From 38a5c2a2ab758b87566d66416d94720dfbe9072b Mon Sep 17 00:00:00 2001
From: Jake <jake.read@cba.mit.edu>
Date: Fri, 7 Dec 2018 14:16:42 -0500
Subject: [PATCH] ok radians conversion
---
modules/hardware/atkmrobot.js | 8 ++++++--
modules/hardware/atkseriallink.js | 7 ++++---
robot.js | 2 ++
views.js | 5 +++--
4 files changed, 15 insertions(+), 7 deletions(-)
diff --git a/modules/hardware/atkmrobot.js b/modules/hardware/atkmrobot.js
index c44a8dd..e9fc749 100644
--- a/modules/hardware/atkmrobot.js
+++ b/modules/hardware/atkmrobot.js
@@ -46,9 +46,9 @@ function ATKMathRobot() {
var state = atkmr.state
state.message = 'no packet yet'
+ state.enc_cnt = 16384
state.pc_t = 2048
state.onUiChange('pc_t', onPositionTargetUserChange)
- state.walk = 1024
state.pKp = 4.5
state.onUiChange('pKp', onKValsUpdate)
@@ -61,6 +61,8 @@ function ATKMathRobot() {
state.cKi = 0.0
state.onUiChange('cKi', onKValsUpdate)
+ state.walk = 1024
+
atkmr.ui = UI()
var ui = atkmr.ui
ui.addElement('walkValButton', './ui/uiButton.js', onPositionTickTock)
@@ -89,7 +91,9 @@ function ATKMathRobot() {
}
atkmr.route.subscribe(145, function(msg){
- console.log('145 return', msg)
+ var pos = PCKT.unPack32(msg.slice(1))
+ var rads = 2*Math.PI * (pos / state.enc_cnt)
+ atkmr.outputs.pos.emit(rads)
})
function onPositionTargetUserChange() {
diff --git a/modules/hardware/atkseriallink.js b/modules/hardware/atkseriallink.js
index 5cbabb1..dd541a5 100644
--- a/modules/hardware/atkseriallink.js
+++ b/modules/hardware/atkseriallink.js
@@ -29,6 +29,7 @@ function ATKSerialLink() {
state.portName = '---'
state.portStatus = 'closed' // or we hope it will be
+ state.log = true
atkSerialLink.ui = UI()
var ui = atkSerialLink.ui
@@ -117,12 +118,12 @@ function ATKSerialLink() {
pckt = literalRoute.concat(pckt) // add route
pckt.unshift(pckt.length + 1) // add length byte
if (writeToSerialPort(pckt)) {
- console.log('PCKT OUT >>', pckt.toString(), '---------------')
+ if(state.log) console.log('PCKT OUT >>', pckt.toString(), '---------------')
} else {
// try to open ?
openSerialPort()
if (writeToSerialPort(pckt)) {
- console.log('PCKT OOT >>', pckt.toString())
+ if(state.log) console.log('PCKT OOT >>', pckt.toString())
} else {
console.log('LINK ERR: attempt to send to hardware, port not writable')
}
@@ -198,7 +199,7 @@ function ATKSerialLink() {
// we're the last link, shift that pointer
shiftPacketPointer(pckt)
// log it
- console.log('PCKT IN <<', pckt.toString(), '-----------------------')
+ if(state.log) console.log('PCKT IN <<', pckt.toString(), '-----------------------')
// grab the routing header
var incomingRoute = pckt.slice(2, pckt.indexOf(255))
// flip to match outgoing
diff --git a/robot.js b/robot.js
index e587503..b088263 100644
--- a/robot.js
+++ b/robot.js
@@ -8,6 +8,7 @@ var program = Programs.new('new program')
var link = Programs.loadModuleFromSource(program, './modules/hardware/atkseriallink.js')
link.startUp()
+link.state.log = false
Programs.setUI(link, 1050, 50)
var mrbot = Programs.loadModuleFromSource(program, './modules/hardware/atkmrobot.js')
@@ -28,6 +29,7 @@ delay.outputs.out.attach(gate.inputs.thru)
gate.outputs.out.attach(button.inputs.thru)
var log = Programs.loadModuleFromSource(program, './modules/util/log.js')
+log.state.prefix = "jnt1:"
Programs.setUI(log, 840, 520)
mrbot.outputs.pos.attach(log.inputs.thru)
diff --git a/views.js b/views.js
index a413d75..962976c 100644
--- a/views.js
+++ b/views.js
@@ -19,6 +19,7 @@ SERVER AND WS SETUP --------------------------------------------------
var program = null
var sckt = null
+var verbose = false
function startHttp() {
// serving this handful of static files
@@ -291,13 +292,13 @@ function uiRequestLinkChange(data) {
}
function uiRequestUiChange(data){
- console.log('UI PUSH UI DATA DOWN', data)
+ if(verbose) console.log('UI PUSH UI DATA DOWN', data)
var mdlUiElem = program.modules[data.id].ui[data.key]
mdlUiElem.onMessage(data.msg)
}
function uiRequestMdlPositionChange(data) {
- console.log('UI REQUEST ADD / CHANGE UI INFO TO MODULE', data)
+ if(verbose) console.log('UI REQUEST ADD / CHANGE UI INFO TO MODULE', data)
var mod = program.modules[data.description.id]
mod.description.position = data.description.position
}
--
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