From 2cfe59596cfa8250e21fadf55839fae0b1781841 Mon Sep 17 00:00:00 2001
From: Jake <jake.read@cba.mit.edu>
Date: Fri, 7 Dec 2018 12:24:28 -0500
Subject: [PATCH] ok flow ready to poll robot
---
README.md | 2 +
modules/hardware/atkmrobot.js | 17 +++++++--
modules/util/gate.js | 3 +-
programs.js | 13 ++++++-
robot.js | 69 +++++++++++++++++++++++++++++++++++
rundmc.js | 18 ---------
6 files changed, 97 insertions(+), 25 deletions(-)
create mode 100644 robot.js
diff --git a/README.md b/README.md
index 3d7f6d7..509b6be 100644
--- a/README.md
+++ b/README.md
@@ -272,6 +272,8 @@ View.assignProgram(program)
- ui / button
+- svg doesn't display on chrome
+
- would like to send board with new buck out to fab
- just do stepper23, bc if that's it, that's it ?
diff --git a/modules/hardware/atkmrobot.js b/modules/hardware/atkmrobot.js
index fb7a9cb..c44a8dd 100644
--- a/modules/hardware/atkmrobot.js
+++ b/modules/hardware/atkmrobot.js
@@ -34,10 +34,12 @@ function ATKMathRobot() {
// inputs and outputs as usual
atkmr.inputs = {
tick: Input('event', onPositionTickTock),
- pc_t: Input('number', onPositionTargetInput)
+ set_pc_t: Input('number', onPositionTargetInput),
+ get_pos: Input('event', onPositionRequest)
}
atkmr.outputs = {
- ok: Output('nothing-yet')
+ ok: Output('nothing-yet'),
+ pos: Output('uint16_t')
}
// and state as well
@@ -81,6 +83,15 @@ function ATKMathRobot() {
console.log("INPUTS NOT YET BOUND", evt)
}
+ function onPositionRequest(evt){
+ var pckt = [145]
+ atkmr.route.send(pckt)
+ }
+
+ atkmr.route.subscribe(145, function(msg){
+ console.log('145 return', msg)
+ })
+
function onPositionTargetUserChange() {
var pc_t = state.pc_t
if (pc_t > 16384) {
@@ -112,8 +123,6 @@ function ATKMathRobot() {
state.message = 'packet ok'
})
- atkmr.go = onKValsUpdate
-
return atkmr
}
diff --git a/modules/util/gate.js b/modules/util/gate.js
index a26b843..7378615 100644
--- a/modules/util/gate.js
+++ b/modules/util/gate.js
@@ -45,14 +45,13 @@ function Gate() {
function onButtonPress(evt) {
console.log("GATE BUTTON")
- state.toggle.isPressed = false
if (gate.isOpen) {
gate.isOpen = false
state.message = 'closed'
} else {
gate.isOpen = true
state.message = 'open'
- gate.outputs.out.emit('go')
+ //gate.outputs.out.emit('go')
}
}
diff --git a/programs.js b/programs.js
index 11d0887..fef3606 100644
--- a/programs.js
+++ b/programs.js
@@ -295,11 +295,22 @@ function openProgram(path) {
return program
}
+/* helper functions */
+
+function SetUI(module, left, top){
+ if (module.description.position == null) {
+ module.description.position = {}
+ }
+ module.description.position.left = left
+ module.description.position.top = top
+}
+
module.exports = {
new: newProgram,
open: openProgram,
save: saveProgram,
loadModuleFromSource: loadModuleFromSource,
removeModule: removeModuleFromProgram,
- assignSocket: assignSocket
+ assignSocket: assignSocket,
+ setUI: SetUI
}
\ No newline at end of file
diff --git a/robot.js b/robot.js
new file mode 100644
index 0000000..e587503
--- /dev/null
+++ b/robot.js
@@ -0,0 +1,69 @@
+
+// business
+const Reps = require('./reps.js')
+const Programs = require('./programs.js')
+
+// the program object: real simple, just has a description, and a 'modules'
+var program = Programs.new('new program')
+
+var link = Programs.loadModuleFromSource(program, './modules/hardware/atkseriallink.js')
+link.startUp()
+Programs.setUI(link, 1050, 50)
+
+var mrbot = Programs.loadModuleFromSource(program, './modules/hardware/atkmrobot.js')
+Programs.setUI(mrbot, 600, 50)
+
+var button = Programs.loadModuleFromSource(program, './modules/ui/button.js')
+var delay = Programs.loadModuleFromSource(program, './modules/util/delay.js')
+var gate = Programs.loadModuleFromSource(program, './modules/util/gate.js')
+//delay.outputs.out.attach(gate.inputs.thru)
+//gate.outputs.out.attach(delay.inputs.thru)
+Programs.setUI(button, 90, 50)
+Programs.setUI(delay, 90, 250)
+Programs.setUI(gate, 90, 400)
+
+button.outputs.whammy.attach(mrbot.inputs.get_pos)
+button.outputs.whammy.attach(delay.inputs.thru)
+delay.outputs.out.attach(gate.inputs.thru)
+gate.outputs.out.attach(button.inputs.thru)
+
+var log = Programs.loadModuleFromSource(program, './modules/util/log.js')
+Programs.setUI(log, 840, 520)
+mrbot.outputs.pos.attach(log.inputs.thru)
+
+/*
+var stest = Programs.loadModuleFromSource(program, './modules/ui/stest.js')
+
+var rep = Reps.makeFromModule(stest)
+console.log('rep', rep)
+
+/* example program-like-an-api
+// load some modules
+var multiline = Programs.loadModuleFromSource(program, './modules/ui/multiline.js')
+var gcode = Programs.loadModuleFromSource(program, './modules/parsing/gcode.js')
+
+// attaching: always like outputs to inputs
+multiline.outputs.lineOut.attach(gcode.inputs.lineIn)
+
+// we can move things around here as well
+multiline.description.position = {
+ left: 50,
+ top: 50
+}
+
+gcode.description.position = {
+ left: 500,
+ top: 100
+}
+
+// if I have a public function in a module, I can also use that
+multiline.load('./files/dogbone.gcode')
+*/
+
+// UI
+const View = require('./views.js')
+View.startHttp()
+View.startWs()
+
+Programs.assignSocket(View.uiSocket)
+View.assignProgram(program)
\ No newline at end of file
diff --git a/rundmc.js b/rundmc.js
index e1d6cbf..0e9922f 100644
--- a/rundmc.js
+++ b/rundmc.js
@@ -31,24 +31,6 @@ const Programs = require('./programs.js')
// the program object: real simple, just has a description, and a 'modules'
var program = Programs.new('new program')
-var link = Programs.loadModuleFromSource(program, './modules/hardware/atkseriallink.js')
-link.startUp()
-
-link.description.position = {
- left: 600,
- top: 50
-}
-
-var mrbot = Programs.loadModuleFromSource(program, './modules/hardware/atkmrobot.js')
-
-mrbot.description.position = {
- left: 20,
- top: 50
-}
-
-mrbot.go()
-
-
/*
var stest = Programs.loadModuleFromSource(program, './modules/ui/stest.js')
--
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