From d6dab2ac6f087eadaaa2098d11b8ab070f6c32be Mon Sep 17 00:00:00 2001
From: Jake <jake.read@cba.mit.edu>
Date: Sun, 9 Dec 2018 17:27:46 -0500
Subject: [PATCH] new basic for soma
---
README.md | 2 +
client/client.js | 7 +-
client/ui/threeCanvas.js | 6 +-
modules/hardware/atkmrobot.js | 7 ++
modules/robot/forwardTransform.js | 94 ++++----------------
modules/ui/threeCanvas.js | 2 +-
programs/temp.json | 140 +++++++++++++++++++++++++++---
src/jsunit.js | 4 +-
8 files changed, 162 insertions(+), 100 deletions(-)
diff --git a/README.md b/README.md
index d2f4db3..f0b96be 100644
--- a/README.md
+++ b/README.md
@@ -267,6 +267,8 @@ View.assignProgram(program)
## Immediately
+- saved program doesn't save state booleans
+
- ui objects ... refresh ... use state model ?
- ui objects client drop below inputs / outputs
diff --git a/client/client.js b/client/client.js
index 4ca0cd2..445c6a8 100644
--- a/client/client.js
+++ b/client/client.js
@@ -32,6 +32,7 @@ var wrapper = {}
var nav = {}
var verbose = false
+var verboseComs = false
/*
@@ -97,7 +98,7 @@ function socketSend(type, data) {
type: type,
data: data
}
- console.log('SEND', msg)
+ if(verboseComs) console.log('SEND', msg)
sckt.send(JSON.stringify(msg))
}
@@ -105,7 +106,7 @@ function socketRecv(evt) {
var recv = JSON.parse(evt.data)
var type = recv.type
var data = recv.data
- console.log('RECV', recv)
+ if(verboseComs) console.log('RECV', recv)
// tree banger
switch (type) {
case 'console':
@@ -233,7 +234,7 @@ function heapSendsStateChange(data) {
}
function heapSendsUiChange(data) {
- if (true) console.log('HEAP SENDS MSG TO UI ELEMENT IN MDL', data)
+ if (verbose) console.log('HEAP SENDS MSG TO UI ELEMENT IN MDL', data)
program.modules[data.id].ui[data.key].lump.onMessage(data.msg)
}
diff --git a/client/ui/threeCanvas.js b/client/ui/threeCanvas.js
index 06ce3fd..eed388c 100644
--- a/client/ui/threeCanvas.js
+++ b/client/ui/threeCanvas.js
@@ -8,21 +8,23 @@
var container = document.createElement('div')
var scene = new THREE.Scene()
scene.background = new THREE.Color(0xd6d6d6)
- var camera = new THREE.PerspectiveCamera(75, 1, 1, 1000)
+ var camera = new THREE.PerspectiveCamera(75, 1, 0.1, 1000)
camera.up.set(0, 0, 1)
var renderer = new THREE.WebGLRenderer()
renderer.setSize(396, 396)
container.appendChild(renderer.domElement)
// axes
- var axesHelper = new THREE.AxesHelper(1)
+ var axesHelper = new THREE.AxesHelper(0.1)
scene.add(axesHelper)
// grid
+ /*
var gridHelper = new THREE.GridHelper(10, 100)
gridHelper.translateOnAxis(new THREE.Vector3(0, 0, 1), -0.01)
gridHelper.rotateX(-Math.PI / 2)
scene.add(gridHelper)
+ */
// one line
var material = new THREE.LineBasicMaterial({ color: 0x00ffff })
diff --git a/modules/hardware/atkmrobot.js b/modules/hardware/atkmrobot.js
index e9fc749..eae2766 100644
--- a/modules/hardware/atkmrobot.js
+++ b/modules/hardware/atkmrobot.js
@@ -47,6 +47,8 @@ function ATKMathRobot() {
state.message = 'no packet yet'
state.enc_cnt = 16384
+ state.enc_offset = 0
+ state.enc_reverse = false
state.pc_t = 2048
state.onUiChange('pc_t', onPositionTargetUserChange)
@@ -92,6 +94,11 @@ function ATKMathRobot() {
atkmr.route.subscribe(145, function(msg){
var pos = PCKT.unPack32(msg.slice(1))
+ if(state.enc_reverse){
+ pos = state.enc_cnt - pos
+ }
+ pos += state.enc_offset
+ pos %= state.enc_cnt
var rads = 2*Math.PI * (pos / state.enc_cnt)
atkmr.outputs.pos.emit(rads)
})
diff --git a/modules/robot/forwardTransform.js b/modules/robot/forwardTransform.js
index 0c6539f..22280b4 100644
--- a/modules/robot/forwardTransform.js
+++ b/modules/robot/forwardTransform.js
@@ -9,8 +9,6 @@ let State = JSUnit.State
function forwardTransform() {
var theta1 = 0
var theta2 = 0
- var l1 = 0
- var l2 = 0
var forwardTransform = {
description: {
@@ -25,9 +23,9 @@ function forwardTransform() {
// one caveat here is that we can't dynamically add objects to this,
// or they don't get getter / settered when we do
forwardTransform.state = State()
- // forwardTransform.state.mode = 'G0'
- // forwardTransform.state.G0 = 1200
- // forwardTransform.state.G1 = 400
+ var state = forwardTransform.state
+ state.l1 = 0.4
+ state.l2 = 0.2
forwardTransform.inputs = {
theta1: Input('any', intakeTheta1),
@@ -37,11 +35,9 @@ function forwardTransform() {
}
forwardTransform.outputs = {
- originpt: Output('tuple?'),
- jointpt: Output('tuple?'),
- touchpt: Output('tuple?')
- // instructionOut: Output('move instruction'),
- // modeChange: Output('string')
+ originpt: Output('array'),
+ jointpt: Output('array'),
+ touchpt: Output('array')
}
function intakeTheta1(num){
@@ -63,97 +59,37 @@ function forwardTransform() {
}
function intakeL1(num){
- l1 = num
+ state.l1 = num
var points = parseforwardTransform()
forwardTransform.outputs.originpt.emit(points.originpt)
forwardTransform.outputs.jointpt.emit(points.jointpt)
forwardTransform.outputs.touchpt.emit(points.touchpt)
- //console.log('l1 input')
+ //console.log('state.l1 input')
}
function intakeL2(num){
- l2 = num
+ state.l2 = num
var points = parseforwardTransform()
forwardTransform.outputs.originpt.emit(points.originpt)
forwardTransform.outputs.jointpt.emit(points.jointpt)
forwardTransform.outputs.touchpt.emit(points.touchpt)
- //console.log('l2 input')
+ //console.log('state.l2 input')
}
- // input functions
- /*
- function onLineIn(str){
- var instruction = parseforwardTransform(str)
- if (instruction.hasMove) {
- if(verbose) console.log('forwardTransform:', instruction)
- forwardTransform.outputs.instructionOut.emit(instruction)
- } else {
- if(verbose) console.log('forwardTransform:', forwardTransform.state.mode)
- forwardTransform.outputs.modeChange.emit(forwardTransform.state.mode)
- }
- }
- */
-
- /*
- // local functions
- function getKeyValues(str) {
- var kv = {}
- for (var i = 0; i < str.length; i++) {
- if (str[i].match('[A-Za-z]')) { // regex to match upper case letters
- var lastIndex = str.indexOf(' ', i)
- if (lastIndex < 0) {
- lastIndex = str.length
- }
- var key = str[i].toUpperCase()
- kv[key] = parseFloat(str.slice(i + 1, lastIndex))
- }
- }
- return kv
- }
- */
-
// TODO: test, can we link global vars to ui objects ...
// forwardTransform.ui.mode.value = var ? no bc set / get etc
// more like var = forwardTransform.ui.mode.value ? is this referential?
function parseforwardTransform() {
var points = {
- originpt: (0,0),
- jointpt: (0,0),
- touchpt: (0,0)
+ originpt: [0,0],
+ jointpt: [0,0],
+ touchpt: [0,0]
}
- points.jointpt = (l1*Math.cos(theta1), l1*Math.sin(theta1))
- points.touchpt = (l1*Math.cos(theta1)+l2*Math.cos(theta2), l1*Math.sin(theta1)+l2*Math.sin(theta2))
- /* var instruction = {
- position: {},
- hasMove: false,
- speed: 0
- }
-
- kv = getKeyValues(str)
- // track modality
- if (kv.G == 0 | kv.G == 1) {
- forwardTransform.state.mode = 'G' + kv.G.toString()
- } else if (kv.G != null) {
- // no arcs pls
- console.log('unfriendly forwardTransform mode!', kv)
- }
-
- for (key in kv) {
- if (key.match('[A-EX-Z]')) {
- instruction.position[key] = kv[key]
- instruction.hasMove = true
- } else if (key.match('[F]')) {
- // tricky / ugly: sets using the mode state string as object key
- forwardTransform.state[forwardTransform.state.mode] = kv.F
- }
- }
+ points.jointpt = [state.l1*Math.cos(theta1), state.l1*Math.sin(theta1)]
+ points.touchpt = [state.l1*Math.cos(theta1)+state.l2*Math.cos(theta2), state.l1*Math.sin(theta1)+state.l2*Math.sin(theta2)]
- instruction.speed = forwardTransform.state[forwardTransform.state.mode]
- // and this for help later?
- instruction.kv = kv
- */
return points
}
diff --git a/modules/ui/threeCanvas.js b/modules/ui/threeCanvas.js
index f898599..2ddd432 100644
--- a/modules/ui/threeCanvas.js
+++ b/modules/ui/threeCanvas.js
@@ -45,7 +45,7 @@ function PointOnCanvas() {
}
function onNewXY2(array){
- ui.threeCanvas.updateXY2f([array[0], 0, array[1]])
+ ui.threeCanvas.updateXY2([array[0], 0, array[1]])
}
function onUICallback(msg) {
diff --git a/programs/temp.json b/programs/temp.json
index 904ccd3..8305737 100644
--- a/programs/temp.json
+++ b/programs/temp.json
@@ -1,7 +1,7 @@
{
"description": {
"name": "new program",
- "counter": 14
+ "counter": 16
},
"modules": {
"SerialportATKLink-0": {
@@ -20,9 +20,9 @@
"inputs": {},
"outputs": {},
"state": {
- "portName": "---",
- "portStatus": "closed",
- "log": true
+ "portName": "COM18",
+ "portStatus": "open",
+ "log": false
},
"ui": {
"kickButton": {
@@ -69,6 +69,10 @@
{
"parentId": "gateCounter-9",
"key": "thru"
+ },
+ {
+ "parentId": "forwardTransform Parser-15",
+ "key": "theta1"
}
]
}
@@ -77,6 +81,8 @@
"message": "no packet yet",
"route": "0,0",
"enc_cnt": 16384,
+ "enc_offset": -6000,
+ "enc_reverse": false,
"pc_t": 2048,
"pKp": 4.5,
"pKi": 0,
@@ -100,8 +106,8 @@
"id": "atk-math-robot-joint-2",
"path": "./modules/hardware/atkmrobot.js",
"position": {
- "left": 600,
- "top": 450
+ "left": 604,
+ "top": 492
}
},
"inputs": {
@@ -130,6 +136,10 @@
{
"parentId": "logger-14",
"key": "thru"
+ },
+ {
+ "parentId": "forwardTransform Parser-15",
+ "key": "theta2"
}
]
}
@@ -138,6 +148,8 @@
"message": "no packet yet",
"route": "0,1",
"enc_cnt": 16384,
+ "enc_offset": 550,
+ "enc_reverse": true,
"pc_t": 2048,
"pKp": 4.5,
"pKi": 0,
@@ -289,7 +301,7 @@
},
"state": {
"prefix": "JTN1:",
- "message": "---"
+ "message": "2.9398741799828314"
},
"ui": {}
},
@@ -300,8 +312,8 @@
"id": "ThreeJS-Canvas-7",
"path": "./modules/ui/threeCanvas.js",
"position": {
- "left": 2263,
- "top": 326
+ "left": 1312,
+ "top": 133
}
},
"inputs": {
@@ -329,8 +341,8 @@
"id": "collector-8",
"path": "./modules/util/collector.js",
"position": {
- "left": 1728,
- "top": 1057
+ "left": 1649,
+ "top": 1157
}
},
"inputs": {
@@ -408,8 +420,8 @@
"id": "parallelContencator-11",
"path": "./modules/util/parallelContencator.js",
"position": {
- "left": 1232,
- "top": 1053
+ "left": 1193,
+ "top": 1147
}
},
"inputs": {
@@ -556,7 +568,107 @@
},
"state": {
"prefix": "JTN2:",
- "message": "---"
+ "message": "5.845233792238235"
+ },
+ "ui": {}
+ },
+ "forwardTransform Parser-15": {
+ "description": {
+ "name": "forwardTransform Parser",
+ "alt": "line of forwardTransform -> points",
+ "id": "forwardTransform Parser-15",
+ "path": "./modules/robot/forwardTransform.js",
+ "position": {
+ "left": 1323,
+ "top": 718
+ }
+ },
+ "inputs": {
+ "theta1": {
+ "accepts": "any"
+ },
+ "theta2": {
+ "accepts": "any"
+ },
+ "l1": {
+ "accepts": "any"
+ },
+ "l2": {
+ "accepts": "any"
+ }
+ },
+ "outputs": {
+ "originpt": {
+ "emits": "array",
+ "calls": []
+ },
+ "jointpt": {
+ "emits": "array",
+ "calls": [
+ {
+ "parentId": "ThreeJS-Canvas-7",
+ "key": "xy1"
+ }
+ ]
+ },
+ "touchpt": {
+ "emits": "array",
+ "calls": [
+ {
+ "parentId": "ThreeJS-Canvas-7",
+ "key": "xy2"
+ }
+ ]
+ }
+ },
+ "state": {
+ "l1": 0.4,
+ "l2": 0.2
+ },
+ "ui": {}
+ },
+ "leastSquares Parser-16": {
+ "description": {
+ "name": "leastSquares Parser",
+ "alt": "line of leastSquares -> l1 and l2 values",
+ "id": "leastSquares Parser-16",
+ "path": "./modules/robot/leastSquares.js",
+ "position": {
+ "left": 1823,
+ "top": 991
+ }
+ },
+ "inputs": {
+ "theta1s": {
+ "accepts": "any"
+ },
+ "theta2s": {
+ "accepts": "any"
+ }
+ },
+ "outputs": {
+ "l1": {
+ "emits": "num",
+ "calls": [
+ {
+ "parentId": "forwardTransform Parser-15",
+ "key": "l1"
+ }
+ ]
+ },
+ "l2": {
+ "emits": "num",
+ "calls": [
+ {
+ "parentId": "forwardTransform Parser-15",
+ "key": "l2"
+ }
+ ]
+ }
+ },
+ "state": {
+ "c": 1,
+ "d": -2
},
"ui": {}
}
diff --git a/src/jsunit.js b/src/jsunit.js
index 19fa14b..b24a02f 100644
--- a/src/jsunit.js
+++ b/src/jsunit.js
@@ -1,6 +1,8 @@
// event system to include type-checking etc
// dataflow types for javascript objects ...
+var verbose = false
+
function Input(type, fn) {
var input = {
accepts: type,
@@ -58,7 +60,7 @@ function Output(type) {
output.emit = function(data) {
if (this.calls.length == 0) {
- console.log('no inputs bound to this output')
+ if(verbose) console.log('no inputs bound to this output')
} else {
for (index in this.calls) {
this.calls[index].fn(JSON.parse(JSON.stringify(data)))
--
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