diff --git a/client/client.js b/client/client.js
index 75985c285ec3b12f9b62b396ea8e87353cd5960f..06078eef2c618c94a8d7a3649bdf9770e333a676 100644
--- a/client/client.js
+++ b/client/client.js
@@ -316,8 +316,8 @@ function redrawLinks() {
svg.removeChild(svg.firstChild)
}
// draw origin
- var og1 = newLine(20, 30, 40, 30, 3, false)
- var og2 = newLine(30, 20, 30, 40, 3, false)
+ var og1 = newLine(-20, 0, 20, 0, 3, false)
+ var og2 = newLine(0, -20, 0, 20, 3, false)
// find that link
var lnkPt
var nLnk = 0
diff --git a/client/index.html b/client/index.html
index 813bbb18924f601da18a8212991e02c52f182fca..3743ec9f97be8d80e5690eeeaac28740c7ab511d 100644
--- a/client/index.html
+++ b/client/index.html
@@ -10,7 +10,8 @@
<script type="text/javascript" src="divtools.js"></script>
<script type="text/javascript" src="client.js"></script>
<div id = "nav">
- <p>'l' for load program, 's' for save program, right-click or 'm' for add module menu</p>
+ <a href = "https://gitlab.cba.mit.edu/jakeread/rndmc">RuNDMC</a> |
+ 'l' for load program, 's' for save program, right-click or 'm' for add module menu
</div>
</body>
diff --git a/client/style.css b/client/style.css
index a06a9b955ab4e0aa5ed53f1b5f82bdc473a98914..e6045c5d8b252eba98e3ce76eea2a4fe82d11779 100644
--- a/client/style.css
+++ b/client/style.css
@@ -97,6 +97,20 @@ textarea {
clear: both;
}
+#nav {
+ padding: 5px;
+ padding-right: 15px;
+ background-color: #303030;
+ color: #eee;
+ font-size: 15px;
+ position:absolute;
+ z-index: 1000;
+}
+
+#nav a{
+ color: #eee;
+}
+
ul {
list-style-type: none;
font-size: 15px;
@@ -142,8 +156,4 @@ li:active{
width: 80px;
padding: 3px;
background-color: #303030;
-}
-
-#nav {
- font-size: 15px;
}
\ No newline at end of file
diff --git a/modules/hardware/atkmrobot.js b/modules/hardware/atkmrobot.js
index f80497b6a078c43b35cc1deecc8fc3fa38236b01..fb7a9cbb65269e689c38af8b04aa01339827ee4e 100644
--- a/modules/hardware/atkmrobot.js
+++ b/modules/hardware/atkmrobot.js
@@ -8,9 +8,20 @@ let Button = JSUnit.Button
const Hardware = require('../../src/atkunit.js')
const PCKT = require('../../src/packets.js')
+// interface elements
+const JSUI = require('../../src/jsui.js')
+let UI = JSUI.UI
+
// a constructor, a fn, a javascript mess
function ATKMathRobot() {
+ // TODO:
+ // add small filter to PID / D-term
+ // add deadband option?
+ // do chart-tune
+ // tune ... and take video
+ // do three.js
+
// we make the module, starting from this base
// '0,1' is the route to our piece of hardware
// 'onPacket' is the function that will be called
@@ -22,6 +33,7 @@ function ATKMathRobot() {
// inputs and outputs as usual
atkmr.inputs = {
+ tick: Input('event', onPositionTickTock),
pc_t: Input('number', onPositionTargetInput)
}
atkmr.outputs = {
@@ -29,19 +41,43 @@ function ATKMathRobot() {
}
// and state as well
- var state = atkmr.state
+ var state = atkmr.state
state.message = 'no packet yet'
state.pc_t = 2048
state.onUiChange('pc_t', onPositionTargetUserChange)
state.walk = 1024
- state.tickButton = Button('Walk Value', onPositionTickTock)
+
+ state.pKp = 4.5
+ state.onUiChange('pKp', onKValsUpdate)
+ state.pKi = 0.0
+ state.onUiChange('pKi', onKValsUpdate)
+ state.pKd = 0.0
+ state.onUiChange('pKd', onKValsUpdate)
+ state.cKp = 4.0
+ state.onUiChange('cKp', onKValsUpdate)
+ state.cKi = 0.0
+ state.onUiChange('cKi', onKValsUpdate)
+
+ atkmr.ui = UI()
+ var ui = atkmr.ui
+ ui.addElement('walkValButton', './ui/uiButton.js', onPositionTickTock)
+ ui.walkValButton.onload = function() {
+ ui.walkValButton.setText('walk value')
+ }
// to send things down the well, we can use
// atkmr.route.send(packet)
// where packet is a byte array
- function onPositionTargetInput(evt){
+ function onKValsUpdate() {
+ var pckt = [144]
+ pckt = pckt.concat(PCKT.packFloatTo32(state.pKp, true), PCKT.packFloatTo32(state.pKi), PCKT.packFloatTo32(state.pKd), PCKT.packFloatTo32(state.cKp), PCKT.packFloatTo32(state.cKi))
+ console.log('pckt like', pckt)
+ atkmr.route.send(pckt)
+ }
+
+ function onPositionTargetInput(evt) {
console.log("INPUTS NOT YET BOUND", evt)
}
@@ -60,11 +96,11 @@ function ATKMathRobot() {
atkmr.route.send(pc_tpack)
}
- function onPositionTickTock(){
+ function onPositionTickTock() {
var pc_t = state.pc_t
pc_t += state.walk
pc_t %= 16384
- state.pc_t = pc_t
+ state.pc_t = pc_t
onPositionTargetUserChange()
}
@@ -72,10 +108,12 @@ function ATKMathRobot() {
// subscribe, where 141 (here) is the 'key'
// we're looking for on the network, and the
// msg is byte array we'll get back
- atkmr.route.subscribe(143, function(msg){
+ atkmr.route.subscribe(143, function(msg) {
state.message = 'packet ok'
})
+ atkmr.go = onKValsUpdate
+
return atkmr
}
diff --git a/modules/hardware/atkseriallink.js b/modules/hardware/atkseriallink.js
index 4c637fe583a62452341f9ed79ab20cb51392a69f..5cbabb184af5137ad9eb457f5c73b6655945e86d 100644
--- a/modules/hardware/atkseriallink.js
+++ b/modules/hardware/atkseriallink.js
@@ -242,6 +242,10 @@ function ATKSerialLink() {
// console.log('shifted', pckt)
}
+ // make program-available
+
+ atkSerialLink.startUp = findSerialPort
+
return atkSerialLink
}
diff --git a/rundmc.js b/rundmc.js
index 0e9922f09af5127ece32d54ec1151574bb0d99b2..e1d6cbf4a7529904512b40efe19ca12d4a9767f0 100644
--- a/rundmc.js
+++ b/rundmc.js
@@ -31,6 +31,24 @@ 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')
diff --git a/src/jsunit.js b/src/jsunit.js
index f1e4f2d8b272733440a7d3baec345e817c25f766..19fa14b105c622132e5faa5fd72a5a5112100a7a 100644
--- a/src/jsunit.js
+++ b/src/jsunit.js
@@ -88,7 +88,7 @@ function State() {
}
state.pushToUI = function(key) {
- if (this.socket) {
+ if (this.socket.send != null) {
var data = {
id: this.parentId,
key: key,
diff --git a/src/packets.js b/src/packets.js
index ad63359112614e31333d930278a84e9f2ee26a45..53d3a22df303f5d55a3aa1aca43ede2f96135350 100644
--- a/src/packets.js
+++ b/src/packets.js
@@ -15,10 +15,34 @@ function unPack32(arr){
} else {
console.log("ERR: arr > 4 at unPack32", arr)
}
-
+}
+
+function packFloatTo32(val, debug){
+ // https://www.h-schmidt.net/FloatConverter/IEEE754.html
+ var f = new Float32Array(1)
+ f[0] = val
+ var view = new Uint8Array(f.buffer)
+ if(debug) printViewBytes(view)
+ var pack = new Array()
+ pack[0] = view[3]
+ pack[1] = view[2]
+ pack[2] = view[1]
+ pack[3] = view[0]
+ return pack
+}
+
+function printViewBytes(view){
+ for(i = view.length - 1; i >= 0; i --){
+ var bits = view[i].toString(2)
+ if(bits.length < 8){
+ bits = new Array(8 - bits.length).fill('0').join('') + bits
+ }
+ console.log(bits)
+ }
}
module.exports = {
pack32: pack32,
- unPack32: unPack32
+ unPack32: unPack32,
+ packFloatTo32: packFloatTo32
}
\ No newline at end of file