccel')\r\n // for how long do we have to decel? we have to have deltaV for\r\n trap.ramptype = 'cruiseDeccel'\r\n var deccelDistance = (trap.cruise * trap.cruise - trap.exit * trap.exit) / (2 * trap.accel)\r\n trap.deccelLength = trap.length - deccelDistance\r\n trap.accelLength = 0; // never accel\r\n // we really want speed by multiple times, and total distance we know, for vAvg\r\n var tSum = (trap.cruise - trap.exit) / trap.accel + trap.deccelLength / trap.cruise\r\n trap.vAvg = trap.length / tSum\r\n } else if (trap.cruise == trap.exit) {\r\n // accel, cruise? unless entry also cruise?\r\n //console.log('accel then cruise')\r\n trap.ramptype = 'cruiseAccel'\r\n trap.accelLength = (trap.cruise * trap.cruise - trap.entry * trap.entry) / (2 * trap.accel)\r\n trap.deccelLength = trap.length + 1; // and never deccel\r\n // wait \r\n var tSum = (trap.cruise - trap.entry) / trap.accel + (trap.delta - trap.accellength) / trap.cruise\r\n trap.vAvg = trap.length / tSum\r\n } else {\r\n // it's either a full trap, or a triangle\r\n var accelDistance = (trap.cruise * trap.cruise - trap.entry * trap.entry) / (2 * trap.accel)\r\n var deccelDistance = (trap.cruise * trap.cruise - trap.exit * trap.exit) / (2 * trap.accel)\r\n if ((accelDistance + deccelDistance) < trap.length) {\r\n //console.log('full trap')\r\n trap.ramptype = 'fullTrap'\r\n trap.accelLength = accelDistance\r\n trap.deccelLength = trap.length - deccelDistance\r\n // wait \r\n var tSum = (trap.cruise - trap.entry) / trap.accel + (trap.deccelLength - trap.accellength) / trap.cruise + (trap.cruise - trap.exit) / trap.accel\r\n trap.vAvg = trap.length / tSum\r\n } else {\r\n //console.log('triangle')\r\n trap.ramptype = 'triangle'\r\n // find intersection point\r\n var vPeak = Math.sqrt((2 * trap.accel * trap.length + Math.pow(trap.entry, 2) + Math.pow(trap.exit, 2)) / 2)\r\n //console.log('entry, peak, exit', trap.entry, vPeak, trap.exit)\r\n var midPoint = (vPeak * vPeak - trap.entry * trap.entry) / (2 * trap.accel)\r\n trap.accelLength = midPoint\r\n trap.deccelLength = midPoint\r\n var tSum = (vPeak - trap.entry) / trap.accel + (vPeak - trap.exit) / trap.accel\r\n trap.vAvg = trap.length / tSum\r\n }\r\n }\r\n\r\n return trap\r\n }\r\n\r\n function sendTrapezoid(trap) {\r\n //console.log('trapezoid', trapezoid)\r\n var stepwiseTrap = trapezoidToStepwise(trap);\r\n\r\n var packet = new Array();\r\n // first, the packet header: the route, ptr and end_addr delimiter\r\n // #define APA_END_ROUTE_DELIMITER 255\r\n // #define APA_ROUTE_POINTER 254\r\n // #define DELIM_KEY_TRAPEZOID 131 // is 32 bit int\r\n // #define DELIM_KEY_WAIT 132\r\n packet.push(131)\r\n // now we pack these values into UART-readable bytes\r\n // int32_t steps, uint32_t entryspeed, accel, accellength, decellength\r\n var steps;\r\n if(mod.reverseCheck.checked){\r\n steps = -stepwiseTrap.steps\r\n } else {\r\n steps = stepwiseTrap.steps\r\n }\r\n packet = packet.concat(pack32(steps))\r\n packet = packet.concat(pack32(stepwiseTrap.entry))\r\n packet = packet.concat(pack32(stepwiseTrap.accel))\r\n packet = packet.concat(pack32(stepwiseTrap.accelLength))\r\n packet = packet.concat(pack32(stepwiseTrap.deccelLength))\r\n // log this if you wish\r\n //console.log('packet from stepper', packet)\r\n // send it along!\r\n mods.output(mod, 'packet', packet)\r\n }\r\n\r\n function sendWait(trap) {\r\n var stepwiseTrap = trapezoidToStepwise(trap);\r\n var packet = new Array();\r\n // #define DELIM_KEY_WAIT 132\r\n packet.push(132)\r\n // now we pack these values into C-readable bytes\r\n // int32_t steps, uint32_t entryspeed, accel, accellength, decellength\r\n packet = packet.concat(pack32(stepwiseTrap.steps))\r\n packet = packet.concat(pack32(stepwiseTrap.entry))\r\n packet = packet.concat(pack32(stepwiseTrap.accel))\r\n packet = packet.concat(pack32(stepwiseTrap.accelLength))\r\n packet = packet.concat(pack32(stepwiseTrap.deccelLength))\r\n // send it along!\r\n //console.log('wait packet', packet)\r\n mods.output(mod, 'packet', packet)\r\n }\r\n\r\n function trapezoidToStepwise(trap) {\r\n var stepwise = {}\r\n // planner units -> steps\r\n stepwise.steps = Math.round(trap.delta * mod.convert)\r\n // planner units -> steps/min (for less integer error)\r\n stepwise.entry = Math.round(trap.entry * mod.convert)\r\n // planner units -> steps/min/s (a messed up unit, I know)\r\n stepwise.accel = Math.round(trap.accel * mod.convert)\r\n // planner units -> steps\r\n stepwise.accelLength = Math.round(trap.accelLength * mod.convert)\r\n stepwise.deccelLength = Math.round(trap.deccelLength * mod.convert)\r\n\r\n return stepwise\r\n }\r\n\r\n function trapezoidToStepWait(trap) {\r\n var stepWait = {}\r\n // planner units -> steps\r\n stepWait.steps = Math.round(trap.length * mod.convert)\r\n //\r\n stepWait.vAvg = Math.round(trap.vAvg * mod.convert)\r\n if(isNaN(stepWait.vAvg)){\r\n console.log('err on vAvg maths in stepper')\r\n stepWait.vAvg = 1000\r\n }\r\n\r\n return stepWait\r\n }\r\n\r\n function pack32(val) {\r\n var pack = new Array();\r\n pack[0] = (val >> 24) & 255;\r\n pack[1] = (val >> 16) & 255;\r\n pack[2] = (val >> 8) & 255;\r\n pack[3] = val & 255;\r\n\r\n return pack;\r\n }\r\n\r\n function unpack32(array, start){\r\n var unpack = array[start] << 24 | array[start + 1] << 16 | array[start + 2] << 8 | array[start + 3]\r\n return unpack\r\n }\r\n\r\n\r\n /*\r\n UI helpers\r\n */\r\n function make_text_input(div, name, size) {\r\n div.appendChild(document.createElement('br'))\r\n div.appendChild(document.createTextNode(name + ': '))\r\n var input = document.createElement('input')\r\n input.type = 'text'\r\n input.size = size\r\n div.appendChild(input)\r\n\r\n return input\r\n }\r\n\r\n function make_button_input(div, text) {\r\n div.appendChild(document.createElement('br'))\r\n var button = document.createElement('button')\r\n button.style.padding = mods.ui.padding\r\n button.style.margin = 1\r\n button.appendChild(document.createTextNode(text))\r\n div.appendChild(button)\r\n\r\n return button\r\n }\r\n\r\n function make_checkbox_input(div, prefix) {\r\n div.appendChild(document.createElement('br'))\r\n div.appendChild(document.createTextNode(prefix + ': '))\r\n var checkbox = document.createElement('input')\r\n checkbox.type = 'checkbox'\r\n div.appendChild(checkbox)\r\n\r\n return checkbox\r\n }\r\n\r\n function make_text_display(div, prefix) {\r\n div.appendChild(document.createElement('br'))\r\n div.appendChild(document.createTextNode(prefix + ': '))\r\n var span = document.createElement('span')\r\n span.innerHTML = ''\r\n div.appendChild(span)\r\n\r\n return span\r\n }\r\n\r\n\r\n //\r\n // return values\r\n //\r\n return ({\r\n mod: mod,\r\n name: name,\r\n init: init,\r\n inputs: inputs,\r\n outputs: outputs,\r\n interface: interface\r\n })\r\n}())","top":"969.229246490451","left":"2271.901392094708","inputs":{},"outputs":{}},"0.46397689809504195":{"definition":"//\r\n// converts toolpath objects into segments for accel planning\r\n//\r\n// Neil Gershenfeld and Jake Read\r\n// (c) Massachusetts Institute of Technology 2018\r\n//\r\n// This work may be reproduced, modified, distributed, performed, and\r\n// displayed for any purpose, but must acknowledge the mods\r\n// project. Copyright is retained and must be preserved. The work is\r\n// provided as is; no warranty is provided, and users accept all\r\n// liability.\r\n//\r\n// closure\r\n//\r\n(function() {\r\n //\r\n // module globals\r\n //\r\n var mod = {}\r\n //\r\n // name\r\n //\r\n var name = 'stepper'\r\n //\r\n // initialization\r\n //\r\n var init = function() {\r\n mod.stepper_axis_num_in.value = '0'\r\n mod.axis_num = 0\r\n mod.steps_per_mm_in.value = '80'\r\n mod.convert = 80\r\n mod.block = {\r\n accel: 50,\r\n cruise: 120,\r\n entry: 0,\r\n exit: 30,\r\n p1: [0, 0, 0],\r\n p2: [10, 10, 10]\r\n }\r\n }\r\n //\r\n // inputs\r\n //\r\n var inputs = {\r\n block: {\r\n type: 'object',\r\n label: 'block',\r\n event: function(evt) {\r\n mod.block = JSON.parse(JSON.stringify(evt.detail)) // dereference pls\r\n shipIt()\r\n }\r\n },\r\n ack: {\r\n type: 'packet',\r\n label: 'headless packet in',\r\n event: function(evt) {\r\n onAcknowledgement(evt.detail)\r\n }\r\n }\r\n }\r\n //\r\n // outputs\r\n //\r\n var outputs = {\r\n acknowledgement: {\r\n type: 'object',\r\n label: 'acknowledgement',\r\n event: function(obj) {\r\n mods.output(mod, 'acknowledgement', obj)\r\n }\r\n },\r\n packet: {\r\n type: 'packet',\r\n label: 'headless packet out',\r\n event: function() {\r\n //mods.output(mod, 'segments', null)\r\n }\r\n }\r\n }\r\n //\r\n // interface\r\n //\r\n var interface = function(div) {\r\n mod.div = div\r\n //\r\n // inputs\r\n //\r\n // settings\r\n // the axis to pull out of the block - index of posistions on p1, p2\r\n mod.stepper_axis_num_in = make_text_input(div, 'axis index', 12)\r\n mod.stepper_axis_num_in.addEventListener('change', function() {\r\n mod.axis_num = parseInt(mod.stepper_axis_num_in.value)\r\n })\r\n // steps per mm\r\n mod.steps_per_mm_in = make_text_input(div, 'steps per mm', 12)\r\n mod.steps_per_mm_in.addEventListener('change', function() {\r\n mod.covert = parseFloat(mod.steps_per_mm_in.value)\r\n })\r\n // reverse?\r\n mod.reverseCheck = make_checkbox_input(div, 'reversed')\r\n //\r\n // request to do the business\r\n //\r\n mod.send_button = make_button_input(div, 'send')\r\n mod.send_button.addEventListener('click', function() {\r\n shipIt()\r\n })\r\n }\r\n\r\n function cartesianDistance(p1, p2) {\r\n // takes p1, p2 to be arrays of same length\r\n // computes cartesian distance\r\n var sum = 0\r\n for (var i = 0; i < p1.length; i++) {\r\n sum += Math.pow((p1[i] - p2[i]), 2)\r\n }\r\n return Math.sqrt(sum)\r\n }\r\n\r\n function cartesianLength(v) {\r\n // length of vector\r\n var sum = 0\r\n for (var i = 0; i < v.length; i++) {\r\n sum += Math.pow(v[i], 2)\r\n }\r\n return Math.sqrt(sum)\r\n }\r\n\r\n function addMatrix(a, b, c) {\r\n // c = a + b\r\n a.forEach(function(item, index) {\r\n c[index] = b[index] + a[index]\r\n })\r\n }\r\n\r\n function subtractMatrix(a, b, c) {\r\n // c = a - b\r\n b.forEach(function(item, index) {\r\n c[index] = a[index] - b[index]\r\n })\r\n }\r\n\r\n function multiplyMatrix(a, scalar, b) {\r\n // b = a * scalar\r\n a.forEach(function(item, index) {\r\n b[index] = a[index] * scalar\r\n })\r\n }\r\n\r\n function multiply2dMatrix(a, scalar, b) {\r\n // b = a * scalar\r\n for (var i = 0; i < a.length; i++) {\r\n for (var j = 0; j < a[i].length; j++) {\r\n b[i][j] = a[i][j] * scalar;\r\n }\r\n }\r\n }\r\n\r\n function divideMatrix(a, scalar, b) {\r\n // b = a / scalar\r\n for (var i = 0; i < a.length; i++) {\r\n b[i] = a[i] / scalar\r\n }\r\n }\r\n\r\n function unitVector(p1, p2) {\r\n // returns new array, is unit vector of p2-p1\r\n var unit = new Array()\r\n subtractMatrix(p2, p1, unit)\r\n var length = cartesianLength(unit)\r\n divideMatrix(unit, length, unit)\r\n\r\n return unit\r\n }\r\n\r\n function dotProduct(a, b) {\r\n // returns a dot b\r\n var sum = 0;\r\n for (var i = 0; i < a.length; i++) {\r\n sum += a[i] * b[i]\r\n }\r\n\r\n return sum\r\n }\r\n\r\n function toFixedMatrix(a, digits) {\r\n var rounded = new Array()\r\n for (var i = 0; i < a.length; i++) {\r\n rounded[i] = a[i].toFixed(digits)\r\n }\r\n\r\n return rounded\r\n }\r\n\r\n /*\r\n now:\r\n\r\n start from segment and find a corner\r\n do planner\r\n\r\n */\r\n\r\n //\r\n // local functions\r\n //\r\n\r\n function onAcknowledgement(packet){\r\n if(packet[0] == 132){\r\n // wait move\r\n var ack = {}\r\n ack.axis = mod.axis_num\r\n ack.type = 'wait acknowledgement'\r\n outputs.acknowledgement.event(ack)\r\n } else if (packet[0] == 131){\r\n var ack = {}\r\n ack.axis = mod.axis_num \r\n ack.type = 'move acknowledgement'\r\n var steps = unpack32(packet, 1)\r\n ack.increment = steps / mod.convert\r\n outputs.acknowledgement.event(ack)\r\n } else {\r\n console.log('nonrecognized ack to stepper')\r\n }\r\n // check if was wait / was move, send response accordingly \r\n }\r\n\r\n function shipIt() {\r\n // sends integer values, I think we maintain positioning because we round before subtracting\r\n\r\n var trapezoid = calculateTrapezoid(mod.axis_num)\r\n if (trapezoid.length == 0) {\r\n var ok = 0\r\n var i = 0\r\n var waitTrap\r\n while (!ok && i < mod.block.p1.length) {\r\n waitTrap = calculateTrapezoid(i)\r\n if (waitTrap.delta != 0) {\r\n ok = 1\r\n } else {\r\n i++\r\n }\r\n }\r\n if (ok) {\r\n sendWait(waitTrap)\r\n } else {\r\n console.log('step zero packet, but no axis of nonzero length found', JSON.parse(JSON.stringify(mod.block)))\r\n }\r\n } else {\r\n sendTrapezoid(trapezoid)\r\n }\r\n }\r\n\r\n function calculateTrapezoid(axis) {\r\n // packet (per stepper block)\r\n // steps, entry, accel, accelLength, deccelLength\r\n // first we fill this with all of the info we'll use to calculated\r\n // the trapezoid in planner-space units, then we convert to steps last\r\n var trap = {}\r\n\r\n // lengths and positions for the move\r\n trap.x1 = mod.block.p1[axis]\r\n trap.x2 = mod.block.p2[axis]\r\n trap.delta = trap.x2 - trap.x1\r\n trap.length = Math.abs(trap.delta)\r\n\r\n // rates for the move\r\n var unit = unitVector(mod.block.p1, mod.block.p2)\r\n var relativeRate = Math.abs(unit[axis])\r\n trap.entry = mod.block.entry * relativeRate\r\n trap.accel = mod.block.accel * relativeRate\r\n trap.cruise = mod.block.cruise * relativeRate\r\n trap.exit = mod.block.exit * relativeRate\r\n\r\n // now accelLength and deccelLength\r\n // using the maximum deltaV for the move,\r\n // we'll figure out what type of move we have\r\n var maxExit = Math.sqrt(trap.entry * trap.entry + 2 * trap.accel * trap.length)\r\n var maxEntry = Math.sqrt(trap.exit * trap.entry + 2 * trap.accel * trap.length)\r\n\r\n // there are 7 possible profiles\r\n if (trap.length <= 0) {\r\n // console.log('zero length trap')\r\n } else if (maxExit <= trap.exit) {\r\n // full ramp-up: have to push iiit to get there\r\n //console.log('full rampup')\r\n trap.ramptype = 'rampup'\r\n trap.accelLength = trap.length\r\n trap.deccelLength = trap.length + mod.convert // never decel\r\n // for the wait function\r\n trap.vAvg = (trap.entry + trap.exit) / 2\r\n } else if (maxEntry <= trap.entry) {\r\n // full ramp-down: have to deccel all the way with this rate\r\n //console.log('full rampdown')\r\n trap.ramptype = 'rampdown'\r\n trap.deccelLength = 0 // start immmeeeeediately\r\n trap.accelLength = 0 // never accel\r\n // for the wait\r\n trap.vAvg = (trap.entry + trap.exit) / 2\r\n } else if (trap.cruise == trap.entry && trap.cruise == trap.exit) {\r\n // str8 relaxin, no maxin\r\n //console.log('full cruise')\r\n trap.ramptype = 'cruise'\r\n trap.accelLength = 0 // never accel\r\n trap.deccelLength = trap.length + mod.convert // never decel\r\n // wait\r\n trap.vAvg = trap.cruise\r\n } else if (trap.cruise == trap.entry) {\r\n // cruise, then deccel\r\n //console.log('cruise then deccel')\r\n // for how long do we have to decel? we have to have deltaV for\r\n trap.ramptype = 'cruiseDeccel'\r\n var deccelDistance = (trap.cruise * trap.cruise - trap.exit * trap.exit) / (2 * trap.accel)\r\n trap.deccelLength = trap.length - deccelDistance\r\n trap.accelLength = 0; // never accel\r\n // we really want speed by multiple times, and total distance we know, for vAvg\r\n var tSum = (trap.cruise - trap.exit) / trap.accel + trap.deccelLength / trap.cruise\r\n trap.vAvg = trap.length / tSum\r\n } else if (trap.cruise == trap.exit) {\r\n // accel, cruise? unless entry also cruise?\r\n //console.log('accel then cruise')\r\n trap.ramptype = 'cruiseAccel'\r\n trap.accelLength = (trap.cruise * trap.cruise - trap.entry * trap.entry) / (2 * trap.accel)\r\n trap.deccelLength = trap.length + 1; // and never deccel\r\n // wait \r\n var tSum = (trap.cruise - trap.entry) / trap.accel + (trap.delta - trap.accellength) / trap.cruise\r\n trap.vAvg = trap.length / tSum\r\n } else {\r\n // it's either a full trap, or a triangle\r\n var accelDistance = (trap.cruise * trap.cruise - trap.entry * trap.entry) / (2 * trap.accel)\r\n var deccelDistance = (trap.cruise * trap.cruise - trap.exit * trap.exit) / (2 * trap.accel)\r\n if ((accelDistance + deccelDistance) < trap.length) {\r\n //console.log('full trap')\r\n trap.ramptype = 'fullTrap'\r\n trap.accelLength = accelDistance\r\n trap.deccelLength = trap.length - deccelDistance\r\n // wait \r\n var tSum = (trap.cruise - trap.entry) / trap.accel + (trap.deccelLength - trap.accellength) / trap.cruise + (trap.cruise - trap.exit) / trap.accel\r\n trap.vAvg = trap.length / tSum\r\n } else {\r\n //console.log('triangle')\r\n trap.ramptype = 'triangle'\r\n // find intersection point\r\n var vPeak = Math.sqrt((2 * trap.accel * trap.length + Math.pow(trap.entry, 2) + Math.pow(trap.exit, 2)) / 2)\r\n //console.log('entry, peak, exit', trap.entry, vPeak, trap.exit)\r\n var midPoint = (vPeak * vPeak - trap.entry * trap.entry) / (2 * trap.accel)\r\n trap.accelLength = midPoint\r\n trap.deccelLength = midPoint\r\n var tSum = (vPeak - trap.entry) / trap.accel + (vPeak - trap.exit) / trap.accel\r\n trap.vAvg = trap.length / tSum\r\n }\r\n }\r\n\r\n return trap\r\n }\r\n\r\n function sendTrapezoid(trap) {\r\n //console.log('trapezoid', trapezoid)\r\n var stepwiseTrap = trapezoidToStepwise(trap);\r\n\r\n var packet = new Array();\r\n // first, the packet header: the route, ptr and end_addr delimiter\r\n // #define APA_END_ROUTE_DELIMITER 255\r\n // #define APA_ROUTE_POINTER 254\r\n // #define DELIM_KEY_TRAPEZOID 131 // is 32 bit int\r\n // #define DELIM_KEY_WAIT 132\r\n packet.push(131)\r\n // now we pack these values into UART-readable bytes\r\n // int32_t steps, uint32_t entryspeed, accel, accellength, decellength\r\n var steps;\r\n if(mod.reverseCheck.checked){\r\n steps = -stepwiseTrap.steps\r\n } else {\r\n steps = stepwiseTrap.steps\r\n }\r\n packet = packet.concat(pack32(steps))\r\n packet = packet.concat(pack32(stepwiseTrap.entry))\r\n packet = packet.concat(pack32(stepwiseTrap.accel))\r\n packet = packet.concat(pack32(stepwiseTrap.accelLength))\r\n packet = packet.concat(pack32(stepwiseTrap.deccelLength))\r\n // log this if you wish\r\n //console.log('packet from stepper', packet)\r\n // send it along!\r\n mods.output(mod, 'packet', packet)\r\n }\r\n\r\n function sendWait(trap) {\r\n var stepwiseTrap = trapezoidToStepwise(trap);\r\n var packet = new Array();\r\n // #define DELIM_KEY_WAIT 132\r\n packet.push(132)\r\n // now we pack these values into C-readable bytes\r\n // int32_t steps, uint32_t entryspeed, accel, accellength, decellength\r\n packet = packet.concat(pack32(stepwiseTrap.steps))\r\n packet = packet.concat(pack32(stepwiseTrap.entry))\r\n packet = packet.concat(pack32(stepwiseTrap.accel))\r\n packet = packet.concat(pack32(stepwiseTrap.accelLength))\r\n packet = packet.concat(pack32(stepwiseTrap.deccelLength))\r\n // send it along!\r\n //console.log('wait packet', packet)\r\n mods.output(mod, 'packet', packet)\r\n }\r\n\r\n function trapezoidToStepwise(trap) {\r\n var stepwise = {}\r\n // planner units -> steps\r\n stepwise.steps = Math.round(trap.delta * mod.convert)\r\n // planner units -> steps/min (for less integer error)\r\n stepwise.entry = Math.round(trap.entry * mod.convert)\r\n // planner units -> steps/min/s (a messed up unit, I know)\r\n stepwise.accel = Math.round(trap.accel * mod.convert)\r\n // planner units -> steps\r\n stepwise.accelLength = Math.round(trap.accelLength * mod.convert)\r\n stepwise.deccelLength = Math.round(trap.deccelLength * mod.convert)\r\n\r\n return stepwise\r\n }\r\n\r\n function trapezoidToStepWait(trap) {\r\n var stepWait = {}\r\n // planner units -> steps\r\n stepWait.steps = Math.round(trap.length * mod.convert)\r\n //\r\n stepWait.vAvg = Math.round(trap.vAvg * mod.convert)\r\n if(isNaN(stepWait.vAvg)){\r\n console.log('err on vAvg maths in stepper')\r\n stepWait.vAvg = 1000\r\n }\r\n\r\n return stepWait\r\n }\r\n\r\n function pack32(val) {\r\n var pack = new Array();\r\n pack[0] = (val >> 24) & 255;\r\n pack[1] = (val >> 16) & 255;\r\n pack[2] = (val >> 8) & 255;\r\n pack[3] = val & 255;\r\n\r\n return pack;\r\n }\r\n\r\n function unpack32(array, start){\r\n var unpack = array[start] << 24 | array[start + 1] << 16 | array[start + 2] << 8 | array[start + 3]\r\n return unpack\r\n }\r\n\r\n\r\n /*\r\n UI helpers\r\n */\r\n function make_text_input(div, name, size) {\r\n div.appendChild(document.createElement('br'))\r\n div.appendChild(document.createTextNode(name + ': '))\r\n var input = document.createElement('input')\r\n input.type = 'text'\r\n input.size = size\r\n div.appendChild(input)\r\n\r\n return input\r\n }\r\n\r\n function make_button_input(div, text) {\r\n div.appendChild(document.createElement('br'))\r\n var button = document.createElement('button')\r\n button.style.padding = mods.ui.padding\r\n button.style.margin = 1\r\n button.appendChild(document.createTextNode(text))\r\n div.appendChild(button)\r\n\r\n return button\r\n }\r\n\r\n function make_checkbox_input(div, prefix) {\r\n div.appendChild(document.createElement('br'))\r\n div.appendChild(document.createTextNode(prefix + ': '))\r\n var checkbox = document.createElement('input')\r\n checkbox.type = 'checkbox'\r\n div.appendChild(checkbox)\r\n\r\n return checkbox\r\n }\r\n\r\n function make_text_display(div, prefix) {\r\n div.appendChild(document.createElement('br'))\r\n div.appendChild(document.createTextNode(prefix + ': '))\r\n var span = document.createElement('span')\r\n span.innerHTML = ''\r\n div.appendChild(span)\r\n\r\n return span\r\n }\r\n\r\n\r\n //\r\n // return values\r\n //\r\n return ({\r\n mod: mod,\r\n name: name,\r\n init: init,\r\n inputs: inputs,\r\n outputs: outputs,\r\n interface: interface\r\n })\r\n}())","top":"685.457339396226","left":"2277.229269245127","inputs":{},"outputs":{}},"0.8759207754144251":{"definition":"//\r\n// gets lines of gcode, turns into instructions for mods-machines\r\n//\r\n// Neil Gershenfeld and Jake Read\r\n// (c) Massachusetts Institute of Technology 2018\r\n// \r\n// This work may be reproduced, modified, distributed, performed, and \r\n// displayed for any purpose, but must acknowledge the mods\r\n// project. Copyright is retained and must be preserved. The work is \r\n// provided as is; no warranty is provided, and users accept all \r\n// liability.\r\n\r\n/*\r\nturns lines of text into objects for machine controller \r\n*/\r\n\r\n//\r\n// closure\r\n//\r\n(function() {\r\n //\r\n // module globals\r\n //\r\n var mod = {}\r\n //\r\n // name\r\n //\r\n var name = 'gcode parser'\r\n //\r\n // initialization\r\n //\r\n var init = function() {\r\n mod.g0SpeedIn.value = '100'\r\n mod.g1SpeedIn.value = '400'\r\n mod.codeMode.value = 'G0'\r\n }\r\n //\r\n // inputs\r\n //\r\n var inputs = {\r\n gcode: {\r\n type: 'string',\r\n label: 'gcode',\r\n event: function(evt) {\r\n parseGCode(evt.detail)\r\n }\r\n }\r\n }\r\n //\r\n // outputs\r\n //\r\n var outputs = {\r\n instruction: {\r\n type: 'object',\r\n label: 'instruction',\r\n event: function(obj) {\r\n mods.output(mod, 'instruction', obj)\r\n }\r\n }\r\n }\r\n //\r\n // interface\r\n //\r\n var interface = function(div) {\r\n mod.div = div\r\n //\r\n // inputs\r\n //\r\n // we're going to convert all of these DPIs to MMs because we live in the real world now\r\n mod.g0SpeedIn = make_text_input(div, 'G0 speed, gcode units', 12)\r\n mod.g1SpeedIn = make_text_input(div, 'G1 speed, gcode units', 12)\r\n mod.codeMode = make_text_input(div, 'Modality', 12)\r\n }\r\n\r\n function parseGCode(str) {\r\n // get letter-value pairs\r\n var keyvals = getKeyValues(str)\r\n // do modality\r\n // check this for no-g moves?\r\n if (keyvals.G == 0 | keyvals.G == 1) {\r\n mod.codeMode.value = 'G' + keyvals.G.toString()\r\n } else if (keyvals.M != null) {\r\n mod.codeMode.value = 'M' + keyvals.M.toString()\r\n }\r\n // do parse and object \r\n if (mod.codeMode.value == 'G0' | mod.codeMode.value == 'G1') {\r\n\r\n var output = {\r\n type: 'move',\r\n position: {},\r\n speed: 0\r\n }\r\n // loop to find position vals, check for feed update\r\n for (key in keyvals) {\r\n if (key.match('[A-CX-Z]')) {\r\n output.position[key] = keyvals[key]\r\n } else if (key.match('[F]')){\r\n if(mod.codeMode.value == 'G0'){\r\n // assert minimum speed \r\n mod.g0SpeedIn.value = Math.max(10, keyvals.F)\r\n } else {\r\n mod.g1SpeedIn.value = Math.max(10, keyvals.F)\r\n }\r\n }\r\n }\r\n\r\n if(mod.codeMode.value == 'G0'){\r\n output.speed = parseFloat(mod.g0SpeedIn.value)\r\n } else {\r\n output.speed = parseFloat(mod.g1SpeedIn.value)\r\n }\r\n\r\n outputs.instruction.event(output)\r\n } else if (mod.codeMode.value == 'M3'){\r\n var output = {\r\n type: 'spindle',\r\n speed: 0\r\n }\r\n if(keyvals.S != null){\r\n output.speed = keyvals.S\r\n outputs.instruction.event(output)\r\n } else {\r\n console.log('need S parameter on spindle instruction')\r\n }\r\n } else if (mod.codeMode.value == 'M5'){\r\n var output = {\r\n type: 'spindle',\r\n speed: 0\r\n }\r\n output.instruction.event(output)\r\n } else {\r\n console.log('gcode instruction not recognized')\r\n }\r\n }\r\n\r\n function getKeyValues(str) {\r\n var kv = {}\r\n for (var i = 0; i < str.length; i++) {\r\n if (str[i].match('[A-Za-z]')) { // regex to match upper case letters\r\n var lastIndex = str.indexOf(' ', i)\r\n if (lastIndex < 0) {\r\n lastIndex = str.length\r\n }\r\n var key = str[i].toUpperCase()\r\n kv[key] = parseFloat(str.slice(i + 1, lastIndex))\r\n }\r\n }\r\n return kv\r\n }\r\n\r\n\r\n /*\r\n UI helpers\r\n */\r\n function make_text_input(div, name, size) {\r\n div.appendChild(document.createElement('br'))\r\n div.appendChild(document.createTextNode(name + ': '))\r\n var input = document.createElement('input')\r\n input.type = 'text'\r\n input.size = size\r\n div.appendChild(input)\r\n\r\n return input\r\n }\r\n\r\n function make_button_input(div, text) {\r\n div.appendChild(document.createElement('br'))\r\n var button = document.createElement('button')\r\n button.style.padding = mods.ui.padding\r\n button.style.margin = 1\r\n button.appendChild(document.createTextNode(text))\r\n div.appendChild(button)\r\n\r\n return button\r\n }\r\n\r\n function make_checkbox_input(div, prefix) {\r\n div.appendChild(document.createElement('br'))\r\n div.appendChild(document.createTextNode(prefix + ': '))\r\n var checkbox = document.createElement('input')\r\n checkbox.type = 'checkbox'\r\n div.appendChild(checkbox)\r\n\r\n return checkbox\r\n }\r\n\r\n function make_text_display(div, prefix) {\r\n div.appendChild(document.createElement('br'))\r\n div.appendChild(document.createTextNode(prefix + ': '))\r\n var span = document.createElement('span')\r\n span.innerHTML = ''\r\n div.appendChild(span)\r\n\r\n return span\r\n }\r\n\r\n\r\n //\r\n // return values\r\n //\r\n return ({\r\n mod: mod,\r\n name: name,\r\n init: init,\r\n inputs: inputs,\r\n outputs: outputs,\r\n interface: interface\r\n })\r\n}())","top":"728.5668576736316","left":"1021.7953606756222","inputs":{},"outputs":{}},"0.8045719666145382":{"definition":"//\r\n// generic line input\r\n//\r\n// Neil Gershenfeld and Jake Read\r\n// (c) Massachusetts Institute of Technology 2018\r\n// \r\n// This work may be reproduced, modified, distributed, performed, and \r\n// displayed for any purpose, but must acknowledge the mods\r\n// project. Copyright is retained and must be preserved. The work is \r\n// provided as is; no warranty is provided, and users accept all \r\n// liability.\r\n//\r\n// closure\r\n//\r\n(function() {\r\n //\r\n // module globals\r\n //\r\n var mod = {}\r\n //\r\n // name\r\n //\r\n var name = 'text lines input'\r\n //\r\n // initialization\r\n //\r\n var init = function() {\r\n mod.textAreaIn.value =\r\n \" G1 X0 Y0 F1400\\n\\\r\nZ16\\n\\\r\nZ5.5\\n\\\r\nG1 Z0.5\\n\\\r\nX100\\n\\\r\nY100\\n\\\r\nX3.536\\n\\\r\nY30\\n\\\r\nX7.071 Y26.465\\n\\\r\nX0 Y19.393\\n\\\r\nX7.071 Y12.322\\n\\\r\nX0 Y5.251\\n\\\r\nX95\\n\\\r\nY95\\n\\\r\nX8.536\\n\\\r\nY90\\n\\\r\nX90\\n\\\r\nY10.251\\n\\\r\nX13.535\\n\\\r\nY50.251\\n\\\r\nX14.243 Y50.958\\n\\\r\nX12.828 Y52.373\\n\\\r\nX14.243 Y53.787\\n\\\r\nX12.828 Y55.201\\n\\\r\nX14.243 Y56.615\\n\\\r\nX12.828 Y58.029\\n\\\r\nX14.243 Y59.444\\n\\\r\nX12.828 Y60.858\\n\\\r\nX14.243 Y62.272\\n\\\r\nX12.828 Y63.686\\n\\\r\nX14.243 Y65.101\\n\\\r\nX12.828 Y66.515\\n\\\r\nX14.243 Y67.929\\n\\\r\nX12.828 Y69.343\\n\\\r\nX13.889 Y70.404\\n\\\r\nX13.182 Y71.111\\n\\\r\nX13.889 Y71.818\\n\\\r\nX13.182 Y72.525\\n\\\r\nX13.889 Y73.232\\n\\\r\nX13.182 Y73.939\\n\\\r\nX13.889 Y74.646\\n\\\r\nX13.182 Y75.354\\n\\\r\nX13.889 Y76.061\\n\\\r\nX13.182 Y76.768\\n\\\r\nX13.889 Y77.475\\n\\\r\nX13.182 Y78.182\\n\\\r\nX13.889 Y78.889\\n\\\r\nX14.243 Y50.958\\n\\\r\nX12.828 Y52.373\\n\\\r\nX14.243 Y53.787\\n\\\r\nX12.828 Y55.201\\n\\\r\nX14.243 Y56.615\\n\\\r\nX12.828 Y58.029\\n\\\r\nX14.243 Y59.444\\n\\\r\nX12.828 Y60.858\\n\\\r\nX14.243 Y62.272\\n\\\r\nX12.828 Y63.686\\n\\\r\nX14.243 Y65.101\\n\\\r\nX12.828 Y66.515\\n\\\r\nX14.243 Y67.929\\n\\\r\nX12.828 Y69.343\\n\\\r\nX13.889 Y70.404\\n\\\r\nX13.182 Y71.111\\n\\\r\nX13.889 Y71.818\\n\\\r\nX13.182 Y72.525\\n\\\r\nX13.889 Y73.232\\n\\\r\nX13.182 Y73.939\\n\\\r\nX13.889 Y74.646\\n\\\r\nX13.182 Y75.354\\n\\\r\nX13.889 Y76.061\\n\\\r\nX13.182 Y76.768\\n\\\r\nX13.889 Y77.475\\n\\\r\nX13.182 Y78.182\\n\\\r\nX13.889 Y78.889\\n\\\r\nY85\\n\\\r\nX80\\n\\\r\nY84.5\\n\\\r\nX23.889\\n\\\r\nY20.251\\n\\\r\nZ5.5\\n\\\r\nG1 Z16\\n\\\r\nX0 Y0\\n\\ \"\r\n\r\n linesToArray()\r\n\r\n mod.lineCountDisplay.innerHTML = '0'\r\n\r\n }\r\n //\r\n // inputs\r\n //\r\n var inputs = {\r\n lineRequest: {\r\n type: 'number',\r\n label: 'line request',\r\n event: function(evt) {\r\n sendLine(evt.detail)\r\n }\r\n }\r\n }\r\n //\r\n // outputs\r\n //\r\n var outputs = {\r\n line: {\r\n type: 'string',\r\n label: 'line',\r\n event: function(str) {\r\n mods.output(mod, 'line', str)\r\n }\r\n }\r\n }\r\n //\r\n // interface\r\n //\r\n var interface = function(div) {\r\n mod.div = div\r\n //\r\n // inputs\r\n //\r\n mod.lineCountDisplay = make_text_display(div, 'current line')\r\n mod.resetCurrentLine = make_button_input(div, 'reset lines')\r\n mod.resetCurrentLine.addEventListener('click', function(){\r\n mod.lineCountDisplay.innerHTML = '0'\r\n currentLine = 0\r\n })\r\n mod.textAreaIn = makeTextArea(div, 'lines', 24, 48)\r\n }\r\n\r\n var currentLine = 0\r\n var linesArray = []\r\n\r\n function linesToArray() {\r\n linesArray = mod.textAreaIn.value.split('\\n')\r\n }\r\n\r\n function sendLine() {\r\n var lineOut = linesArray[currentLine]\r\n currentLine++\r\n if (currentLine > linesArray.length) {\r\n currentLine = linesArray.length\r\n } else {\r\n outputs.line.event(lineOut)\r\n }\r\n\r\n mod.lineCountDisplay.innerHTML = currentLine.toString()\r\n }\r\n\r\n\r\n /*\r\n UI helpers\r\n */\r\n function make_text_input(div, name, size) {\r\n div.appendChild(document.createElement('br'))\r\n div.appendChild(document.createTextNode(name + ': '))\r\n var input = document.createElement('input')\r\n input.type = 'text'\r\n input.size = size\r\n div.appendChild(input)\r\n\r\n return input\r\n }\r\n\r\n function makeTextArea(div, name, width, height) {\r\n div.appendChild(document.createElement('br'))\r\n div.appendChild(document.createTextNode(name + ': '))\r\n div.appendChild(document.createElement('br'))\r\n var textArea = document.createElement('textarea')\r\n textArea.setAttribute('cols', width)\r\n textArea.setAttribute('rows', height)\r\n textArea.type = 'textarea'\r\n div.appendChild(textArea)\r\n\r\n return textArea\r\n }\r\n\r\n function make_button_input(div, text) {\r\n div.appendChild(document.createElement('br'))\r\n var button = document.createElement('button')\r\n button.style.padding = mods.ui.padding\r\n button.style.margin = 1\r\n button.appendChild(document.createTextNode(text))\r\n div.appendChild(button)\r\n\r\n return button\r\n }\r\n\r\n function make_checkbox_input(div, prefix) {\r\n div.appendChild(document.createElement('br'))\r\n div.appendChild(document.createTextNode(prefix + ': '))\r\n var checkbox = document.createElement('input')\r\n checkbox.type = 'checkbox'\r\n div.appendChild(checkbox)\r\n\r\n return checkbox\r\n }\r\n\r\n function make_text_display(div, prefix) {\r\n div.appendChild(document.createElement('br'))\r\n div.appendChild(document.createTextNode(prefix + ': '))\r\n var span = document.createElement('span')\r\n span.innerHTML = ''\r\n div.appendChild(span)\r\n\r\n return span\r\n }\r\n\r\n\r\n //\r\n // return values\r\n //\r\n return ({\r\n mod: mod,\r\n name: name,\r\n init: init,\r\n inputs: inputs,\r\n outputs: outputs,\r\n interface: interface\r\n })\r\n}())","top":"593.4224085291635","left":"623.1192356994413","inputs":{},"outputs":{}},"0.5272929058286329":{"definition":"//\r\n// gets lines of gcode, turns into instructions for mods-machines\r\n//\r\n// Neil Gershenfeld and Jake Read\r\n// (c) Massachusetts Institute of Technology 2018\r\n// \r\n// This work may be reproduced, modified, distributed, performed, and \r\n// displayed for any purpose, but must acknowledge the mods\r\n// project. Copyright is retained and must be preserved. The work is \r\n// provided as is; no warranty is provided, and users accept all \r\n// liability.\r\n\r\n/*\r\nstart / stop machine on given path, \r\nmanually turn spindle on / off etc\r\ndishes gcodes -> planner, spindle codes -> spindle \r\n*/\r\n\r\n//\r\n// closure\r\n//\r\n(function() {\r\n //\r\n // module globals\r\n //\r\n var mod = {}\r\n //\r\n // name\r\n //\r\n var name = 'machine controller'\r\n //\r\n // initialization\r\n //\r\n var init = function() {\r\n mod.jogStepSizeIn.value = '10'\r\n mod.jogSpeedIn.value = '100'\r\n }\r\n //\r\n // inputs\r\n //\r\n var inputs = {\r\n lineComplete: {\r\n type: 'event',\r\n label: 'line complete',\r\n event: function(evt) {\r\n onLineComplete()\r\n }\r\n }\r\n }\r\n //\r\n // outputs\r\n //\r\n var outputs = {\r\n singleInstruction: {\r\n type: 'object',\r\n label: 'instruction',\r\n event: function(obj) {\r\n mods.output(mod, 'singleInstruction', obj)\r\n }\r\n },\r\n lineAdvance: {\r\n type: 'event',\r\n label: 'line advance',\r\n event: function() {\r\n mods.output(mod, 'lineAdvance', true)\r\n }\r\n },\r\n sequenceControl: {\r\n type: 'integer',\r\n label: 'sequence control',\r\n event: function(int){\r\n mods.output(mod, 'sequenceControl', int)\r\n }\r\n }\r\n }\r\n //\r\n // interface\r\n //\r\n var interface = function(div) {\r\n mod.div = div\r\n //\r\n // inputs\r\n //\r\n\r\n // control buttons\r\n\r\n mod.jogStepSizeIn = make_text_input(div, 'jog increment size', 24)\r\n mod.jogSpeedIn = make_text_input(div, 'jog speed', 24)\r\n\r\n mod.jogXPButton = make_button_input(div, 'x+')\r\n mod.jogXPButton.addEventListener('click', function(evt) {\r\n jog('X', parseFloat(mod.jogStepSizeIn.value))\r\n })\r\n\r\n mod.jogXMButton = make_button_input(div, 'x-')\r\n mod.jogXMButton.addEventListener('click', function(evt) {\r\n jog('X', -parseFloat(mod.jogStepSizeIn.value))\r\n })\r\n\r\n mod.jogYPButton = make_button_input(div, 'y+')\r\n mod.jogYPButton.addEventListener('click', function(evt) {\r\n jog('Y', parseFloat(mod.jogStepSizeIn.value))\r\n })\r\n\r\n mod.jogYMButton = make_button_input(div, 'y-')\r\n mod.jogYMButton.addEventListener('click', function(evt) {\r\n jog('Y', -parseFloat(mod.jogStepSizeIn.value))\r\n })\r\n\r\n // sequence begin, stop \r\n\r\n mod.startSequenceButton = make_button_input(div, 'start sequence')\r\n mod.startSequenceButton.addEventListener('click', function(evt) {\r\n startSequence(32)\r\n })\r\n\r\n mod.pauseSequenceButton = make_button_input(div, 'pause sequence')\r\n mod.pauseSequenceButton.addEventListener('click', function(evt){\r\n pauseSequence()\r\n })\r\n }\r\n\r\n mod.isPaused = true\r\n\r\n function startSequence(windowsize) {\r\n outputs.sequenceControl.event(0)\r\n for(var i = 0; i < windowsize; i ++){\r\n outputs.lineAdvance.event()\r\n }\r\n mod.isPaused = false\r\n outputs.sequenceControl.event(1)\r\n }\r\n\r\n function pauseSequence(){\r\n outputs.sequenceControl.event(0)\r\n mod.isPaused = true\r\n }\r\n\r\n function onLineComplete() {\r\n if(mod.isPaused){\r\n //\r\n } else {\r\n outputs.lineAdvance.event()\r\n }\r\n }\r\n\r\n function jog(key, val) {\r\n var instruction = {}\r\n instruction.position = {}\r\n instruction.position[key] = val\r\n instruction.speed = mod.jogSpeedIn.value\r\n instruction.type = 'move'\r\n\r\n outputs.singleInstruction.event(instruction)\r\n outputs.sequenceControl.event(1)\r\n }\r\n\r\n\r\n /*\r\n UI helpers\r\n */\r\n function make_text_input(div, name, size) {\r\n div.appendChild(document.createElement('br'))\r\n div.appendChild(document.createTextNode(name + ': '))\r\n var input = document.createElement('input')\r\n input.type = 'text'\r\n input.size = size\r\n div.appendChild(input)\r\n\r\n return input\r\n }\r\n\r\n function make_button_input(div, text) {\r\n div.appendChild(document.createElement('br'))\r\n var button = document.createElement('button')\r\n button.style.padding = mods.ui.padding\r\n button.style.margin = 1\r\n button.appendChild(document.createTextNode(text))\r\n div.appendChild(button)\r\n\r\n return button\r\n }\r\n\r\n function make_checkbox_input(div, prefix) {\r\n div.appendChild(document.createElement('br'))\r\n div.appendChild(document.createTextNode(prefix + ': '))\r\n var checkbox = document.createElement('input')\r\n checkbox.type = 'checkbox'\r\n div.appendChild(checkbox)\r\n\r\n return checkbox\r\n }\r\n\r\n function make_text_display(div, prefix) {\r\n div.appendChild(document.createElement('br'))\r\n div.appendChild(document.createTextNode(prefix + ': '))\r\n var span = document.createElement('span')\r\n span.innerHTML = ''\r\n div.appendChild(span)\r\n\r\n return span\r\n }\r\n\r\n\r\n //\r\n // return values\r\n //\r\n return ({\r\n mod: mod,\r\n name: name,\r\n init: init,\r\n inputs: inputs,\r\n outputs: outputs,\r\n interface: interface\r\n })\r\n}())","top":"90.92248708376349","left":"189.16454586981752","inputs":{},"outputs":{}},"0.703922408155101":{"definition":"//\r\n// hardware reset command\r\n//\r\n// Neil Gershenfeld and Jake Read\r\n// (c) Massachusetts Institute of Technology 2018\r\n// \r\n// This work may be reproduced, modified, distributed, performed, and \r\n// displayed for any purpose, but must acknowledge the mods\r\n// project. Copyright is retained and must be preserved. The work is \r\n// provided as is; no warranty is provided, and users accept all \r\n// liability.\r\n//\r\n// closure\r\n//\r\n(function() {\r\n // globals\r\n var mod = {}\r\n\r\n // name\r\n var name = 'reset'\r\n\r\n var init = function() {\r\n // \r\n }\r\n\r\n var inputs = {\r\n //\r\n }\r\n\r\n var outputs = {\r\n reset: {\r\n type: 'packet',\r\n label: 'headless packet out',\r\n event: function() {\r\n var reset = [128]\r\n mods.output(mod, 'reset', reset)\r\n }\r\n }\r\n }\r\n\r\n var interface = function(div) {\r\n mod.div = div\r\n\r\n mod.resetButton = make_button_input(div, 'send')\r\n mod.resetButton.addEventListener('click', function() {\r\n outputs.reset.event()\r\n })\r\n }\r\n\r\n\r\n /*\r\n UI helpers\r\n */\r\n function make_text_input(div, name, size) {\r\n div.appendChild(document.createElement('br'))\r\n div.appendChild(document.createTextNode(name + ': '))\r\n var input = document.createElement('input')\r\n input.type = 'text'\r\n input.size = size\r\n div.appendChild(input)\r\n\r\n return input\r\n }\r\n\r\n function make_button_input(div, text) {\r\n div.appendChild(document.createElement('br'))\r\n var button = document.createElement('button')\r\n button.style.padding = mods.ui.padding\r\n button.style.margin = 1\r\n button.appendChild(document.createTextNode(text))\r\n div.appendChild(button)\r\n\r\n return button\r\n }\r\n\r\n function make_checkbox_input(div, prefix) {\r\n div.appendChild(document.createElement('br'))\r\n div.appendChild(document.createTextNode(prefix + ': '))\r\n var checkbox = document.createElement('input')\r\n checkbox.type = 'checkbox'\r\n div.appendChild(checkbox)\r\n\r\n return checkbox\r\n }\r\n\r\n function make_text_display(div, prefix) {\r\n div.appendChild(document.createElement('br'))\r\n div.appendChild(document.createTextNode(prefix + ': '))\r\n var span = document.createElement('span')\r\n span.innerHTML = ''\r\n div.appendChild(span)\r\n\r\n return span\r\n }\r\n\r\n return ({\r\n mod: mod,\r\n name: name,\r\n init: init,\r\n inputs: inputs,\r\n outputs: outputs,\r\n interface: interface\r\n })\r\n}())","top":"1287.3513686208905","left":"1522.5146163285583","inputs":{},"outputs":{}},"0.026532783100594037":{"definition":"//\r\n// event sniffer\r\n//\r\n// Neil Gershenfeld and Jake Read\r\n// (c) Massachusetts Institute of Technology 2018\r\n// \r\n// This work may be reproduced, modified, distributed, performed, and \r\n// displayed for any purpose, but must acknowledge the mods\r\n// project. Copyright is retained and must be preserved. The work is \r\n// provided as is; no warranty is provided, and users accept all \r\n// liability.\r\n//\r\n// closure\r\n//\r\n(function() {\r\n // globals\r\n var mod = {}\r\n\r\n // name\r\n var name = 'event logger'\r\n\r\n var init = function() {\r\n mod.identifier.value = 'logger'\r\n }\r\n\r\n var inputs = {\r\n event: {\r\n type: 'any',\r\n event: function(evt) {\r\n console.log(mod.identifier.value, ': ', JSON.parse(JSON.stringify(evt.detail)))\r\n }\r\n }\r\n }\r\n\r\n var outputs = {}\r\n\r\n var interface = function(div) {\r\n mod.div = div\r\n\r\n mod.identifier = make_text_input(div, 'identifier', 8)\r\n }\r\n\r\n\r\n /*\r\n UI helpers\r\n */\r\n function make_text_input(div, name, size) {\r\n div.appendChild(document.createElement('br'))\r\n div.appendChild(document.createTextNode(name + ': '))\r\n var input = document.createElement('input')\r\n input.type = 'text'\r\n input.size = size\r\n div.appendChild(input)\r\n\r\n return input\r\n }\r\n\r\n function make_button_input(div, text) {\r\n div.appendChild(document.createElement('br'))\r\n var button = document.createElement('button')\r\n button.style.padding = mods.ui.padding\r\n button.style.margin = 1\r\n button.appendChild(document.createTextNode(text))\r\n div.appendChild(button)\r\n\r\n return button\r\n }\r\n\r\n function make_checkbox_input(div, prefix) {\r\n div.appendChild(document.createElement('br'))\r\n div.appendChild(document.createTextNode(prefix + ': '))\r\n var checkbox = document.createElement('input')\r\n checkbox.type = 'checkbox'\r\n div.appendChild(checkbox)\r\n\r\n return checkbox\r\n }\r\n\r\n function make_text_display(div, prefix) {\r\n div.appendChild(document.createElement('br'))\r\n div.appendChild(document.createTextNode(prefix + ': '))\r\n var span = document.createElement('span')\r\n span.innerHTML = ''\r\n div.appendChild(span)\r\n\r\n return span\r\n }\r\n\r\n return ({\r\n mod: mod,\r\n name: name,\r\n init: init,\r\n inputs: inputs,\r\n outputs: outputs,\r\n interface: interface\r\n })\r\n}())","top":"403.34188935905445","left":"2297.9325702195742","inputs":{},"outputs":{}},"0.4995702688008472":{"definition":"//\n// converts toolpath objects into segments for accel planning\n//\n// Neil Gershenfeld and Jake Read\n// (c) Massachusetts Institute of Technology 2018\n//\n// This work may be reproduced, modified, distributed, performed, and\n// displayed for any purpose, but must acknowledge the mods\n// project. Copyright is retained and must be preserved. The work is\n// provided as is; no warranty is provided, and users accept all\n// liability.\n\n\n/*\neats objects like\nvar move = {\n position: {\n X: float\n Y: float\n Z: float\n A: float\n }\n rate: float\n}\n\noutputs:\nmotors\n'planner block consumed' event\n\n\n*/\n\n//\n// closure\n//\n(function() {\n //\n // module globals\n //\n var mod = {}\n //\n // name\n //\n var name = 'motion planner'\n //\n // initialization\n //\n var init = function() {\n mod.accelIn.value = '500'\n mod.junctionDeviationIn.value = '1'\n mod.minSpeedIn.value = '4'\n\n mod.axisIdentifiers.value = 'X,Y'\n resetNetwork()\n\n mod.netWindowIn.value = '12'\n packetWindowSize = parseInt(mod.netWindowIn.value)\n\n mod.queueLengthDisplay.innerHTML = moveQue.length.toString()\n\n mod.netQueueDisplay.innerHTML = axisNetCounters.toString()\n }\n //\n // inputs\n //\n var inputs = {\n newMove: {\n type: 'object',\n label: 'move instruction',\n event: function(evt) {\n addToQueue(JSON.parse(JSON.stringify(evt.detail)))\n }\n },\n acknowledgement: {\n type: 'event',\n label: 'acknowledgement',\n event: function(evt) {\n onAcknowledgement(evt.detail)\n }\n },\n sequenceControl: {\n type: 'integer',\n label: 'sequence control',\n event: function(evt) {\n if (evt.detail == 1) {\n checkNetwork()\n }\n }\n }\n }\n //\n // outputs\n //\n var outputs = {\n plannedMove: {\n type: 'object',\n label: 'move instruction',\n event: function(block) {\n var deref = JSON.parse(JSON.stringify(block))\n mods.output(mod, 'plannedMove', deref)\n }\n },\n moveComplete: {\n type: 'event',\n label: 'move complete',\n event: function(evt) {\n mods.output(mod, 'moveComplete', 1)\n }\n }\n }\n //\n // interface\n //\n var interface = function(div) {\n mod.div = div\n //\n // inputs\n //\n // settings\n make_text_display(div, 'machine config')\n mod.axisIdentifiers = make_text_input(div, 'axis identifiers', 12)\n mod.axisIdentifiers.addEventListener('change', function() {\n resetNetwork()\n })\n div.appendChild(document.createElement('br'))\n\n make_text_display(div, 'planner settings')\n mod.accelIn = make_text_input(div, 'acceleration, units/s/s', 12)\n mod.junctionDeviationIn = make_text_input(div, 'junction deviation, units', 12)\n mod.minSpeedIn = make_text_input(div, 'minimum speed, units/s', 12)\n div.appendChild(document.createElement('br'))\n\n make_text_display(div, 'queuing settings')\n mod.queueLengthDisplay = make_text_display(div, 'instructions in queue')\n mod.resetQueueButton = make_button_input(div, 'reset queue')\n mod.resetQueueButton.addEventListener('click', function() {\n resetQueue()\n })\n div.appendChild(document.createElement('br'))\n\n mod.netWindowIn = make_text_input(div, 'network window size', 12)\n mod.netWindowIn.addEventListener('change', function() {\n packetWindowSize = parseInt(mod.netWindowIn.value)\n })\n mod.netQueueDisplay = make_text_display(div, 'instructions on network')\n mod.resetNetButton = make_button_input(div, 'reset network')\n mod.resetNetButton.addEventListener('click', function() {\n resetNetwork()\n })\n\n div.appendChild(document.createElement('br'))\n mod.netPositionDisplay = make_text_display(div, 'last position sent to network')\n mod.finalPositionDisplay = make_text_display(div, 'last position received on network')\n\n }\n\n // ---------------------------------------------------- THE BUSINESS\n\n // network state\n var packetWindowSize = 0\n var axisNetCounters = new Array()\n var lastPosToNet = new Array()\n var lastPosFromNet = new Array()\n\n\n function resetNetwork() {\n axisIds = mod.axisIdentifiers.value.split(',')\n for (var i = 0; i < axisIds.length; i++) {\n currentPosition[i] = 0\n axisNetCounters[i] = 0\n lastPosToNet[i] = 0\n lastPosFromNet[i] = 0\n }\n mod.netPositionDisplay.innerHTML = lastPosToNet.toString()\n mod.netQueueDisplay.innerHTML = axisNetCounters.toString()\n mod.finalPositionDisplay.innerHTML = lastPosFromNet.toString()\n }\n\n // IF entry / exit are null, do min speed \n\n function onAcknowledgement(obj) {\n axisNetCounters[obj.axis] --\n mod.netQueueDisplay.innerHTML = axisNetCounters.toString()\n if(obj.type == 'move acknowledgement'){\n //console.log('received pos', obj.increment, obj.axis)\n lastPosFromNet[obj.axis] += obj.increment\n var netRounded = new Array()\n for(var i = 0; i < lastPosFromNet.length; i ++){\n netRounded[i] = Math.round(lastPosFromNet[i] * 100) / 100\n }\n mod.finalPositionDisplay.innerHTML = netRounded.toString()\n }\n checkNetwork()\n }\n\n function checkNetwork() {\n // see windowed state and push more data out if need be\n // TODO here\n var ok = false\n if(axisNetCounters[0] == axisNetCounters[1]){\n ok = true\n }\n /*\n for(var i = 0; i < axisNetCounters.length - 2; i ++){\n if(axisNetCounters[i] == axisNetCounters[i + 1]){\n ok = true\n } else {\n ok = false\n }\n }\n */\n if(ok){\n var opening = packetWindowSize - axisNetCounters[0]\n if(opening > moveQue.length){\n opening = moveQue.length\n }\n for(var i = 0; i < opening; i++){\n //console.log('sending', i)\n sendMove()\n outputs.moveComplete.event()\n }\n }\n }\n\n function sendMove() {\n var lastPos = moveQue[0].p2\n outputs.plannedMove.event(moveQue.shift())\n mod.queueLengthDisplay.innerHTML = moveQue.length.toString()\n mod.netPositionDisplay.innerHTML = lastPos.toString()\n axisNetCounters.forEach(function(element, index){\n axisNetCounters[index] ++\n })\n mod.netQueueDisplay.innerHTML = axisNetCounters.toString()\n }\n\n\n // planner state and moves\n var axisIds = []\n var moveQue = [] // array of moves \n var currentPosition = []\n\n /*\n var segment = {\n p1: p1,\n p2: p2,\n cruise: cruise,\n entry: entry,\n exit: exit,\n }\n */\n\n function resetQueue() {\n moveQue.length = 0 // apparently this works\n mod.queueLengthDisplay.innerHTML = moveQue.length.toString()\n }\n\n function addToQueue(obj) {\n // add to the move queue \n var p1 = []\n var p2 = []\n if (moveQue.length == 0) {\n p1 = currentPosition\n } else {\n p1 = moveQue[moveQue.length - 1].p2\n }\n\n // TODO: abstract axis? ids -> p1, p2\n // find all letter-based and match to std array \n var keyset = new Array(axisIds.length)\n keyset.fill(0)\n\n for (key in obj.position) {\n for (axisId in axisIds) {\n if (key == axisIds[axisId]) {\n p2[axisId] = obj.position[key]\n keyset[axisId] = 1\n } else if (keyset[axisId] != 1) {\n p2[axisId] = p1[axisId]\n } else {\n // nothing\n }\n }\n }\n\n if (cartesianDistance(p1, p2) == 0) {\n // TODO: check for these when move is z- and have only xy actuators?\n console.log('planner throwing zero length vector')\n } else {\n var cruise = obj.speed\n\n var newMove = {\n p1: p1,\n p2: p2,\n cruise: cruise,\n entry: 0,\n exit: 0\n }\n\n // append the move to the queue \n moveQue.push(newMove)\n mod.queueLengthDisplay.innerHTML = moveQue.length.toString()\n\n // and then check to see if we are ready to pass anything to the motors\n runQue()\n }\n }\n\n //\n // local functions\n //\n function runQue() {\n // converting from mm/s or dpi (pixel units) to mm based units\n // https://github.com/grbl/grbl/blob/master/grbl/planner.c\n // https://onehossshay.wordpress.com/2011/09/24/improving_grbl_cornering_algorithm/\n /*\n first we walk the queue:\n going backwards, end at 0 speed exit\n - find junction speed (junction deviation) between this and previous block\n - this is entry speed, calculate trapezoid to exit speed\n next block\n - exit speed is recently calculated entry speed\n - do junction deviation, this is entry speed\n - calculate trapezoid\n .. why is this simpler? find entry and exit speed of each block,\n find accel limits per axis, do trapezoid with that accel\n */\n\n var jdsize = parseFloat(mod.junctionDeviationIn.value)\n var accel = parseFloat(mod.accelIn.value)\n // TODO: use these\n var minmin = parseFloat(mod.minSpeedIn.value)\n\n moveQue[moveQue.length - 1].exit = minmin // trailing edge always full stop\n\n for (var i = moveQue.length - 1; i > 0; i--) {\n // reverse pass\n // find junction deviation\n /*\n - really, could only do this once per segment when a new one is added\n - unitize entry and exit vectors\n - find cos(theta) = Ventry dot Vexit / (|Ventry| * |Vexit|) -> this is (1*1 bc unit)\n - find sin(theta/2) = sqrt((1-cos(theta))/2)\n - find r = j(sin(theta/2)/(1-sin(theta/2)))\n - find Fj = sqrt(Ac*r)\n - junction speed is min(Fj, min(entry,exit))\n */\n\n var v_entry = unitVector(moveQue[i - 1].p1, moveQue[i - 1].p2)\n var v_exit = unitVector(moveQue[i].p1, moveQue[i].p2)\n //console.log('unit entry, unit exit', toFixedMatrix(v_entry, 3), toFixedMatrix(v_exit, 3))\n // dot product / mag * mag where mags are 1 each bc unit\n var cos_theta = dotProduct(v_entry, v_exit) \n // catch corner cases (get it? - actually they are very straight cases, or very turnaround cases)\n if (cos_theta < -0.9999999999999) {\n cos_theta = -0.9999999999999\n } else if (cos_theta > 0.9999999999999) {\n cos_theta = 0.9999999999999\n }\n //console.log('cos_theta', cos_theta, Math.acos(cos_theta) * (180 / Math.PI))\n // for calculating the radius, below\n var sin_theta_overtwo = Math.sqrt((1 - cos_theta) / 2)\n //console.log('sin_theta_overtwo', sin_theta_overtwo)\n // size of the junction deviation curve\n var radius = jdsize * ((1 - sin_theta_overtwo) / sin_theta_overtwo)\n //console.log('radius', radius)\n // feed at the junction, according to supposed acceleration through the junction radius\n var fj = Math.sqrt(accel * radius)\n //console.log('fj', fj)\n // but don't go through the junction faster than we're cruising\n var feed_junction = Math.min(fj, moveQue[i].cruise, moveQue[i - 1].cruise)\n // and we never travel slower than the min speed \n //feed_junction = Math.max(feed_junction, minmin)\n //console.log('feed_junction', feed_junction)\n\n // ok we have the maximum feed at the preceeding junction\n // now: find the maximum entry speeds as if we spent the whole block decelerating\n\n // size of segment\n var distance = cartesianDistance(moveQue[i].p1, moveQue[i].p2)\n //console.log('distance', distance)\n var max_entry_speed = Math.sqrt(moveQue[i].exit * moveQue[i].exit + 2 * distance * accel)\n //console.log('max_entry_speed', max_entry_speed)\n var entry_speed = Math.min(max_entry_speed, feed_junction)\n max_entry_speed = Math.max(max_entry_speed, minmin)\n //console.log('entry_speed', entry_speed)\n moveQue[i].entry = entry_speed\n moveQue[i - 1].exit = entry_speed\n //console.log('segment:', moveQue[i])\n moveQue[i].accel = accel\n moveQue[i].distance = distance\n }\n\n // bad bad not very good implementation to start:\n //moveQue[0].entry = 0\n moveQue[0].accel = accel\n moveQue[0].distance = cartesianDistance(moveQue[0].p1, moveQue[0].p2)\n\n // forward pass to make sure we can accelerate to set exit speed in length\n for (var i = 0; i < moveQue.length - 1; i++) {\n var distance = moveQue[i].distance\n var max_exit_speed = Math.sqrt(moveQue[i].entry * moveQue[i].entry + 2 * distance * accel)\n max_exit_speed = Math.max(max_exit_speed, minmin)\n if (max_exit_speed < moveQue[i + 1].entry_speed) {\n moveQue[i + 1].entry = max_exit_speed\n moveQue[i].exit = max_exit_speed\n }\n if(moveQue[i].entry < minmin){\n moveQue[i].entry = minmin\n }\n if(moveQue[i].exit < minmin){\n moveQue[i].exit = minmin\n }\n if(moveQue[i].entry == null){\n console.log('null entry', moveQue[i])\n moveQue[i].entry = minmin\n }\n if(moveQue[i].exit == null){\n console.log('null exit', moveQue[i])\n moveQue[i].exit = minmin\n }\n }\n }\n\n // ---------------------------------------------------- UTILITIES\n\n function cartesianDistance(p1, p2) {\n // takes p1, p2 to be arrays of same length\n // computes cartesian distance\n var sum = 0\n for (var i = 0; i < p1.length; i++) {\n sum += Math.pow((p1[i] - p2[i]), 2)\n }\n return Math.sqrt(sum)\n }\n\n function cartesianLength(v) {\n // length of vector\n var sum = 0\n for (var i = 0; i < v.length; i++) {\n sum += Math.pow(v[i], 2)\n }\n return Math.sqrt(sum)\n }\n\n function addMatrix(a, b, c) {\n // c = a + b\n a.forEach(function(item, index) {\n c[index] = b[index] + a[index]\n })\n }\n\n function subtractMatrix(a, b, c) {\n // c = a - b\n b.forEach(function(item, index) {\n c[index] = a[index] - b[index]\n })\n }\n\n function multiplyMatrix(a, scalar, b) {\n // b = a * scalar\n a.forEach(function(item, index) {\n b[index] = a[index] * scalar\n })\n }\n\n function multiply2dMatrix(a, scalar, b) {\n // b = a * scalar\n for (var i = 0; i < a.length; i++) {\n for (var j = 0; j < a[i].length; j++) {\n b[i][j] = a[i][j] * scalar;\n }\n }\n }\n\n function divideMatrix(a, scalar, b) {\n // b = a / scalar\n for (var i = 0; i < a.length; i++) {\n b[i] = a[i] / scalar\n }\n }\n\n function unitVector(p1, p2) {\n // returns new array, is unit vector of p2-p1\n var unit = new Array()\n subtractMatrix(p2, p1, unit)\n var length = cartesianLength(unit)\n divideMatrix(unit, length, unit)\n\n return unit\n }\n\n function dotProduct(a, b) {\n // returns a dot b\n var sum = 0;\n for (var i = 0; i < a.length; i++) {\n sum += a[i] * b[i]\n }\n\n return sum\n }\n\n function toFixedMatrix(a, digits) {\n var rounded = new Array()\n for (var i = 0; i < a.length; i++) {\n rounded[i] = a[i].toFixed(digits)\n }\n\n return rounded\n }\n\n // ---------------------------------------------------- UI HELP\n\n function make_text_input(div, name, size) {\n div.appendChild(document.createElement('br'))\n div.appendChild(document.createTextNode(name + ': '))\n var input = document.createElement('input')\n input.type = 'text'\n input.size = size\n div.appendChild(input)\n\n return input\n }\n\n function make_button_input(div, text) {\n div.appendChild(document.createElement('br'))\n var button = document.createElement('button')\n button.style.padding = mods.ui.padding\n button.style.margin = 1\n button.appendChild(document.createTextNode(text))\n div.appendChild(button)\n\n return button\n }\n\n function make_checkbox_input(div, prefix) {\n div.appendChild(document.createElement('br'))\n div.appendChild(document.createTextNode(prefix + ': '))\n var checkbox = document.createElement('input')\n checkbox.type = 'checkbox'\n div.appendChild(checkbox)\n\n return checkbox\n }\n\n function make_text_display(div, prefix) {\n div.appendChild(document.createElement('br'))\n div.appendChild(document.createTextNode(prefix + ': '))\n var span = document.createElement('span')\n span.innerHTML = ''\n div.appendChild(span)\n\n return span\n }\n\n //\n // return values\n //\n return ({\n mod: mod,\n name: name,\n init: init,\n inputs: inputs,\n outputs: outputs,\n interface: interface\n 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\ No newline at end of file
diff --git a/tinymachine-planning b/tinymachine-planning
deleted file mode 100644
index a3e4299..0000000
--- a/tinymachine-planning
+++ /dev/null
@@ -1 +0,0 @@
-{"modules":{"0.8432772280795903":{"definition":"//\r\n// converts toolpath objects into segments for accel planning\r\n//\r\n// Neil Gershenfeld and Jake Read\r\n// (c) Massachusetts Institute of Technology 2018\r\n//\r\n// This work may be reproduced, modified, distributed, performed, and\r\n// displayed for any purpose, but must acknowledge the mods\r\n// project. Copyright is retained and must be preserved. The work is\r\n// provided as is; no warranty is provided, and users accept all\r\n// liability.\r\n//\r\n// closure\r\n//\r\n(function() {\r\n //\r\n // module globals\r\n //\r\n var mod = {}\r\n //\r\n // name\r\n //\r\n var name = 'stepper'\r\n //\r\n // initialization\r\n //\r\n var init = function() {\r\n mod.stepper_axis_num_in.value = '0'\r\n mod.axis_num = 0\r\n mod.steps_per_mm_in.value = '80'\r\n mod.convert = 80\r\n mod.block = {\r\n accel: 50,\r\n cruise: 120,\r\n entry: 0,\r\n exit: 30,\r\n p1: [0, 0, 0],\r\n p2: [10, 10, 10]\r\n }\r\n }\r\n //\r\n // inputs\r\n //\r\n var inputs = {\r\n block: {\r\n type: 'object',\r\n label: 'block',\r\n event: function(evt) {\r\n mod.block = JSON.parse(JSON.stringify(evt.detail)) // dereference pls\r\n shipIt()\r\n }\r\n },\r\n ack: {\r\n type: 'packet',\r\n label: 'headless packet in',\r\n event: function(evt) {\r\n onAcknowledgement(evt.detail)\r\n }\r\n }\r\n }\r\n //\r\n // outputs\r\n //\r\n var outputs = {\r\n acknowledgement: {\r\n type: 'object',\r\n label: 'acknowledgement',\r\n event: function(obj) {\r\n mods.output(mod, 'acknowledgement', obj)\r\n }\r\n },\r\n packet: {\r\n type: 'packet',\r\n label: 'headless packet out',\r\n event: function() {\r\n //mods.output(mod, 'segments', null)\r\n }\r\n }\r\n }\r\n //\r\n // interface\r\n //\r\n var interface = function(div) {\r\n mod.div = div\r\n //\r\n // inputs\r\n //\r\n // settings\r\n // the axis to pull out of the block - index of posistions on p1, p2\r\n mod.stepper_axis_num_in = make_text_input(div, 'axis index', 12)\r\n mod.stepper_axis_num_in.addEventListener('change', function() {\r\n mod.axis_num = parseInt(mod.stepper_axis_num_in.value)\r\n })\r\n // steps per mm\r\n mod.steps_per_mm_in = make_text_input(div, 'steps per mm', 12)\r\n mod.steps_per_mm_in.addEventListener('change', function() {\r\n mod.covert = parseFloat(mod.steps_per_mm_in.value)\r\n })\r\n // reverse?\r\n mod.reverseCheck = make_checkbox_input(div, 'reversed')\r\n //\r\n // request to do the business\r\n //\r\n mod.send_button = make_button_input(div, 'send')\r\n mod.send_button.addEventListener('click', function() {\r\n shipIt()\r\n })\r\n }\r\n\r\n function cartesianDistance(p1, p2) {\r\n // takes p1, p2 to be arrays of same length\r\n // computes cartesian distance\r\n var sum = 0\r\n for (var i = 0; i < p1.length; i++) {\r\n sum += Math.pow((p1[i] - p2[i]), 2)\r\n }\r\n return Math.sqrt(sum)\r\n }\r\n\r\n function cartesianLength(v) {\r\n // length of vector\r\n var sum = 0\r\n for (var i = 0; i < v.length; i++) {\r\n sum += Math.pow(v[i], 2)\r\n }\r\n return Math.sqrt(sum)\r\n }\r\n\r\n function addMatrix(a, b, c) {\r\n // c = a + b\r\n a.forEach(function(item, index) {\r\n c[index] = b[index] + a[index]\r\n })\r\n }\r\n\r\n function subtractMatrix(a, b, c) {\r\n // c = a - b\r\n b.forEach(function(item, index) {\r\n c[index] = a[index] - b[index]\r\n })\r\n }\r\n\r\n function multiplyMatrix(a, scalar, b) {\r\n // b = a * scalar\r\n a.forEach(function(item, index) {\r\n b[index] = a[index] * scalar\r\n })\r\n }\r\n\r\n function multiply2dMatrix(a, scalar, b) {\r\n // b = a * scalar\r\n for (var i = 0; i < a.length; i++) {\r\n for (var j = 0; j < a[i].length; j++) {\r\n b[i][j] = a[i][j] * scalar;\r\n }\r\n }\r\n }\r\n\r\n function divideMatrix(a, scalar, b) {\r\n // b = a / scalar\r\n for (var i = 0; i < a.length; i++) {\r\n b[i] = a[i] / scalar\r\n }\r\n }\r\n\r\n function unitVector(p1, p2) {\r\n // returns new array, is unit vector of p2-p1\r\n var unit = new Array()\r\n subtractMatrix(p2, p1, unit)\r\n var length = cartesianLength(unit)\r\n divideMatrix(unit, length, unit)\r\n\r\n return unit\r\n }\r\n\r\n function dotProduct(a, b) {\r\n // returns a dot b\r\n var sum = 0;\r\n for (var i = 0; i < a.length; i++) {\r\n sum += a[i] * b[i]\r\n }\r\n\r\n return sum\r\n }\r\n\r\n function toFixedMatrix(a, digits) {\r\n var rounded = new Array()\r\n for (var i = 0; i < a.length; i++) {\r\n rounded[i] = a[i].toFixed(digits)\r\n }\r\n\r\n return rounded\r\n }\r\n\r\n /*\r\n now:\r\n\r\n start from segment and find a corner\r\n do planner\r\n\r\n */\r\n\r\n //\r\n // local functions\r\n //\r\n\r\n function onAcknowledgement(packet){\r\n if(packet[0] == 132){\r\n // wait move\r\n var ack = {}\r\n ack.axis = mod.axis_num\r\n ack.type = 'wait acknowledgement'\r\n outputs.acknowledgement.event(ack)\r\n } else if (packet[0] == 131){\r\n var ack = {}\r\n ack.axis = mod.axis_num \r\n ack.type = 'move acknowledgement'\r\n var steps = unpack32(packet, 1)\r\n ack.increment = steps / mod.convert\r\n outputs.acknowledgement.event(ack)\r\n } else {\r\n console.log('nonrecognized ack to stepper')\r\n }\r\n // check if was wait / was move, send response accordingly \r\n }\r\n\r\n function shipIt() {\r\n // sends integer values, I think we maintain positioning because we round before subtracting\r\n\r\n var trapezoid = calculateTrapezoid(mod.axis_num)\r\n if (trapezoid.length == 0) {\r\n var ok = 0\r\n var i = 0\r\n var waitTrap\r\n while (!ok && i < mod.block.p1.length) {\r\n waitTrap = calculateTrapezoid(i)\r\n if (waitTrap.delta != 0) {\r\n ok = 1\r\n } else {\r\n i++\r\n }\r\n }\r\n if (ok) {\r\n sendWait(waitTrap)\r\n } else {\r\n console.log('step zero packet, but no axis of nonzero length found', JSON.parse(JSON.stringify(mod.block)))\r\n }\r\n } else {\r\n sendTrapezoid(trapezoid)\r\n }\r\n }\r\n\r\n function calculateTrapezoid(axis) {\r\n // packet (per stepper block)\r\n // steps, entry, accel, accelLength, deccelLength\r\n // first we fill this with all of the info we'll use to calculated\r\n // the trapezoid in planner-space units, then we convert to steps last\r\n var trap = {}\r\n\r\n // lengths and positions for the move\r\n trap.x1 = mod.block.p1[axis]\r\n trap.x2 = mod.block.p2[axis]\r\n trap.delta = trap.x2 - trap.x1\r\n trap.length = Math.abs(trap.delta)\r\n\r\n // rates for the move\r\n var unit = unitVector(mod.block.p1, mod.block.p2)\r\n var relativeRate = Math.abs(unit[axis])\r\n trap.entry = mod.block.entry * relativeRate\r\n trap.accel = mod.block.accel * relativeRate\r\n trap.cruise = mod.block.cruise * relativeRate\r\n trap.exit = mod.block.exit * relativeRate\r\n\r\n // now accelLength and deccelLength\r\n // using the maximum deltaV for the move,\r\n // we'll figure out what type of move we have\r\n var maxExit = Math.sqrt(trap.entry * trap.entry + 2 * trap.accel * trap.length)\r\n var maxEntry = Math.sqrt(trap.exit * trap.entry + 2 * trap.accel * trap.length)\r\n\r\n // there are 7 possible profiles\r\n if (trap.length <= 0) {\r\n // console.log('zero length trap')\r\n } else if (maxExit <= trap.exit) {\r\n // full ramp-up: have to push iiit to get there\r\n //console.log('full rampup')\r\n trap.ramptype = 'rampup'\r\n trap.accelLength = trap.length\r\n trap.deccelLength = trap.length + mod.convert // never decel\r\n // for the wait function\r\n trap.vAvg = (trap.entry + trap.exit) / 2\r\n } else if (maxEntry <= trap.entry) {\r\n // full ramp-down: have to deccel all the way with this rate\r\n //console.log('full rampdown')\r\n trap.ramptype = 'rampdown'\r\n trap.deccelLength = 0 // start immmeeeeediately\r\n trap.accelLength = 0 // never accel\r\n // for the wait\r\n trap.vAvg = (trap.entry + trap.exit) / 2\r\n } else if (trap.cruise == trap.entry && trap.cruise == trap.exit) {\r\n // str8 relaxin, no maxin\r\n //console.log('full cruise')\r\n trap.ramptype = 'cruise'\r\n trap.accelLength = 0 // never accel\r\n trap.deccelLength = trap.length + mod.convert // never decel\r\n // wait\r\n trap.vAvg = trap.cruise\r\n } else if (trap.cruise == trap.entry) {\r\n // cruise, then deccel\r\n //console.log('cruise then deccel')\r\n // for how long do we have to decel? we have to have deltaV for\r\n trap.ramptype = 'cruiseDeccel'\r\n var deccelDistance = (trap.cruise * trap.cruise - trap.exit * trap.exit) / (2 * trap.accel)\r\n trap.deccelLength = trap.length - deccelDistance\r\n trap.accelLength = 0; // never accel\r\n // we really want speed by multiple times, and total distance we know, for vAvg\r\n var tSum = (trap.cruise - trap.exit) / trap.accel + trap.deccelLength / trap.cruise\r\n trap.vAvg = trap.length / tSum\r\n } else if (trap.cruise == trap.exit) {\r\n // accel, cruise? unless entry also cruise?\r\n //console.log('accel then cruise')\r\n trap.ramptype = 'cruiseAccel'\r\n trap.accelLength = (trap.cruise * trap.cruise - trap.entry * trap.entry) / (2 * trap.accel)\r\n trap.deccelLength = trap.length + 1; // and never deccel\r\n // wait \r\n var tSum = (trap.cruise - trap.entry) / trap.accel + (trap.delta - trap.accellength) / trap.cruise\r\n trap.vAvg = trap.length / tSum\r\n } else {\r\n // it's either a full trap, or a triangle\r\n var accelDistance = (trap.cruise * trap.cruise - trap.entry * trap.entry) / (2 * trap.accel)\r\n var deccelDistance = (trap.cruise * trap.cruise - trap.exit * trap.exit) / (2 * trap.accel)\r\n if ((accelDistance + deccelDistance) < trap.length) {\r\n //console.log('full trap')\r\n trap.ramptype = 'fullTrap'\r\n trap.accelLength = accelDistance\r\n trap.deccelLength = trap.length - deccelDistance\r\n // wait \r\n var tSum = (trap.cruise - trap.entry) / trap.accel + (trap.deccelLength - trap.accellength) / trap.cruise + (trap.cruise - trap.exit) / trap.accel\r\n trap.vAvg = trap.length / tSum\r\n } else {\r\n //console.log('triangle')\r\n trap.ramptype = 'triangle'\r\n // find intersection point\r\n var vPeak = Math.sqrt((2 * trap.accel * trap.length + Math.pow(trap.entry, 2) + Math.pow(trap.exit, 2)) / 2)\r\n //console.log('entry, peak, exit', trap.entry, vPeak, trap.exit)\r\n var midPoint = (vPeak * vPeak - trap.entry * trap.entry) / (2 * trap.accel)\r\n trap.accelLength = midPoint\r\n trap.deccelLength = midPoint\r\n var tSum = (vPeak - trap.entry) / trap.accel + (vPeak - trap.exit) / trap.accel\r\n trap.vAvg = trap.length / tSum\r\n }\r\n }\r\n\r\n return trap\r\n }\r\n\r\n function sendTrapezoid(trap) {\r\n //console.log('trapezoid', trapezoid)\r\n var stepwiseTrap = trapezoidToStepwise(trap);\r\n\r\n var packet = new Array();\r\n // first, the packet header: the route, ptr and end_addr delimiter\r\n // #define APA_END_ROUTE_DELIMITER 255\r\n // #define APA_ROUTE_POINTER 254\r\n // #define DELIM_KEY_TRAPEZOID 131 // is 32 bit int\r\n // #define DELIM_KEY_WAIT 132\r\n packet.push(131)\r\n // now we pack these values into UART-readable bytes\r\n // int32_t steps, uint32_t entryspeed, accel, accellength, decellength\r\n var steps;\r\n if(mod.reverseCheck.checked){\r\n steps = -stepwiseTrap.steps\r\n } else {\r\n steps = stepwiseTrap.steps\r\n }\r\n packet = packet.concat(pack32(steps))\r\n packet = packet.concat(pack32(stepwiseTrap.entry))\r\n packet = packet.concat(pack32(stepwiseTrap.accel))\r\n packet = packet.concat(pack32(stepwiseTrap.accelLength))\r\n packet = packet.concat(pack32(stepwiseTrap.deccelLength))\r\n // log this if you wish\r\n //console.log('packet from stepper', packet)\r\n // send it along!\r\n mods.output(mod, 'packet', packet)\r\n }\r\n\r\n function sendWait(trap) {\r\n var stepwiseTrap = trapezoidToStepwise(trap);\r\n var packet = new Array();\r\n // #define DELIM_KEY_WAIT 132\r\n packet.push(132)\r\n // now we pack these values into C-readable bytes\r\n // int32_t steps, uint32_t entryspeed, accel, accellength, decellength\r\n packet = packet.concat(pack32(stepwiseTrap.steps))\r\n packet = packet.concat(pack32(stepwiseTrap.entry))\r\n packet = packet.concat(pack32(stepwiseTrap.accel))\r\n packet = packet.concat(pack32(stepwiseTrap.accelLength))\r\n packet = packet.concat(pack32(stepwiseTrap.deccelLength))\r\n // send it along!\r\n //console.log('wait packet', packet)\r\n mods.output(mod, 'packet', packet)\r\n }\r\n\r\n function trapezoidToStepwise(trap) {\r\n var stepwise = {}\r\n // planner units -> steps\r\n stepwise.steps = Math.round(trap.delta * mod.convert)\r\n // planner units -> steps/min (for less integer error)\r\n stepwise.entry = Math.round(trap.entry * mod.convert)\r\n // planner units -> steps/min/s (a messed up unit, I know)\r\n stepwise.accel = Math.round(trap.accel * mod.convert)\r\n // planner units -> steps\r\n stepwise.accelLength = Math.round(trap.accelLength * mod.convert)\r\n stepwise.deccelLength = Math.round(trap.deccelLength * mod.convert)\r\n\r\n return stepwise\r\n }\r\n\r\n function trapezoidToStepWait(trap) {\r\n var stepWait = {}\r\n // planner units -> steps\r\n stepWait.steps = Math.round(trap.length * mod.convert)\r\n //\r\n stepWait.vAvg = Math.round(trap.vAvg * mod.convert)\r\n if(isNaN(stepWait.vAvg)){\r\n console.log('err on vAvg maths in stepper')\r\n stepWait.vAvg = 1000\r\n }\r\n\r\n return stepWait\r\n }\r\n\r\n function pack32(val) {\r\n var pack = new Array();\r\n pack[0] = (val >> 24) & 255;\r\n pack[1] = (val >> 16) & 255;\r\n pack[2] = (val >> 8) & 255;\r\n pack[3] = val & 255;\r\n\r\n return pack;\r\n }\r\n\r\n function unpack32(array, start){\r\n var unpack = array[start] << 24 | array[start + 1] << 16 | array[start + 2] << 8 | array[start + 3]\r\n return unpack\r\n }\r\n\r\n\r\n /*\r\n UI helpers\r\n */\r\n function make_text_input(div, name, size) {\r\n div.appendChild(document.createElement('br'))\r\n div.appendChild(document.createTextNode(name + ': '))\r\n var input = document.createElement('input')\r\n input.type = 'text'\r\n input.size = size\r\n div.appendChild(input)\r\n\r\n return input\r\n }\r\n\r\n function make_button_input(div, text) {\r\n div.appendChild(document.createElement('br'))\r\n var button = document.createElement('button')\r\n button.style.padding = mods.ui.padding\r\n button.style.margin = 1\r\n button.appendChild(document.createTextNode(text))\r\n div.appendChild(button)\r\n\r\n return button\r\n }\r\n\r\n function make_checkbox_input(div, prefix) {\r\n div.appendChild(document.createElement('br'))\r\n div.appendChild(document.createTextNode(prefix + ': '))\r\n var checkbox = document.createElement('input')\r\n checkbox.type = 'checkbox'\r\n div.appendChild(checkbox)\r\n\r\n return checkbox\r\n }\r\n\r\n function make_text_display(div, prefix) {\r\n div.appendChild(document.createElement('br'))\r\n div.appendChild(document.createTextNode(prefix + ': '))\r\n var span = document.createElement('span')\r\n span.innerHTML = ''\r\n div.appendChild(span)\r\n\r\n return span\r\n }\r\n\r\n\r\n //\r\n // return values\r\n //\r\n return ({\r\n mod: mod,\r\n name: name,\r\n init: init,\r\n inputs: inputs,\r\n outputs: outputs,\r\n interface: interface\r\n })\r\n}())","top":"849.9366130389072","left":"1591.0182750754745","inputs":{},"outputs":{}},"0.550468040422489":{"definition":"//\r\n// converts toolpath objects into segments for accel planning\r\n//\r\n// Neil Gershenfeld and Jake Read\r\n// (c) Massachusetts Institute of Technology 2018\r\n//\r\n// This work may be reproduced, modified, distributed, performed, and\r\n// displayed for any purpose, but must acknowledge the mods\r\n// project. Copyright is retained and must be preserved. The work is\r\n// provided as is; no warranty is provided, and users accept all\r\n// liability.\r\n//\r\n// closure\r\n//\r\n(function() {\r\n //\r\n // module globals\r\n //\r\n var mod = {}\r\n //\r\n // name\r\n //\r\n var name = 'atk network bridge'\r\n //\r\n // initialization\r\n //\r\n var init = function() {\r\n mod.address.value = '127.0.0.1'\r\n mod.port.value = 6789\r\n mod.socket = null\r\n socket_open()\r\n }\r\n //\r\n // inputs\r\n //\r\n var inputs = {\r\n packetOne: {\r\n type: 'packet',\r\n label: '1 packet payload',\r\n event: function(evt) {\r\n var headlessPacket = JSON.parse(JSON.stringify(evt.detail))\r\n packetOutput(0, headlessPacket)\r\n }\r\n },\r\n packetTwo: {\r\n type: 'packet',\r\n label: '2 packet payload',\r\n event: function(evt) {\r\n var headlessPacket = JSON.parse(JSON.stringify(evt.detail))\r\n packetOutput(1, headlessPacket)\r\n }\r\n },\r\n packetThree: {\r\n type: 'packet',\r\n label: '3 packet payload',\r\n event: function(evt) {\r\n var headlessPacket = JSON.parse(JSON.stringify(evt.detail))\r\n packetOutput(2, headlessPacket)\r\n }\r\n },\r\n packetFour: {\r\n type: 'packet',\r\n label: '4 packet payload',\r\n event: function(evt) {\r\n var headlessPacket = JSON.parse(JSON.stringify(evt.detail))\r\n packetOutput(3, headlessPacket)\r\n }\r\n },\r\n packetFive: {\r\n type: 'packet',\r\n label: '5 packet payload',\r\n event: function(evt) {\r\n var headlessPacket = JSON.parse(JSON.stringify(evt.detail))\r\n packetOutput(4, headlessPacket)\r\n }\r\n }\r\n }\r\n //\r\n // outputs\r\n //\r\n var outputs = {\r\n packetOne: {\r\n type: 'packet',\r\n label: '1 packet payload',\r\n event: function(evt) {\r\n // fires elswhere with mods.output(mod, 'packetOne', data)\r\n }\r\n },\r\n packetTwo: {\r\n type: 'packet',\r\n label: '2 packet payload'\r\n },\r\n packetThree: {\r\n type: 'packet',\r\n label: '3 packet payload'\r\n },\r\n packetFour: {\r\n type: 'packet',\r\n label: '4 packet payload'\r\n },\r\n packetFive: {\r\n type: 'packet',\r\n label: '5 packet payload'\r\n }\r\n }\r\n //\r\n // interface\r\n //\r\n var interface = function(div) {\r\n mod.div = div\r\n //\r\n // inputs\r\n //\r\n mod.netpath_in = new Array() // of UI\r\n mod.netpath = new Array() // of paths\r\n // settings\r\n // the network paths to the thing\r\n for (var i = 0; i < 5; i++) {\r\n add_netpath(div)\r\n }\r\n\r\n div.appendChild(document.createElement('br'))\r\n\r\n var a = document.createElement('a')\r\n a.href = './js/serialserver.js'\r\n a.innerHTML = 'serialserver:'\r\n a.target = '_blank'\r\n div.appendChild(a)\r\n div.appendChild(document.createElement('br'))\r\n //\r\n // open/close\r\n //\r\n var btn = document.createElement('button')\r\n btn.style.margin = 1\r\n btn.appendChild(document.createTextNode('open'))\r\n btn.addEventListener('click', function() {\r\n socket_open()\r\n })\r\n div.appendChild(btn)\r\n var btn = document.createElement('button')\r\n btn.style.margin = 1\r\n btn.appendChild(document.createTextNode('close'))\r\n btn.addEventListener('click', function() {\r\n socket_close()\r\n })\r\n div.appendChild(btn)\r\n div.appendChild(document.createElement('br'))\r\n //\r\n // address\r\n //\r\n div.appendChild(document.createTextNode('address: '))\r\n input = document.createElement('input')\r\n input.type = 'text'\r\n input.size = 10\r\n div.appendChild(input)\r\n mod.address = input\r\n div.appendChild(document.createElement('br'))\r\n //\r\n // port\r\n //\r\n div.appendChild(document.createTextNode('\\u00a0\\u00a0\\u00a0\\u00a0\\u00a0port: '))\r\n var input = document.createElement('input')\r\n input.type = 'text'\r\n input.size = 10\r\n div.appendChild(input)\r\n mod.port = input\r\n div.appendChild(document.createElement('br'))\r\n //\r\n // status\r\n //\r\n div.appendChild(document.createTextNode('\\u00a0\\u00a0status: '))\r\n var input = document.createElement('input')\r\n input.type = 'text'\r\n input.size = 10\r\n div.appendChild(input)\r\n mod.status = input\r\n div.appendChild(document.createElement('br'))\r\n //\r\n // serial\r\n //\r\n div.appendChild(document.createTextNode('serial device:'))\r\n div.appendChild(document.createElement('br'))\r\n //\r\n // open/close\r\n //\r\n var btn = document.createElement('button')\r\n btn.style.margin = 1\r\n btn.appendChild(document.createTextNode('open'))\r\n btn.addEventListener('click', function() {\r\n serial_open()\r\n })\r\n div.appendChild(btn)\r\n var btn = document.createElement('button')\r\n btn.style.margin = 1\r\n btn.appendChild(document.createTextNode('close'))\r\n btn.addEventListener('click', function() {\r\n serial_close()\r\n })\r\n div.appendChild(btn)\r\n div.appendChild(document.createElement('br'))\r\n }\r\n\r\n function add_netpath(div) {\r\n var numCurrentPaths = mod.netpath.length;\r\n mod.netpath_in[numCurrentPaths] = make_text_input(div, (numCurrentPaths + 1).toString() + ' network path', 12)\r\n mod.netpath_in[numCurrentPaths].addEventListener('change', function() {\r\n mod.netpath[numCurrentPaths] = mod.netpath_in[numCurrentPaths].value.split(',')\r\n if (mod.netpath[numCurrentPaths] == '') {\r\n mod.netpath[0] = []\r\n console.log('zero length address')\r\n } else {\r\n for (var i = 0; i < mod.netpath[numCurrentPaths].length; i++) {\r\n mod.netpath[numCurrentPaths][i] = parseInt(mod.netpath[numCurrentPaths][i])\r\n }\r\n console.log('new address', mod.netpath)\r\n }\r\n })\r\n mod.netpath_in[numCurrentPaths].value = '0,' + numCurrentPaths.toString()\r\n mod.netpath[numCurrentPaths] = [0, numCurrentPaths]\r\n }\r\n\r\n function packetOutput(index, headlessPacket) {\r\n // add ptr and delimiter (unshifting, so reverse order)\r\n headlessPacket.unshift(255) //end addr delimiter\r\n headlessPacket.unshift(254) //ptr\r\n // add path descending thru\r\n for (var i = mod.netpath[index].length - 1; i >= 0; i--) {\r\n headlessPacket.unshift(mod.netpath[index][i])\r\n }\r\n // add length\r\n headlessPacket.unshift(headlessPacket.length + 1)\r\n // log it\r\n // console.log('packet from demux', headlessPacket)\r\n // put it on the serial\r\n var wsMessage = {\r\n type: 'packet',\r\n packet: JSON.parse(JSON.stringify(headlessPacket))\r\n }\r\n socket_send(JSON.stringify(wsMessage))\r\n }\r\n\r\n function packetInput(packet) {\r\n // shift pointer\r\n shiftPacketPointer(packet)\r\n // find address in packet, address has been flipped\r\n // assuming this is a terminal packet, i.e. we are the recipient,\r\n // cut \r\n var returnPacketHeader = packet.slice(2, packet.indexOf(255))\r\n // and then flip the header\r\n var packetHeader = new Array()\r\n for (var i = 0; i < returnPacketHeader.length; i++) {\r\n packetHeader[i] = returnPacketHeader[returnPacketHeader.length - i - 1]\r\n }\r\n var indexMatch = null\r\n // match to addresses mod.netpath[i]\r\n for (var i = 0; i < mod.netpath.length; i++) {\r\n if (packetHeader.length === mod.netpath[i].length) {\r\n if (packetHeader.toString() === mod.netpath[i].toString()) {\r\n // just takes 1st match\r\n // actually, we are receiving ack'd packets, w/ reversed headers\r\n\r\n indexMatch = i\r\n }\r\n }\r\n }\r\n // is match?\r\n if (indexMatch != null) {\r\n // console.log('match on ', indexMatch)\r\n // dereference header\r\n var headlessPacket = packet.slice(packetHeader.length + 3, packet.length)\r\n // console.log('headless', headlessPacket)\r\n // send on port\r\n // big messy nasty no thank you\r\n switch (indexMatch) {\r\n case 0:\r\n mods.output(mod, 'packetOne', headlessPacket)\r\n break\r\n case 1:\r\n mods.output(mod, 'packetTwo', headlessPacket)\r\n break\r\n case 2:\r\n mods.output(mod, 'packetThree', headlessPacket)\r\n break\r\n case 3:\r\n mods.output(mod, 'packetFour', headlessPacket)\r\n break\r\n case 4:\r\n mods.output(mod, 'packetFive', headlessPacket)\r\n break\r\n }\r\n } else {\r\n console.log('no match on returned packet')\r\n }\r\n }\r\n\r\n function shiftPacketPointer(array) {\r\n // find end of packet header\r\n var end = 0\r\n var i = 0\r\n while (end == 0) {\r\n if (array[i] === 255) {\r\n end = i\r\n } else if (i >= array.length) {\r\n break\r\n }\r\n i++\r\n }\r\n // we'll assume we're the last drop, put the pointer at the head\r\n array[1] = 254\r\n // and then shift the address bytes forward\r\n for (var j = 2; j < end - 1; j++) {\r\n array[j] = array[j + 1]\r\n }\r\n array[end-1] = 0 // incoming port\r\n }\r\n\r\n var thisPacket = new Array() // we sometimes receive incomplete packets, have to track and parse\r\n //\r\n function socket_open() {\r\n var url = \"ws://\" + mod.address.value + ':' + mod.port.value\r\n mod.socket = new WebSocket(url)\r\n mod.socket.onopen = function(event) {\r\n mod.status.value = \"socket opened\"\r\n serial_open()\r\n }\r\n mod.socket.onerror = function(event) {\r\n mod.status.value = \"can not open\"\r\n mod.socket = null\r\n }\r\n mod.socket.onmessage = function(event) {\r\n var wsMessage = JSON.parse(event.data)\r\n if (wsMessage.type === 'message') {\r\n mod.status.value = wsMessage.message\r\n } else if (wsMessage.type === 'array') {\r\n // we are the 0th port, \r\n thisPacket = thisPacket.concat(wsMessage.array)\r\n\r\n if (thisPacket[0] <= 0) {\r\n thisPacket = []\r\n console.log('throwing packet with leading zero')\r\n }\r\n\r\n while (thisPacket.length >= thisPacket[0]) {\r\n if (thisPacket.length == thisPacket[0]) {\r\n //console.log('one packet', thisPacket)\r\n packetInput(JSON.parse(JSON.stringify(thisPacket)))\r\n thisPacket = []\r\n } else {\r\n var fullPacket = thisPacket.slice(0, thisPacket[0])\r\n packetInput(JSON.parse(JSON.stringify(fullPacket)))\r\n //console.log('second packet', fullPacket)\r\n thisPacket = thisPacket.slice(thisPacket[0])\r\n }\r\n }\r\n\r\n } else {\r\n mod.status.value = 'message not recognized'\r\n }\r\n }\r\n }\r\n\r\n function socket_close() {\r\n mod.socket.close()\r\n mod.status.value = \"socket closed\"\r\n mod.socket = null\r\n }\r\n\r\n function socket_send(msg) {\r\n if (mod.socket != null) {\r\n mod.status.value = \"send\"\r\n mod.socket.send(msg)\r\n } else {\r\n mod.status.value = \"can't send, not open\"\r\n }\r\n }\r\n\r\n function serial_open() {\r\n if (mod.socket == null) {\r\n mod.status.value = \"socket not open\"\r\n } else {\r\n var msg = {}\r\n msg.type = 'open'\r\n mod.socket.send(JSON.stringify(msg))\r\n }\r\n }\r\n\r\n function serial_close() {\r\n if (mod.socket == null) {\r\n mod.status.value = \"socket not open\"\r\n } else {\r\n var msg = {}\r\n msg.type = 'close'\r\n msg.device = mod.device.value\r\n mod.socket.send(JSON.stringify(msg))\r\n }\r\n }\r\n\r\n function serial_send(wsMessage) {\r\n if (mod.socket == null) {\r\n mod.status.value = \"socket not open\"\r\n } else {\r\n mod.socket.send(JSON.stringify(wsMessage))\r\n mod.status.value = 'transmit'\r\n }\r\n }\r\n\r\n /*\r\n UI helpers\r\n */\r\n function make_text_input(div, name, size) {\r\n div.appendChild(document.createElement('br'))\r\n div.appendChild(document.createTextNode(name + ': '))\r\n var input = document.createElement('input')\r\n input.type = 'text'\r\n input.size = size\r\n div.appendChild(input)\r\n\r\n return input\r\n }\r\n\r\n function make_button_input(div, text) {\r\n div.appendChild(document.createElement('br'))\r\n var button = document.createElement('button')\r\n button.style.padding = mods.ui.padding\r\n button.style.margin = 1\r\n button.appendChild(document.createTextNode(text))\r\n div.appendChild(button)\r\n\r\n return button\r\n }\r\n\r\n function make_checkbox_input(div, prefix) {\r\n div.appendChild(document.createElement('br'))\r\n div.appendChild(document.createTextNode(prefix + ': '))\r\n var checkbox = document.createElement('input')\r\n checkbox.type = 'checkbox'\r\n div.appendChild(checkbox)\r\n\r\n return checkbox\r\n }\r\n\r\n function make_text_display(div, prefix) {\r\n div.appendChild(document.createElement('br'))\r\n div.appendChild(document.createTextNode(prefix + ': '))\r\n var span = document.createElement('span')\r\n span.innerHTML = ''\r\n div.appendChild(span)\r\n\r\n return span\r\n }\r\n\r\n\r\n //\r\n // return values\r\n //\r\n return ({\r\n mod: mod,\r\n name: name,\r\n init: init,\r\n inputs: inputs,\r\n outputs: outputs,\r\n interface: interface\r\n })\r\n}())","top":"1412.758938011284","left":"1588.9731579134627","inputs":{},"outputs":{}},"0.6064355364731827":{"definition":"//\r\n// generic line input\r\n//\r\n// Neil Gershenfeld and Jake Read\r\n// (c) Massachusetts Institute of Technology 2018\r\n// \r\n// This work may be reproduced, modified, distributed, performed, and \r\n// displayed for any purpose, but must acknowledge the mods\r\n// project. Copyright is retained and must be preserved. The work is \r\n// provided as is; no warranty is provided, and users accept all \r\n// liability.\r\n//\r\n// closure\r\n//\r\n(function() {\r\n //\r\n // module globals\r\n //\r\n var mod = {}\r\n //\r\n // name\r\n //\r\n var name = 'text lines input'\r\n //\r\n // initialization\r\n //\r\n var init = function() {\r\n mod.textAreaIn.value =\r\n \" G1 X0 Y0 F1400\\n\\\r\nZ16\\n\\\r\nZ5.5\\n\\\r\nG1 Z0.5\\n\\\r\nX100\\n\\\r\nY100\\n\\\r\nX3.536\\n\\\r\nY30\\n\\\r\nX7.071 Y26.465\\n\\\r\nX0 Y19.393\\n\\\r\nX7.071 Y12.322\\n\\\r\nX0 Y5.251\\n\\\r\nX95\\n\\\r\nY95\\n\\\r\nX8.536\\n\\\r\nY90\\n\\\r\nX90\\n\\\r\nY10.251\\n\\\r\nX13.535\\n\\\r\nY50.251\\n\\\r\nX14.243 Y50.958\\n\\\r\nX12.828 Y52.373\\n\\\r\nX14.243 Y53.787\\n\\\r\nX12.828 Y55.201\\n\\\r\nX14.243 Y56.615\\n\\\r\nX12.828 Y58.029\\n\\\r\nX14.243 Y59.444\\n\\\r\nX12.828 Y60.858\\n\\\r\nX14.243 Y62.272\\n\\\r\nX12.828 Y63.686\\n\\\r\nX14.243 Y65.101\\n\\\r\nX12.828 Y66.515\\n\\\r\nX14.243 Y67.929\\n\\\r\nX12.828 Y69.343\\n\\\r\nX13.889 Y70.404\\n\\\r\nX13.182 Y71.111\\n\\\r\nX13.889 Y71.818\\n\\\r\nX13.182 Y72.525\\n\\\r\nX13.889 Y73.232\\n\\\r\nX13.182 Y73.939\\n\\\r\nX13.889 Y74.646\\n\\\r\nX13.182 Y75.354\\n\\\r\nX13.889 Y76.061\\n\\\r\nX13.182 Y76.768\\n\\\r\nX13.889 Y77.475\\n\\\r\nX13.182 Y78.182\\n\\\r\nX13.889 Y78.889\\n\\\r\nX14.243 Y50.958\\n\\\r\nX12.828 Y52.373\\n\\\r\nX14.243 Y53.787\\n\\\r\nX12.828 Y55.201\\n\\\r\nX14.243 Y56.615\\n\\\r\nX12.828 Y58.029\\n\\\r\nX14.243 Y59.444\\n\\\r\nX12.828 Y60.858\\n\\\r\nX14.243 Y62.272\\n\\\r\nX12.828 Y63.686\\n\\\r\nX14.243 Y65.101\\n\\\r\nX12.828 Y66.515\\n\\\r\nX14.243 Y67.929\\n\\\r\nX12.828 Y69.343\\n\\\r\nX13.889 Y70.404\\n\\\r\nX13.182 Y71.111\\n\\\r\nX13.889 Y71.818\\n\\\r\nX13.182 Y72.525\\n\\\r\nX13.889 Y73.232\\n\\\r\nX13.182 Y73.939\\n\\\r\nX13.889 Y74.646\\n\\\r\nX13.182 Y75.354\\n\\\r\nX13.889 Y76.061\\n\\\r\nX13.182 Y76.768\\n\\\r\nX13.889 Y77.475\\n\\\r\nX13.182 Y78.182\\n\\\r\nX13.889 Y78.889\\n\\\r\nY85\\n\\\r\nX80\\n\\\r\nY84.5\\n\\\r\nX23.889\\n\\\r\nY20.251\\n\\\r\nZ5.5\\n\\\r\nG1 Z16\\n\\\r\nX0 Y0\\n\\ \"\r\n\r\n linesToArray()\r\n\r\n mod.lineCountDisplay.innerHTML = '0'\r\n\r\n }\r\n //\r\n // inputs\r\n //\r\n var inputs = {\r\n lineRequest: {\r\n type: 'number',\r\n label: 'line request',\r\n event: function(evt) {\r\n sendLine(evt.detail)\r\n }\r\n }\r\n }\r\n //\r\n // outputs\r\n //\r\n var outputs = {\r\n line: {\r\n type: 'string',\r\n label: 'line',\r\n event: function(str) {\r\n mods.output(mod, 'line', str)\r\n }\r\n }\r\n }\r\n //\r\n // interface\r\n //\r\n var interface = function(div) {\r\n mod.div = div\r\n //\r\n // inputs\r\n //\r\n mod.lineCountDisplay = make_text_display(div, 'current line')\r\n mod.resetCurrentLine = make_button_input(div, 'reset lines')\r\n mod.resetCurrentLine.addEventListener('click', function(){\r\n mod.lineCountDisplay.innerHTML = '0'\r\n currentLine = 0\r\n })\r\n mod.textAreaIn = makeTextArea(div, 'lines', 24, 48)\r\n }\r\n\r\n var currentLine = 0\r\n var linesArray = []\r\n\r\n function linesToArray() {\r\n linesArray = mod.textAreaIn.value.split('\\n')\r\n }\r\n\r\n function sendLine() {\r\n var lineOut = linesArray[currentLine]\r\n currentLine++\r\n if (currentLine > linesArray.length) {\r\n currentLine = linesArray.length\r\n } else {\r\n outputs.line.event(lineOut)\r\n }\r\n\r\n mod.lineCountDisplay.innerHTML = currentLine.toString()\r\n }\r\n\r\n\r\n /*\r\n UI helpers\r\n */\r\n function make_text_input(div, name, size) {\r\n div.appendChild(document.createElement('br'))\r\n div.appendChild(document.createTextNode(name + ': '))\r\n var input = document.createElement('input')\r\n input.type = 'text'\r\n input.size = size\r\n div.appendChild(input)\r\n\r\n return input\r\n }\r\n\r\n function makeTextArea(div, name, width, height) {\r\n div.appendChild(document.createElement('br'))\r\n div.appendChild(document.createTextNode(name + ': '))\r\n div.appendChild(document.createElement('br'))\r\n var textArea = document.createElement('textarea')\r\n textArea.setAttribute('cols', width)\r\n textArea.setAttribute('rows', height)\r\n textArea.type = 'textarea'\r\n div.appendChild(textArea)\r\n\r\n return textArea\r\n }\r\n\r\n function make_button_input(div, text) {\r\n div.appendChild(document.createElement('br'))\r\n var button = document.createElement('button')\r\n button.style.padding = mods.ui.padding\r\n button.style.margin = 1\r\n button.appendChild(document.createTextNode(text))\r\n div.appendChild(button)\r\n\r\n return button\r\n }\r\n\r\n function make_checkbox_input(div, prefix) {\r\n div.appendChild(document.createElement('br'))\r\n div.appendChild(document.createTextNode(prefix + ': '))\r\n var checkbox = document.createElement('input')\r\n checkbox.type = 'checkbox'\r\n div.appendChild(checkbox)\r\n\r\n return checkbox\r\n }\r\n\r\n function make_text_display(div, prefix) {\r\n div.appendChild(document.createElement('br'))\r\n div.appendChild(document.createTextNode(prefix + ': '))\r\n var span = document.createElement('span')\r\n span.innerHTML = ''\r\n div.appendChild(span)\r\n\r\n return span\r\n }\r\n\r\n\r\n //\r\n // return values\r\n //\r\n return ({\r\n mod: mod,\r\n name: name,\r\n init: init,\r\n inputs: inputs,\r\n outputs: outputs,\r\n interface: interface\r\n })\r\n}())","top":"669.4030968760659","left":"803.1033266421398","inputs":{},"outputs":{}},"0.6459714071906415":{"definition":"//\r\n// gets lines of gcode, turns into instructions for mods-machines\r\n//\r\n// Neil Gershenfeld and Jake Read\r\n// (c) Massachusetts Institute of Technology 2018\r\n// \r\n// This work may be reproduced, modified, distributed, performed, and \r\n// displayed for any purpose, but must acknowledge the mods\r\n// project. Copyright is retained and must be preserved. The work is \r\n// provided as is; no warranty is provided, and users accept all \r\n// liability.\r\n\r\n/*\r\nturns lines of text into objects for machine controller \r\n*/\r\n\r\n//\r\n// closure\r\n//\r\n(function() {\r\n //\r\n // module globals\r\n //\r\n var mod = {}\r\n //\r\n // name\r\n //\r\n var name = 'gcode parser'\r\n //\r\n // initialization\r\n //\r\n var init = function() {\r\n mod.g0SpeedIn.value = '100'\r\n mod.g1SpeedIn.value = '400'\r\n mod.codeMode.value = 'G0'\r\n }\r\n //\r\n // inputs\r\n //\r\n var inputs = {\r\n gcode: {\r\n type: 'string',\r\n label: 'gcode',\r\n event: function(evt) {\r\n parseGCode(evt.detail)\r\n }\r\n }\r\n }\r\n //\r\n // outputs\r\n //\r\n var outputs = {\r\n instruction: {\r\n type: 'object',\r\n label: 'instruction',\r\n event: function(obj) {\r\n mods.output(mod, 'instruction', obj)\r\n }\r\n }\r\n }\r\n //\r\n // interface\r\n //\r\n var interface = function(div) {\r\n mod.div = div\r\n //\r\n // inputs\r\n //\r\n // we're going to convert all of these DPIs to MMs because we live in the real world now\r\n mod.g0SpeedIn = make_text_input(div, 'G0 speed, gcode units', 12)\r\n mod.g1SpeedIn = make_text_input(div, 'G1 speed, gcode units', 12)\r\n mod.codeMode = make_text_input(div, 'Modality', 12)\r\n }\r\n\r\n function parseGCode(str) {\r\n // get letter-value pairs\r\n var keyvals = getKeyValues(str)\r\n // do modality\r\n // check this for no-g moves?\r\n if (keyvals.G == 0 | keyvals.G == 1) {\r\n mod.codeMode.value = 'G' + keyvals.G.toString()\r\n } else if (keyvals.M != null) {\r\n mod.codeMode.value = 'M' + keyvals.M.toString()\r\n }\r\n // do parse and object \r\n if (mod.codeMode.value == 'G0' | mod.codeMode.value == 'G1') {\r\n\r\n var output = {\r\n type: 'move',\r\n position: {},\r\n speed: 0\r\n }\r\n // loop to find position vals, check for feed update\r\n for (key in keyvals) {\r\n if (key.match('[A-CX-Z]')) {\r\n output.position[key] = keyvals[key]\r\n } else if (key.match('[F]')){\r\n if(mod.codeMode.value == 'G0'){\r\n // assert minimum speed \r\n mod.g0SpeedIn.value = Math.max(10, keyvals.F)\r\n } else {\r\n mod.g1SpeedIn.value = Math.max(10, keyvals.F)\r\n }\r\n }\r\n }\r\n\r\n if(mod.codeMode.value == 'G0'){\r\n output.speed = parseFloat(mod.g0SpeedIn.value)\r\n } else {\r\n output.speed = parseFloat(mod.g1SpeedIn.value)\r\n }\r\n\r\n outputs.instruction.event(output)\r\n } else if (mod.codeMode.value == 'M3'){\r\n var output = {\r\n type: 'spindle',\r\n speed: 0\r\n }\r\n if(keyvals.S != null){\r\n output.speed = keyvals.S\r\n outputs.instruction.event(output)\r\n } else {\r\n console.log('need S parameter on spindle instruction')\r\n }\r\n } else if (mod.codeMode.value == 'M5'){\r\n var output = {\r\n type: 'spindle',\r\n speed: 0\r\n }\r\n output.instruction.event(output)\r\n } else {\r\n console.log('gcode instruction not recognized')\r\n }\r\n }\r\n\r\n function getKeyValues(str) {\r\n var kv = {}\r\n for (var i = 0; i < str.length; i++) {\r\n if (str[i].match('[A-Za-z]')) { // regex to match upper case letters\r\n var lastIndex = str.indexOf(' ', i)\r\n if (lastIndex < 0) {\r\n lastIndex = str.length\r\n }\r\n var key = str[i].toUpperCase()\r\n kv[key] = parseFloat(str.slice(i + 1, lastIndex))\r\n }\r\n }\r\n return kv\r\n }\r\n\r\n\r\n /*\r\n UI helpers\r\n */\r\n function make_text_input(div, name, size) {\r\n div.appendChild(document.createElement('br'))\r\n div.appendChild(document.createTextNode(name + ': '))\r\n var input = document.createElement('input')\r\n input.type = 'text'\r\n input.size = size\r\n div.appendChild(input)\r\n\r\n return input\r\n }\r\n\r\n function make_button_input(div, text) {\r\n div.appendChild(document.createElement('br'))\r\n var button = document.createElement('button')\r\n button.style.padding = mods.ui.padding\r\n button.style.margin = 1\r\n button.appendChild(document.createTextNode(text))\r\n div.appendChild(button)\r\n\r\n return button\r\n }\r\n\r\n function make_checkbox_input(div, prefix) {\r\n div.appendChild(document.createElement('br'))\r\n div.appendChild(document.createTextNode(prefix + ': '))\r\n var checkbox = document.createElement('input')\r\n checkbox.type = 'checkbox'\r\n div.appendChild(checkbox)\r\n\r\n return checkbox\r\n }\r\n\r\n function make_text_display(div, prefix) {\r\n div.appendChild(document.createElement('br'))\r\n div.appendChild(document.createTextNode(prefix + ': '))\r\n var span = document.createElement('span')\r\n span.innerHTML = ''\r\n div.appendChild(span)\r\n\r\n return span\r\n }\r\n\r\n\r\n //\r\n // return values\r\n //\r\n return ({\r\n mod: mod,\r\n name: name,\r\n init: init,\r\n inputs: inputs,\r\n outputs: outputs,\r\n interface: interface\r\n })\r\n}())","top":"426.77495194393157","left":"914.2517273462793","inputs":{},"outputs":{}},"0.12892300269908796":{"definition":"//\r\n// hardware reset command\r\n//\r\n// Neil Gershenfeld and Jake Read\r\n// (c) Massachusetts Institute of Technology 2018\r\n// \r\n// This work may be reproduced, modified, distributed, performed, and \r\n// displayed for any purpose, but must acknowledge the mods\r\n// project. Copyright is retained and must be preserved. The work is \r\n// provided as is; no warranty is provided, and users accept all \r\n// liability.\r\n//\r\n// closure\r\n//\r\n(function() {\r\n // globals\r\n var mod = {}\r\n\r\n // name\r\n var name = 'reset'\r\n\r\n var init = function() {\r\n // \r\n }\r\n\r\n var inputs = {\r\n //\r\n }\r\n\r\n var outputs = {\r\n reset: {\r\n type: 'packet',\r\n label: 'headless packet out',\r\n event: function() {\r\n var reset = [128]\r\n mods.output(mod, 'reset', reset)\r\n }\r\n }\r\n }\r\n\r\n var interface = function(div) {\r\n mod.div = div\r\n\r\n mod.resetButton = make_button_input(div, 'send')\r\n mod.resetButton.addEventListener('click', function() {\r\n outputs.reset.event()\r\n })\r\n }\r\n\r\n\r\n /*\r\n UI helpers\r\n */\r\n function make_text_input(div, name, size) {\r\n div.appendChild(document.createElement('br'))\r\n div.appendChild(document.createTextNode(name + ': '))\r\n var input = document.createElement('input')\r\n input.type = 'text'\r\n input.size = size\r\n div.appendChild(input)\r\n\r\n return input\r\n }\r\n\r\n function make_button_input(div, text) {\r\n div.appendChild(document.createElement('br'))\r\n var button = document.createElement('button')\r\n button.style.padding = mods.ui.padding\r\n button.style.margin = 1\r\n button.appendChild(document.createTextNode(text))\r\n div.appendChild(button)\r\n\r\n return button\r\n }\r\n\r\n function make_checkbox_input(div, prefix) {\r\n div.appendChild(document.createElement('br'))\r\n div.appendChild(document.createTextNode(prefix + ': '))\r\n var checkbox = document.createElement('input')\r\n checkbox.type = 'checkbox'\r\n div.appendChild(checkbox)\r\n\r\n return checkbox\r\n }\r\n\r\n function make_text_display(div, prefix) {\r\n div.appendChild(document.createElement('br'))\r\n div.appendChild(document.createTextNode(prefix + ': '))\r\n var span = document.createElement('span')\r\n span.innerHTML = ''\r\n div.appendChild(span)\r\n\r\n return span\r\n }\r\n\r\n return ({\r\n mod: mod,\r\n name: name,\r\n init: init,\r\n inputs: inputs,\r\n outputs: outputs,\r\n interface: interface\r\n })\r\n}())","top":"1675.4042290346147","left":"1129.7813578310218","inputs":{},"outputs":{}},"0.8760539425525505":{"definition":"//\n// gets lines of gcode, turns into instructions for mods-machines\n//\n// Neil Gershenfeld and Jake Read\n// (c) Massachusetts Institute of Technology 2018\n// \n// This work may be reproduced, modified, distributed, performed, and \n// displayed for any purpose, but must acknowledge the mods\n// project. Copyright is retained and must be preserved. The work is \n// provided as is; no warranty is provided, and users accept all \n// liability.\n\n/*\nstart / stop machine on given path, \nmanually turn spindle on / off etc\ndishes gcodes -> planner, spindle codes -> spindle \n*/\n\n//\n// closure\n//\n(function() {\n //\n // module globals\n //\n var mod = {}\n //\n // name\n //\n var name = 'machine controller'\n //\n // initialization\n //\n var init = function() {\n mod.jogStepSizeIn.value = '10'\n mod.jogSpeedIn.value = '100'\n }\n //\n // inputs\n //\n var inputs = {\n lineComplete: {\n type: 'event',\n label: 'line complete',\n event: function(evt) {\n onLineComplete()\n }\n }\n }\n //\n // outputs\n //\n var outputs = {\n singleInstruction: {\n type: 'object',\n label: 'instruction',\n event: function(obj) {\n mods.output(mod, 'singleInstruction', obj)\n }\n },\n lineAdvance: {\n type: 'event',\n label: 'line advance',\n event: function() {\n mods.output(mod, 'lineAdvance', true)\n }\n },\n sequenceControl: {\n type: 'integer',\n label: 'sequence control',\n event: function(int){\n mods.output(mod, 'sequenceControl', int)\n }\n }\n }\n //\n // interface\n //\n var interface = function(div) {\n mod.div = div\n //\n // inputs\n //\n\n // control buttons\n\n mod.jogStepSizeIn = make_text_input(div, 'jog increment size', 24)\n mod.jogSpeedIn = make_text_input(div, 'jog speed', 24)\n\n mod.jogXPButton = make_button_input(div, 'x+')\n mod.jogXPButton.addEventListener('click', function(evt) {\n jog('X', parseFloat(mod.jogStepSizeIn.value))\n })\n\n mod.jogXMButton = make_button_input(div, 'x-')\n mod.jogXMButton.addEventListener('click', function(evt) {\n jog('X', -parseFloat(mod.jogStepSizeIn.value))\n })\n\n mod.jogYPButton = make_button_input(div, 'y+')\n mod.jogYPButton.addEventListener('click', function(evt) {\n jog('Y', parseFloat(mod.jogStepSizeIn.value))\n })\n\n mod.jogYMButton = make_button_input(div, 'y-')\n mod.jogYMButton.addEventListener('click', function(evt) {\n jog('Y', -parseFloat(mod.jogStepSizeIn.value))\n })\n\n // sequence begin, stop \n\n mod.startSequenceButton = make_button_input(div, 'start sequence')\n mod.startSequenceButton.addEventListener('click', function(evt) {\n startSequence(32)\n })\n\n mod.pauseSequenceButton = make_button_input(div, 'pause sequence')\n mod.pauseSequenceButton.addEventListener('click', function(evt){\n pauseSequence()\n })\n }\n\n mod.isPaused = true\n\n function startSequence(windowsize) {\n outputs.sequenceControl.event(0)\n for(var i = 0; i < windowsize; i ++){\n outputs.lineAdvance.event()\n }\n mod.isPaused = false\n outputs.sequenceControl.event(1)\n }\n\n function pauseSequence(){\n outputs.sequenceControl.event(0)\n mod.isPaused = true\n }\n\n function onLineComplete() {\n if(mod.isPaused){\n //\n } else {\n outputs.lineAdvance.event()\n }\n }\n\n function jog(key, val) {\n var instruction = {}\n instruction.position = {}\n instruction.position[key] = val\n instruction.speed = mod.jogSpeedIn.value\n instruction.type = 'move'\n\n outputs.singleInstruction.event(instruction)\n outputs.sequenceControl.event(1)\n }\n\n\n /*\n UI helpers\n */\n function make_text_input(div, name, size) {\n div.appendChild(document.createElement('br'))\n div.appendChild(document.createTextNode(name + ': '))\n var input = document.createElement('input')\n input.type = 'text'\n input.size = size\n div.appendChild(input)\n\n return input\n }\n\n function make_button_input(div, text) {\n div.appendChild(document.createElement('br'))\n var button = document.createElement('button')\n button.style.padding = mods.ui.padding\n button.style.margin = 1\n button.appendChild(document.createTextNode(text))\n div.appendChild(button)\n\n return button\n }\n\n function make_checkbox_input(div, prefix) {\n div.appendChild(document.createElement('br'))\n div.appendChild(document.createTextNode(prefix + ': '))\n var checkbox = document.createElement('input')\n checkbox.type = 'checkbox'\n div.appendChild(checkbox)\n\n return checkbox\n }\n\n function make_text_display(div, prefix) {\n div.appendChild(document.createElement('br'))\n div.appendChild(document.createTextNode(prefix + ': '))\n var span = document.createElement('span')\n span.innerHTML = ''\n div.appendChild(span)\n\n return span\n }\n\n\n //\n // return values\n //\n return ({\n mod: mod,\n name: name,\n init: init,\n inputs: inputs,\n outputs: outputs,\n interface: interface\n })\n}())","top":"165.13595417545747","left":"356.0631935815046","inputs":{},"outputs":{}},"0.014676456915753922":{"definition":"//\r\n// converts toolpath objects into segments for accel planning\r\n//\r\n// Neil Gershenfeld and Jake Read\r\n// (c) Massachusetts Institute of Technology 2018\r\n//\r\n// This work may be reproduced, modified, distributed, performed, and\r\n// displayed for any purpose, but must acknowledge the mods\r\n// project. Copyright is retained and must be preserved. The work is\r\n// provided as is; no warranty is provided, and users accept all\r\n// liability.\r\n//\r\n// closure\r\n//\r\n(function() {\r\n //\r\n // module globals\r\n //\r\n var mod = {}\r\n //\r\n // name\r\n //\r\n var name = 'stepper'\r\n //\r\n // initialization\r\n //\r\n var init = function() {\r\n mod.stepper_axis_num_in.value = '0'\r\n mod.axis_num = 0\r\n mod.steps_per_mm_in.value = '80'\r\n mod.convert = 80\r\n mod.block = {\r\n accel: 50,\r\n cruise: 120,\r\n entry: 0,\r\n exit: 30,\r\n p1: [0, 0, 0],\r\n p2: [10, 10, 10]\r\n }\r\n }\r\n //\r\n // inputs\r\n //\r\n var inputs = {\r\n block: {\r\n type: 'object',\r\n label: 'block',\r\n event: function(evt) {\r\n mod.block = JSON.parse(JSON.stringify(evt.detail)) // dereference pls\r\n shipIt()\r\n }\r\n },\r\n ack: {\r\n type: 'packet',\r\n label: 'headless packet in',\r\n event: function(evt) {\r\n onAcknowledgement(evt.detail)\r\n }\r\n }\r\n }\r\n //\r\n // outputs\r\n //\r\n var outputs = {\r\n acknowledgement: {\r\n type: 'object',\r\n label: 'acknowledgement',\r\n event: function(obj) {\r\n mods.output(mod, 'acknowledgement', obj)\r\n }\r\n },\r\n packet: {\r\n type: 'packet',\r\n label: 'headless packet out',\r\n event: function() {\r\n //mods.output(mod, 'segments', null)\r\n }\r\n }\r\n }\r\n //\r\n // interface\r\n //\r\n var interface = function(div) {\r\n mod.div = div\r\n //\r\n // inputs\r\n //\r\n // settings\r\n // the axis to pull out of the block - index of posistions on p1, p2\r\n mod.stepper_axis_num_in = make_text_input(div, 'axis index', 12)\r\n mod.stepper_axis_num_in.addEventListener('change', function() {\r\n mod.axis_num = parseInt(mod.stepper_axis_num_in.value)\r\n })\r\n // steps per mm\r\n mod.steps_per_mm_in = make_text_input(div, 'steps per mm', 12)\r\n mod.steps_per_mm_in.addEventListener('change', function() {\r\n mod.covert = parseFloat(mod.steps_per_mm_in.value)\r\n })\r\n // reverse?\r\n mod.reverseCheck = make_checkbox_input(div, 'reversed')\r\n //\r\n // request to do the business\r\n //\r\n mod.send_button = make_button_input(div, 'send')\r\n mod.send_button.addEventListener('click', function() {\r\n shipIt()\r\n })\r\n }\r\n\r\n function cartesianDistance(p1, p2) {\r\n // takes p1, p2 to be arrays of same length\r\n // computes cartesian distance\r\n var sum = 0\r\n for (var i = 0; i < p1.length; i++) {\r\n sum += Math.pow((p1[i] - p2[i]), 2)\r\n }\r\n return Math.sqrt(sum)\r\n }\r\n\r\n function cartesianLength(v) {\r\n // length of vector\r\n var sum = 0\r\n for (var i = 0; i < v.length; i++) {\r\n sum += Math.pow(v[i], 2)\r\n }\r\n return Math.sqrt(sum)\r\n }\r\n\r\n function addMatrix(a, b, c) {\r\n // c = a + b\r\n a.forEach(function(item, index) {\r\n c[index] = b[index] + a[index]\r\n })\r\n }\r\n\r\n function subtractMatrix(a, b, c) {\r\n // c = a - b\r\n b.forEach(function(item, index) {\r\n c[index] = a[index] - b[index]\r\n })\r\n }\r\n\r\n function multiplyMatrix(a, scalar, b) {\r\n // b = a * scalar\r\n a.forEach(function(item, index) {\r\n b[index] = a[index] * scalar\r\n })\r\n }\r\n\r\n function multiply2dMatrix(a, scalar, b) {\r\n // b = a * scalar\r\n for (var i = 0; i < a.length; i++) {\r\n for (var j = 0; j < a[i].length; j++) {\r\n b[i][j] = a[i][j] * scalar;\r\n }\r\n }\r\n }\r\n\r\n function divideMatrix(a, scalar, b) {\r\n // b = a / scalar\r\n for (var i = 0; i < a.length; i++) {\r\n b[i] = a[i] / scalar\r\n }\r\n }\r\n\r\n function unitVector(p1, p2) {\r\n // returns new array, is unit vector of p2-p1\r\n var unit = new Array()\r\n subtractMatrix(p2, p1, unit)\r\n var length = cartesianLength(unit)\r\n divideMatrix(unit, length, unit)\r\n\r\n return unit\r\n }\r\n\r\n function dotProduct(a, b) {\r\n // returns a dot b\r\n var sum = 0;\r\n for (var i = 0; i < a.length; i++) {\r\n sum += a[i] * b[i]\r\n }\r\n\r\n return sum\r\n }\r\n\r\n function toFixedMatrix(a, digits) {\r\n var rounded = new Array()\r\n for (var i = 0; i < a.length; i++) {\r\n rounded[i] = a[i].toFixed(digits)\r\n }\r\n\r\n return rounded\r\n }\r\n\r\n /*\r\n now:\r\n\r\n start from segment and find a corner\r\n do planner\r\n\r\n */\r\n\r\n //\r\n // local functions\r\n //\r\n\r\n function onAcknowledgement(packet){\r\n if(packet[0] == 132){\r\n // wait move\r\n var ack = {}\r\n ack.axis = mod.axis_num\r\n ack.type = 'wait acknowledgement'\r\n outputs.acknowledgement.event(ack)\r\n } else if (packet[0] == 131){\r\n var ack = {}\r\n ack.axis = mod.axis_num \r\n ack.type = 'move acknowledgement'\r\n var steps = unpack32(packet, 1)\r\n ack.increment = steps / mod.convert\r\n outputs.acknowledgement.event(ack)\r\n } else {\r\n console.log('nonrecognized ack to stepper')\r\n }\r\n // check if was wait / was move, send response accordingly \r\n }\r\n\r\n function shipIt() {\r\n // sends integer values, I think we maintain positioning because we round before subtracting\r\n\r\n var trapezoid = calculateTrapezoid(mod.axis_num)\r\n if (trapezoid.length == 0) {\r\n var ok = 0\r\n var i = 0\r\n var waitTrap\r\n while (!ok && i < mod.block.p1.length) {\r\n waitTrap = calculateTrapezoid(i)\r\n if (waitTrap.delta != 0) {\r\n ok = 1\r\n } else {\r\n i++\r\n }\r\n }\r\n if (ok) {\r\n sendWait(waitTrap)\r\n } else {\r\n console.log('step zero packet, but no axis of nonzero length found', JSON.parse(JSON.stringify(mod.block)))\r\n }\r\n } else {\r\n sendTrapezoid(trapezoid)\r\n }\r\n }\r\n\r\n function calculateTrapezoid(axis) {\r\n // packet (per stepper block)\r\n // steps, entry, accel, accelLength, deccelLength\r\n // first we fill this with all of the info we'll use to calculated\r\n // the trapezoid in planner-space units, then we convert to steps last\r\n var trap = {}\r\n\r\n // lengths and positions for the move\r\n trap.x1 = mod.block.p1[axis]\r\n trap.x2 = mod.block.p2[axis]\r\n trap.delta = trap.x2 - trap.x1\r\n trap.length = Math.abs(trap.delta)\r\n\r\n // rates for the move\r\n var unit = unitVector(mod.block.p1, mod.block.p2)\r\n var relativeRate = Math.abs(unit[axis])\r\n trap.entry = mod.block.entry * relativeRate\r\n trap.accel = mod.block.accel * relativeRate\r\n trap.cruise = mod.block.cruise * relativeRate\r\n trap.exit = mod.block.exit * relativeRate\r\n\r\n // now accelLength and deccelLength\r\n // using the maximum deltaV for the move,\r\n // we'll figure out what type of move we have\r\n var maxExit = Math.sqrt(trap.entry * trap.entry + 2 * trap.accel * trap.length)\r\n var maxEntry = Math.sqrt(trap.exit * trap.entry + 2 * trap.accel * trap.length)\r\n\r\n // there are 7 possible profiles\r\n if (trap.length <= 0) {\r\n // console.log('zero length trap')\r\n } else if (maxExit <= trap.exit) {\r\n // full ramp-up: have to push iiit to get there\r\n //console.log('full rampup')\r\n trap.ramptype = 'rampup'\r\n trap.accelLength = trap.length\r\n trap.deccelLength = trap.length + mod.convert // never decel\r\n // for the wait function\r\n trap.vAvg = (trap.entry + trap.exit) / 2\r\n } else if (maxEntry <= trap.entry) {\r\n // full ramp-down: have to deccel all the way with this rate\r\n //console.log('full rampdown')\r\n trap.ramptype = 'rampdown'\r\n trap.deccelLength = 0 // start immmeeeeediately\r\n trap.accelLength = 0 // never accel\r\n // for the wait\r\n trap.vAvg = (trap.entry + trap.exit) / 2\r\n } else if (trap.cruise == trap.entry && trap.cruise == trap.exit) {\r\n // str8 relaxin, no maxin\r\n //console.log('full cruise')\r\n trap.ramptype = 'cruise'\r\n trap.accelLength = 0 // never accel\r\n trap.deccelLength = trap.length + mod.convert // never decel\r\n // wait\r\n trap.vAvg = trap.cruise\r\n } else if (trap.cruise == trap.entry) {\r\n // cruise, then deccel\r\n //console.log('cruise then deccel')\r\n // for how long do we have to decel? we have to have deltaV for\r\n trap.ramptype = 'cruiseDeccel'\r\n var deccelDistance = (trap.cruise * trap.cruise - trap.exit * trap.exit) / (2 * trap.accel)\r\n trap.deccelLength = trap.length - deccelDistance\r\n trap.accelLength = 0; // never accel\r\n // we really want speed by multiple times, and total distance we know, for vAvg\r\n var tSum = (trap.cruise - trap.exit) / trap.accel + trap.deccelLength / trap.cruise\r\n trap.vAvg = trap.length / tSum\r\n } else if (trap.cruise == trap.exit) {\r\n // accel, cruise? unless entry also cruise?\r\n //console.log('accel then cruise')\r\n trap.ramptype = 'cruiseAccel'\r\n trap.accelLength = (trap.cruise * trap.cruise - trap.entry * trap.entry) / (2 * trap.accel)\r\n trap.deccelLength = trap.length + 1; // and never deccel\r\n // wait \r\n var tSum = (trap.cruise - trap.entry) / trap.accel + (trap.delta - trap.accellength) / trap.cruise\r\n trap.vAvg = trap.length / tSum\r\n } else {\r\n // it's either a full trap, or a triangle\r\n var accelDistance = (trap.cruise * trap.cruise - trap.entry * trap.entry) / (2 * trap.accel)\r\n var deccelDistance = (trap.cruise * trap.cruise - trap.exit * trap.exit) / (2 * trap.accel)\r\n if ((accelDistance + deccelDistance) < trap.length) {\r\n //console.log('full trap')\r\n trap.ramptype = 'fullTrap'\r\n trap.accelLength = accelDistance\r\n trap.deccelLength = trap.length - deccelDistance\r\n // wait \r\n var tSum = (trap.cruise - trap.entry) / trap.accel + (trap.deccelLength - trap.accellength) / trap.cruise + (trap.cruise - trap.exit) / trap.accel\r\n trap.vAvg = trap.length / tSum\r\n } else {\r\n //console.log('triangle')\r\n trap.ramptype = 'triangle'\r\n // find intersection point\r\n var vPeak = Math.sqrt((2 * trap.accel * trap.length + Math.pow(trap.entry, 2) + Math.pow(trap.exit, 2)) / 2)\r\n //console.log('entry, peak, exit', trap.entry, vPeak, trap.exit)\r\n var midPoint = (vPeak * vPeak - trap.entry * trap.entry) / (2 * trap.accel)\r\n trap.accelLength = midPoint\r\n trap.deccelLength = midPoint\r\n var tSum = (vPeak - trap.entry) / trap.accel + (vPeak - trap.exit) / trap.accel\r\n trap.vAvg = trap.length / tSum\r\n }\r\n }\r\n\r\n return trap\r\n }\r\n\r\n function sendTrapezoid(trap) {\r\n //console.log('trapezoid', trapezoid)\r\n var stepwiseTrap = trapezoidToStepwise(trap);\r\n\r\n var packet = new Array();\r\n // first, the packet header: the route, ptr and end_addr delimiter\r\n // #define APA_END_ROUTE_DELIMITER 255\r\n // #define APA_ROUTE_POINTER 254\r\n // #define DELIM_KEY_TRAPEZOID 131 // is 32 bit int\r\n // #define DELIM_KEY_WAIT 132\r\n packet.push(131)\r\n // now we pack these values into UART-readable bytes\r\n // int32_t steps, uint32_t entryspeed, accel, accellength, decellength\r\n var steps;\r\n if(mod.reverseCheck.checked){\r\n steps = -stepwiseTrap.steps\r\n } else {\r\n steps = stepwiseTrap.steps\r\n }\r\n packet = packet.concat(pack32(steps))\r\n packet = packet.concat(pack32(stepwiseTrap.entry))\r\n packet = packet.concat(pack32(stepwiseTrap.accel))\r\n packet = packet.concat(pack32(stepwiseTrap.accelLength))\r\n packet = packet.concat(pack32(stepwiseTrap.deccelLength))\r\n // log this if you wish\r\n //console.log('packet from stepper', packet)\r\n // send it along!\r\n mods.output(mod, 'packet', packet)\r\n }\r\n\r\n function sendWait(trap) {\r\n var stepwiseTrap = trapezoidToStepwise(trap);\r\n var packet = new Array();\r\n // #define DELIM_KEY_WAIT 132\r\n packet.push(132)\r\n // now we pack these values into C-readable bytes\r\n // int32_t steps, uint32_t entryspeed, accel, accellength, decellength\r\n packet = packet.concat(pack32(stepwiseTrap.steps))\r\n packet = packet.concat(pack32(stepwiseTrap.entry))\r\n packet = packet.concat(pack32(stepwiseTrap.accel))\r\n packet = packet.concat(pack32(stepwiseTrap.accelLength))\r\n packet = packet.concat(pack32(stepwiseTrap.deccelLength))\r\n // send it along!\r\n //console.log('wait packet', packet)\r\n mods.output(mod, 'packet', packet)\r\n }\r\n\r\n function trapezoidToStepwise(trap) {\r\n var stepwise = {}\r\n // planner units -> steps\r\n stepwise.steps = Math.round(trap.delta * mod.convert)\r\n // planner units -> steps/min (for less integer error)\r\n stepwise.entry = Math.round(trap.entry * mod.convert)\r\n // planner units -> steps/min/s (a messed up unit, I know)\r\n stepwise.accel = Math.round(trap.accel * mod.convert)\r\n // planner units -> steps\r\n stepwise.accelLength = Math.round(trap.accelLength * mod.convert)\r\n stepwise.deccelLength = Math.round(trap.deccelLength * mod.convert)\r\n\r\n return stepwise\r\n }\r\n\r\n function trapezoidToStepWait(trap) {\r\n var stepWait = {}\r\n // planner units -> steps\r\n stepWait.steps = Math.round(trap.length * mod.convert)\r\n //\r\n stepWait.vAvg = Math.round(trap.vAvg * mod.convert)\r\n if(isNaN(stepWait.vAvg)){\r\n console.log('err on vAvg maths in stepper')\r\n stepWait.vAvg = 1000\r\n }\r\n\r\n return stepWait\r\n }\r\n\r\n function pack32(val) {\r\n var pack = new Array();\r\n pack[0] = (val >> 24) & 255;\r\n pack[1] = (val >> 16) & 255;\r\n pack[2] = (val >> 8) & 255;\r\n pack[3] = val & 255;\r\n\r\n return pack;\r\n }\r\n\r\n function unpack32(array, start){\r\n var unpack = array[start] << 24 | array[start + 1] << 16 | array[start + 2] << 8 | array[start + 3]\r\n return unpack\r\n }\r\n\r\n\r\n /*\r\n UI helpers\r\n */\r\n function make_text_input(div, name, size) {\r\n div.appendChild(document.createElement('br'))\r\n div.appendChild(document.createTextNode(name + ': '))\r\n var input = document.createElement('input')\r\n input.type = 'text'\r\n input.size = size\r\n div.appendChild(input)\r\n\r\n return input\r\n }\r\n\r\n function make_button_input(div, text) {\r\n div.appendChild(document.createElement('br'))\r\n var button = document.createElement('button')\r\n button.style.padding = mods.ui.padding\r\n button.style.margin = 1\r\n button.appendChild(document.createTextNode(text))\r\n div.appendChild(button)\r\n\r\n return button\r\n }\r\n\r\n function make_checkbox_input(div, prefix) {\r\n div.appendChild(document.createElement('br'))\r\n div.appendChild(document.createTextNode(prefix + ': '))\r\n var checkbox = document.createElement('input')\r\n checkbox.type = 'checkbox'\r\n div.appendChild(checkbox)\r\n\r\n return checkbox\r\n }\r\n\r\n function make_text_display(div, prefix) {\r\n div.appendChild(document.createElement('br'))\r\n div.appendChild(document.createTextNode(prefix + ': '))\r\n var span = document.createElement('span')\r\n span.innerHTML = ''\r\n div.appendChild(span)\r\n\r\n return span\r\n }\r\n\r\n\r\n //\r\n // return values\r\n //\r\n return ({\r\n mod: mod,\r\n name: name,\r\n init: init,\r\n inputs: inputs,\r\n outputs: outputs,\r\n interface: interface\r\n })\r\n}())","top":"1128.344212761479","left":"1597.0739725325982","inputs":{},"outputs":{}},"0.14166905728661427":{"definition":"//\r\n// event sniffer\r\n//\r\n// Neil Gershenfeld and Jake Read\r\n// (c) Massachusetts Institute of Technology 2018\r\n// \r\n// This work may be reproduced, modified, distributed, performed, and \r\n// displayed for any purpose, but must acknowledge the mods\r\n// project. Copyright is retained and must be preserved. The work is \r\n// provided as is; no warranty is provided, and users accept all \r\n// liability.\r\n//\r\n// closure\r\n//\r\n(function() {\r\n // globals\r\n var mod = {}\r\n\r\n // name\r\n var name = 'event logger'\r\n\r\n var init = function() {\r\n mod.identifier.value = 'logger'\r\n }\r\n\r\n var inputs = {\r\n event: {\r\n type: 'any',\r\n event: function(evt) {\r\n console.log(mod.identifier.value, ': ', JSON.parse(JSON.stringify(evt.detail)))\r\n }\r\n }\r\n }\r\n\r\n var outputs = {}\r\n\r\n var interface = function(div) {\r\n mod.div = div\r\n\r\n mod.identifier = make_text_input(div, 'identifier', 8)\r\n }\r\n\r\n\r\n /*\r\n UI helpers\r\n */\r\n function make_text_input(div, name, size) {\r\n div.appendChild(document.createElement('br'))\r\n div.appendChild(document.createTextNode(name + ': '))\r\n var input = document.createElement('input')\r\n input.type = 'text'\r\n input.size = size\r\n div.appendChild(input)\r\n\r\n return input\r\n }\r\n\r\n function make_button_input(div, text) {\r\n div.appendChild(document.createElement('br'))\r\n var button = document.createElement('button')\r\n button.style.padding = mods.ui.padding\r\n button.style.margin = 1\r\n button.appendChild(document.createTextNode(text))\r\n div.appendChild(button)\r\n\r\n return button\r\n }\r\n\r\n function make_checkbox_input(div, prefix) {\r\n div.appendChild(document.createElement('br'))\r\n div.appendChild(document.createTextNode(prefix + ': '))\r\n var checkbox = document.createElement('input')\r\n checkbox.type = 'checkbox'\r\n div.appendChild(checkbox)\r\n\r\n return checkbox\r\n }\r\n\r\n function make_text_display(div, prefix) {\r\n div.appendChild(document.createElement('br'))\r\n div.appendChild(document.createTextNode(prefix + ': '))\r\n var span = document.createElement('span')\r\n span.innerHTML = ''\r\n div.appendChild(span)\r\n\r\n return span\r\n }\r\n\r\n return ({\r\n mod: mod,\r\n name: name,\r\n init: init,\r\n inputs: inputs,\r\n outputs: outputs,\r\n interface: interface\r\n })\r\n}())","top":"507.5803043494294","left":"2055.6189647324964","inputs":{},"outputs":{}},"0.4370306155232835":{"definition":"//\n// converts toolpath objects into segments for accel planning\n//\n// Neil Gershenfeld and Jake Read\n// (c) Massachusetts Institute of Technology 2018\n//\n// This work may be reproduced, modified, distributed, performed, and\n// displayed for any purpose, but must acknowledge the mods\n// project. Copyright is retained and must be preserved. The work is\n// provided as is; no warranty is provided, and users accept all\n// liability.\n\n\n/*\neats objects like\nvar move = {\n position: {\n X: float\n Y: float\n Z: float\n A: float\n }\n rate: float\n}\n\noutputs:\nmotors\n'planner block consumed' event\n\n\n*/\n\n//\n// closure\n//\n(function() {\n //\n // module globals\n //\n var mod = {}\n //\n // name\n //\n var name = 'motion planner'\n //\n // initialization\n //\n var init = function() {\n mod.accelIn.value = '500'\n mod.junctionDeviationIn.value = '1'\n mod.minSpeedIn.value = '4'\n\n mod.axisIdentifiers.value = 'X,Y,Z'\n resetNetwork()\n\n mod.netWindowIn.value = '12'\n packetWindowSize = parseInt(mod.netWindowIn.value)\n\n mod.queueLengthDisplay.innerHTML = moveQue.length.toString()\n\n mod.netQueueDisplay.innerHTML = axisNetCounters.toString()\n }\n //\n // inputs\n //\n var inputs = {\n newMove: {\n type: 'object',\n label: 'move instruction',\n event: function(evt) {\n addToQueue(JSON.parse(JSON.stringify(evt.detail)))\n }\n },\n acknowledgement: {\n type: 'event',\n label: 'acknowledgement',\n event: function(evt) {\n onAcknowledgement(evt.detail)\n }\n },\n sequenceControl: {\n type: 'integer',\n label: 'sequence control',\n event: function(evt) {\n if (evt.detail == 1) {\n checkNetwork()\n }\n }\n }\n }\n //\n // outputs\n //\n var outputs = {\n plannedMove: {\n type: 'object',\n label: 'move instruction',\n event: function(block) {\n var deref = JSON.parse(JSON.stringify(block))\n mods.output(mod, 'plannedMove', deref)\n }\n },\n moveComplete: {\n type: 'event',\n label: 'move complete',\n event: function(evt) {\n mods.output(mod, 'moveComplete', 1)\n }\n }\n }\n //\n // interface\n //\n var interface = function(div) {\n mod.div = div\n //\n // inputs\n //\n // settings\n make_text_display(div, 'machine config')\n mod.axisIdentifiers = make_text_input(div, 'axis identifiers', 12)\n mod.axisIdentifiers.addEventListener('change', function() {\n resetNetwork()\n })\n div.appendChild(document.createElement('br'))\n\n make_text_display(div, 'planner settings')\n mod.accelIn = make_text_input(div, 'acceleration, units/s/s', 12)\n mod.junctionDeviationIn = make_text_input(div, 'junction deviation, units', 12)\n mod.minSpeedIn = make_text_input(div, 'minimum speed, units/s', 12)\n div.appendChild(document.createElement('br'))\n\n make_text_display(div, 'queuing settings')\n mod.queueLengthDisplay = make_text_display(div, 'instructions in queue')\n mod.resetQueueButton = make_button_input(div, 'reset queue')\n mod.resetQueueButton.addEventListener('click', function() {\n resetQueue()\n })\n div.appendChild(document.createElement('br'))\n\n mod.netWindowIn = make_text_input(div, 'network window size', 12)\n mod.netWindowIn.addEventListener('change', function() {\n packetWindowSize = parseInt(mod.netWindowIn.value)\n })\n mod.netQueueDisplay = make_text_display(div, 'instructions on network')\n mod.resetNetButton = make_button_input(div, 'reset network')\n mod.resetNetButton.addEventListener('click', function() {\n resetNetwork()\n })\n\n div.appendChild(document.createElement('br'))\n mod.netPositionDisplay = make_text_display(div, 'last position sent to network')\n mod.finalPositionDisplay = make_text_display(div, 'last position received on network')\n\n }\n\n // ---------------------------------------------------- THE BUSINESS\n\n // network state\n var packetWindowSize = 0\n var axisNetCounters = new Array()\n var lastPosToNet = new Array()\n var lastPosFromNet = new Array()\n\n\n function resetNetwork() {\n axisIds = mod.axisIdentifiers.value.split(',')\n for (var i = 0; i < axisIds.length; i++) {\n currentPosition[i] = 0\n axisNetCounters[i] = 0\n lastPosToNet[i] = 0\n lastPosFromNet[i] = 0\n }\n mod.netPositionDisplay.innerHTML = lastPosToNet.toString()\n mod.netQueueDisplay.innerHTML = axisNetCounters.toString()\n mod.finalPositionDisplay.innerHTML = lastPosFromNet.toString()\n }\n\n // IF entry / exit are null, do min speed \n\n function onAcknowledgement(obj) {\n axisNetCounters[obj.axis] --\n mod.netQueueDisplay.innerHTML = axisNetCounters.toString()\n if(obj.type == 'move acknowledgement'){\n //console.log('received pos', obj.increment, obj.axis)\n lastPosFromNet[obj.axis] += obj.increment\n var netRounded = new Array()\n for(var i = 0; i < lastPosFromNet.length; i ++){\n netRounded[i] = Math.round(lastPosFromNet[i] * 100) / 100\n }\n mod.finalPositionDisplay.innerHTML = netRounded.toString()\n }\n checkNetwork()\n }\n\n function checkNetwork() {\n // see windowed state and push more data out if need be\n // TODO here\n var ok = false\n for(var i = 0; i < axisNetCounters.length - 2; i ++){\n if(axisNetCounters[i] == axisNetCounters[i + 1]){\n ok = true\n } else {\n ok = false\n }\n }\n if(ok){\n var opening = packetWindowSize - axisNetCounters[0]\n if(opening > moveQue.length){\n opening = moveQue.length\n }\n for(var i = 0; i < opening; i++){\n //console.log('sending', i)\n sendMove()\n outputs.moveComplete.event()\n }\n }\n }\n\n function sendMove() {\n var lastPos = moveQue[0].p2\n outputs.plannedMove.event(moveQue.shift())\n mod.queueLengthDisplay.innerHTML = moveQue.length.toString()\n mod.netPositionDisplay.innerHTML = lastPos.toString()\n axisNetCounters.forEach(function(element, index){\n axisNetCounters[index] ++\n })\n mod.netQueueDisplay.innerHTML = axisNetCounters.toString()\n }\n\n\n // planner state and moves\n var axisIds = []\n var moveQue = [] // array of moves \n var currentPosition = []\n\n /*\n var segment = {\n p1: p1,\n p2: p2,\n cruise: cruise,\n entry: entry,\n exit: exit,\n }\n */\n\n function resetQueue() {\n moveQue.length = 0 // apparently this works\n mod.queueLengthDisplay.innerHTML = moveQue.length.toString()\n }\n\n function addToQueue(obj) {\n // add to the move queue \n var p1 = []\n var p2 = []\n if (moveQue.length == 0) {\n p1 = currentPosition\n } else {\n p1 = moveQue[moveQue.length - 1].p2\n }\n\n // TODO: abstract axis? ids -> p1, p2\n // find all letter-based and match to std array \n var keyset = new Array(axisIds.length)\n keyset.fill(0)\n\n for (key in obj.position) {\n for (axisId in axisIds) {\n if (key == axisIds[axisId]) {\n p2[axisId] = obj.position[key]\n keyset[axisId] = 1\n } else if (keyset[axisId] != 1) {\n p2[axisId] = p1[axisId]\n } else {\n // nothing\n }\n }\n }\n\n if (cartesianDistance(p1, p2) == 0) {\n // TODO: check for these when move is z- and have only xy actuators?\n console.log('planner throwing zero length vector')\n } else {\n var cruise = obj.speed\n\n var newMove = {\n p1: p1,\n p2: p2,\n cruise: cruise,\n entry: 0,\n exit: 0\n }\n\n // append the move to the queue \n moveQue.push(newMove)\n mod.queueLengthDisplay.innerHTML = moveQue.length.toString()\n\n // and then check to see if we are ready to pass anything to the motors\n runQue()\n }\n }\n\n //\n // local functions\n //\n function runQue() {\n // converting from mm/s or dpi (pixel units) to mm based units\n // https://github.com/grbl/grbl/blob/master/grbl/planner.c\n // https://onehossshay.wordpress.com/2011/09/24/improving_grbl_cornering_algorithm/\n /*\n first we walk the queue:\n going backwards, end at 0 speed exit\n - find junction speed (junction deviation) between this and previous block\n - this is entry speed, calculate trapezoid to exit speed\n next block\n - exit speed is recently calculated entry speed\n - do junction deviation, this is entry speed\n - calculate trapezoid\n .. why is this simpler? find entry and exit speed of each block,\n find accel limits per axis, do trapezoid with that accel\n */\n\n var jdsize = parseFloat(mod.junctionDeviationIn.value)\n var accel = parseFloat(mod.accelIn.value)\n // TODO: use these\n var minmin = parseFloat(mod.minSpeedIn.value)\n\n moveQue[moveQue.length - 1].exit = minmin // trailing edge always full stop\n\n for (var i = moveQue.length - 1; i > 0; i--) {\n // reverse pass\n // find junction deviation\n /*\n - really, could only do this once per segment when a new one is added\n - unitize entry and exit vectors\n - find cos(theta) = Ventry dot Vexit / (|Ventry| * |Vexit|) -> this is (1*1 bc unit)\n - find sin(theta/2) = sqrt((1-cos(theta))/2)\n - find r = j(sin(theta/2)/(1-sin(theta/2)))\n - find Fj = sqrt(Ac*r)\n - junction speed is min(Fj, min(entry,exit))\n */\n\n var v_entry = unitVector(moveQue[i - 1].p1, moveQue[i - 1].p2)\n var v_exit = unitVector(moveQue[i].p1, moveQue[i].p2)\n //console.log('unit entry, unit exit', toFixedMatrix(v_entry, 3), toFixedMatrix(v_exit, 3))\n // dot product / mag * mag where mags are 1 each bc unit\n var cos_theta = dotProduct(v_entry, v_exit) \n // catch corner cases (get it? - actually they are very straight cases, or very turnaround cases)\n if (cos_theta < -0.9999999999999) {\n cos_theta = -0.9999999999999\n } else if (cos_theta > 0.9999999999999) {\n cos_theta = 0.9999999999999\n }\n //console.log('cos_theta', cos_theta, Math.acos(cos_theta) * (180 / Math.PI))\n // for calculating the radius, below\n var sin_theta_overtwo = Math.sqrt((1 - cos_theta) / 2)\n //console.log('sin_theta_overtwo', sin_theta_overtwo)\n // size of the junction deviation curve\n var radius = jdsize * ((1 - sin_theta_overtwo) / sin_theta_overtwo)\n //console.log('radius', radius)\n // feed at the junction, according to supposed acceleration through the junction radius\n var fj = Math.sqrt(accel * radius)\n //console.log('fj', fj)\n // but don't go through the junction faster than we're cruising\n var feed_junction = Math.min(fj, moveQue[i].cruise, moveQue[i - 1].cruise)\n // and we never travel slower than the min speed \n //feed_junction = Math.max(feed_junction, minmin)\n //console.log('feed_junction', feed_junction)\n\n // ok we have the maximum feed at the preceeding junction\n // now: find the maximum entry speeds as if we spent the whole block decelerating\n\n // size of segment\n var distance = cartesianDistance(moveQue[i].p1, moveQue[i].p2)\n //console.log('distance', distance)\n var max_entry_speed = Math.sqrt(moveQue[i].exit * moveQue[i].exit + 2 * distance * accel)\n //console.log('max_entry_speed', max_entry_speed)\n var entry_speed = Math.min(max_entry_speed, feed_junction)\n max_entry_speed = Math.max(max_entry_speed, minmin)\n //console.log('entry_speed', entry_speed)\n moveQue[i].entry = entry_speed\n moveQue[i - 1].exit = entry_speed\n //console.log('segment:', moveQue[i])\n moveQue[i].accel = accel\n moveQue[i].distance = distance\n }\n\n // bad bad not very good implementation to start:\n //moveQue[0].entry = 0\n moveQue[0].accel = accel\n moveQue[0].distance = cartesianDistance(moveQue[0].p1, moveQue[0].p2)\n\n // forward pass to make sure we can accelerate to set exit speed in length\n for (var i = 0; i < moveQue.length - 1; i++) {\n var distance = moveQue[i].distance\n var max_exit_speed = Math.sqrt(moveQue[i].entry * moveQue[i].entry + 2 * distance * accel)\n max_exit_speed = Math.max(max_exit_speed, minmin)\n if (max_exit_speed < moveQue[i + 1].entry_speed) {\n moveQue[i + 1].entry = max_exit_speed\n moveQue[i].exit = max_exit_speed\n }\n if(moveQue[i].entry < minmin){\n moveQue[i].entry = minmin\n }\n if(moveQue[i].exit < minmin){\n moveQue[i].exit = minmin\n }\n if(moveQue[i].entry == null){\n console.log('null entry', moveQue[i])\n moveQue[i].entry = minmin\n }\n if(moveQue[i].exit == null){\n console.log('null exit', moveQue[i])\n moveQue[i].exit = minmin\n }\n }\n }\n\n // ---------------------------------------------------- UTILITIES\n\n function cartesianDistance(p1, p2) {\n // takes p1, p2 to be arrays of same length\n // computes cartesian distance\n var sum = 0\n for (var i = 0; i < p1.length; i++) {\n sum += Math.pow((p1[i] - p2[i]), 2)\n }\n return Math.sqrt(sum)\n }\n\n function cartesianLength(v) {\n // length of vector\n var sum = 0\n for (var i = 0; i < v.length; i++) {\n sum += Math.pow(v[i], 2)\n }\n return Math.sqrt(sum)\n }\n\n function addMatrix(a, b, c) {\n // c = a + b\n a.forEach(function(item, index) {\n c[index] = b[index] + a[index]\n })\n }\n\n function subtractMatrix(a, b, c) {\n // c = a - b\n b.forEach(function(item, index) {\n c[index] = a[index] - b[index]\n })\n }\n\n function multiplyMatrix(a, scalar, b) {\n // b = a * scalar\n a.forEach(function(item, index) {\n b[index] = a[index] * scalar\n })\n }\n\n function multiply2dMatrix(a, scalar, b) {\n // b = a * scalar\n for (var i = 0; i < a.length; i++) {\n for (var j = 0; j < a[i].length; j++) {\n b[i][j] = a[i][j] * scalar;\n }\n }\n }\n\n function divideMatrix(a, scalar, b) {\n // b = a / scalar\n for (var i = 0; i < a.length; i++) {\n b[i] = a[i] / scalar\n }\n }\n\n function unitVector(p1, p2) {\n // returns new array, is unit vector of p2-p1\n var unit = new Array()\n subtractMatrix(p2, p1, unit)\n var length = cartesianLength(unit)\n divideMatrix(unit, length, unit)\n\n return unit\n }\n\n function dotProduct(a, b) {\n // returns a dot b\n var sum = 0;\n for (var i = 0; i < a.length; i++) {\n sum += a[i] * b[i]\n }\n\n return sum\n }\n\n function toFixedMatrix(a, digits) {\n var rounded = new Array()\n for (var i = 0; i < a.length; i++) {\n rounded[i] = a[i].toFixed(digits)\n }\n\n return rounded\n }\n\n // ---------------------------------------------------- UI HELP\n\n function make_text_input(div, name, size) {\n div.appendChild(document.createElement('br'))\n div.appendChild(document.createTextNode(name + ': '))\n var input = document.createElement('input')\n input.type = 'text'\n input.size = size\n div.appendChild(input)\n\n return input\n }\n\n function make_button_input(div, text) {\n div.appendChild(document.createElement('br'))\n var button = document.createElement('button')\n button.style.padding = mods.ui.padding\n button.style.margin = 1\n button.appendChild(document.createTextNode(text))\n div.appendChild(button)\n\n return button\n }\n\n function make_checkbox_input(div, prefix) {\n div.appendChild(document.createElement('br'))\n div.appendChild(document.createTextNode(prefix + ': '))\n var checkbox = document.createElement('input')\n checkbox.type = 'checkbox'\n div.appendChild(checkbox)\n\n return checkbox\n }\n\n function make_text_display(div, prefix) {\n div.appendChild(document.createElement('br'))\n div.appendChild(document.createTextNode(prefix + ': '))\n var span = document.createElement('span')\n span.innerHTML = ''\n div.appendChild(span)\n\n return span\n }\n\n //\n // return values\n //\n return ({\n mod: mod,\n name: name,\n init: init,\n inputs: inputs,\n outputs: outputs,\n interface: interface\n 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\ No newline at end of file
--
GitLab