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raytac-nrf-ftdi.ko
planner-pre 96.02 KiB
{"modules":{"0.9618637896479963":{"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 Z0. F120.\\n\\\r\nX3.744\\n\\\r\nX3.94 Y0.519\\n\\\r\nX4.127 Y0.576\\n\\\r\nX4.3 Y0.669\\n\\\r\nX4.452 Y0.793\\n\\\r\nX4.576 Y0.944\\n\\\r\nX4.668 Y1.117\\n\\\r\nX4.725 Y1.305\\n\\\r\nX4.744 Y1.5\\n\\\r\nY1.588\\n\\\r\nX4.725 Y1.783\\n\\\r\nX4.668 Y1.971\\n\\\r\nX4.576 Y2.144\\n\\\r\nX4.452 Y2.295\\n\\\r\nX4.3 Y2.42\\n\\\r\nX4.127 Y2.512\\n\\\r\nX3.94 Y2.569\\n\\\r\nX3.744 Y2.588\\n\\\r\nX-8.335\\n\\\r\nX-8.963 Y2.605\\n\\\r\nX-9.589 Y2.654\\n\\\r\nX-10.212 Y2.736\\n\\\r\nX-10.83 Y2.85\\n\\\r\nX-11.441 Y2.997\\n\\\r\nX-13.744 Y3.614\\n\\\r\nX-13.915 Y3.677\\n\\\r\nX-14.072 Y3.77\\n\\\r\nX-14.209 Y3.89\\n\\\r\nX-14.322 Y4.033\\n\\\r\nX-14.408 Y4.194\\n\\\r\nX-14.462 Y4.368\\n\\\r\nX-14.485 Y4.548\\n\\\r\nX-14.474 Y4.73\\n\\\r\nX-14.43 Y4.907\\n\\\r\nX-14.16 Y5.627\\n\\\r\nX-13.854 Y6.332\\n\\\r\nX-13.512 Y7.02\\n\\\r\nX-13.134 Y7.69\\n\\\r\nX-12.724 Y8.339\\n\\\r\nX-12.28 Y8.967\\n\\\r\nX-11.805 Y9.571\\n\\\r\nX-11.3 Y10.15\\n\\\r\nX-10.765 Y10.703\\n\\\r\nX-10.203 Y11.227\\n\\\r\nX-9.615 Y11.722\\n\\\r\nX-9.003 Y12.186\\n\\\r\nX-8.367 Y12.618\\n\\\r\nX-7.71 Y13.017\\n\\\r\nX-7.033 Y13.381\\n\\\r\nX-6.339 Y13.711\\n\\\r\nX-5.629 Y14.005\\n\\\r\nX-4.904 Y14.261\\n\\\r\nX-4.168 Y14.481\\n\\\r\nX-3.421 Y14.662\\n\\\r\nX-2.666 Y14.805\\n\\\r\nX-1.904 Y14.909\\n\\\r\nX-1.138 Y14.974\\n\\\r\nX-0.37 Y15.\\n\\\r\nX0.398 Y14.986\\n\\\r\nX1.165 Y14.933\\n\\\r\nX1.928 Y14.84\\n\\\r\nX2.685 Y14.709\\n\\\r\nX3.435 Y14.539\\n\\\r\nX4.175 Y14.331\\n\\\r\nX4.903 Y14.085\\n\\\r\nX5.618 Y13.802\\n\\\r\nX6.317 Y13.483\\n\\\r\nX6.999 Y13.129\\n\\\r\nX7.662 Y12.74\\n\\\r\nX8.304 Y12.318\\n\\\r\nX8.924 Y11.863\\n\\\r\nX9.519 Y11.378\\n\\\r\nX10.089 Y10.862\\n\\\r\nX10.632 Y10.318\\n\\\r\nX11.146 Y9.747\\n\\\r\nX11.631 Y9.15\\n\\\r\nX12.084 Y8.529\\n\\\r\nX12.504 Y7.886\\n\\\r\nX12.892 Y7.222\\n\\\r\nX13.244 Y6.539\\n\\\r\nX13.561 Y5.839\\n\\\r\nX13.842 Y5.124\\n\\\r\nX14.086 Y4.395\\n\\\r\nX14.292 Y3.654\\n\\\r\nX14.461 Y2.904\\n\\\r\nX14.59 Y2.147\\n\\\r\nX14.681 Y1.384\\n\\\r\nX14.732 Y0.617\\n\\\r\nX14.744 Y-0.152\\n\\\r\nX14.716 Y-0.92\\n\\\r\nX14.649 Y-1.686\\n\\\r\nX14.543 Y-2.447\\n\\\r\nX14.399 Y-3.202\\n\\\r\nX14.215 Y-3.948\\n\\\r\nX13.994 Y-4.684\\n\\\r\nX13.736 Y-5.408\\n\\\r\nX13.44 Y-6.117\\n\\\r\nX13.109 Y-6.811\\n\\\r\nX12.743 Y-7.487\\n\\\r\nX12.342 Y-8.143\\n\\\r\nX11.908 Y-8.777\\n\\\r\nX11.443 Y-9.389\\n\\\r\nX10.947 Y-9.976\\n\\\r\nX10.421 Y-10.536\\n\\\r\nX9.867 Y-11.069\\n\\\r\nX9.287 Y-11.573\\n\\\r\nX8.682 Y-12.047\\n\\\r\nX8.053 Y-12.489\\n\\\r\nX7.402 Y-12.898\\n\\\r\nX6.732 Y-13.273\\n\\\r\nX6.043 Y-13.614\\n\\\r\nX5.337 Y-13.918\\n\\\r\nX4.617 Y-14.187\\n\\\r\nX3.884 Y-14.418\\n\\\r\nX3.14 Y-14.611\\n\\\r\nX2.387 Y-14.765\\n\\\r\nX1.627 Y-14.881\\n\\\r\nX0.862 Y-14.958\\n\\\r\nX0.095 Y-14.996\\n\\\r\nX-0.674 Y-14.994\\n\\\r\nX-1.441 Y-14.953\\n\\\r\nX-2.206 Y-14.873\\n\\\r\nX-2.965 Y-14.753\\n\\\r\nX-3.717 Y-14.595\\n\\\r\nX-4.46 Y-14.399\\n\\\r\nX-5.192 Y-14.164\\n\\\r\nX-5.911 Y-13.893\\n\\\r\nX-6.615 Y-13.585\\n\\\r\nX-7.303 Y-13.241\\n\\\r\nX-7.972 Y-12.863\\n\\\r\nX-8.621 Y-12.451\\n\\\r\nX-9.247 Y-12.006\\n\\\r\nX-9.851 Y-11.53\\n\\\r\nX-10.429 Y-11.023\\n\\\r\nX-10.98 Y-10.488\\n\\\r\nX-11.503 Y-9.925\\n\\\r\nX-11.997 Y-9.335\\n\\\r\nX-12.459 Y-8.722\\n\\\r\nX-12.89 Y-8.085\\n\\\r\nX-13.288 Y-7.427\\n\\\r\nX-13.651 Y-6.75\\n\\\r\nX-13.979 Y-6.055\\n\\\r\nX-14.271 Y-5.344\\n\\\r\nX-14.527 Y-4.619\\n\\\r\nX-14.744 Y-3.882\\n\\\r\nX-9.915 Y-2.588\\n\\\r\nX4.744\\n\\\r\nY-0.5\\n\\\r\nX-2.256\\n\\\r\nY0.5\\n\\\r\nZ7.\\n\\\r\nG0 Z18.\"\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":"304.27423691233315","left":"984.5380112482853","inputs":{},"outputs":{}},"0.31107555742115744":{"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 = 'line input'\r\n //\r\n // initialization\r\n //\r\n var init = function() {\r\n mod.line_in.value = 'G0 X10.1 Y150 z10.2 F175'\r\n }\r\n //\r\n // inputs\r\n //\r\n var inputs = {\r\n line: {\r\n type: 'string',\r\n label: 'line through',\r\n event: function(evt) {\r\n mod.line_in.value = evt.detail\r\n sendLine()\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.title_text = make_text_display(div, 'hit enter to send')\r\n mod.line_in = make_text_input(div, 'line', 24)\r\n mod.line_in.addEventListener('keydown', function(evt){\r\n if(evt.keyCode == 13){\r\n sendLine()\r\n //mod.line_in.value = ''\r\n }\r\n })\r\n }\r\n\r\n function sendLine(){\r\n var str = mod.line_in.value\r\n outputs.line.event(str)\r\n }\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\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":"115.97145601695965","left":"994.5143175208879","inputs":{},"outputs":{}},"0.5271933051707639":{"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":"304.52465795425735","left":"1550.820740868751","inputs":{},"outputs":{}},"0.6924029844135942":{"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: 'objects',\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',\r\n event: function(evt) {\r\n outputs.blockRequest.event()\r\n }\r\n }\r\n }\r\n //\r\n // outputs\r\n //\r\n var outputs = {\r\n blockRequest: {\r\n type: 'event',\r\n label: 'block request',\r\n event: function() {\r\n mods.output(mod, 'blockRequest', mod.axis_num)\r\n }\r\n },\r\n packet: {\r\n type: 'packet',\r\n label: 'headless packet',\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 //\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 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 console.log('zero length step block')\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 packets: 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 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 // 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 stepWait = trapezoidToStepWait(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(trap.delta))\r\n\r\n if(isNaN(stepWait.vAvg)){\r\n console.log('maths failure on vAvg', trap.ramptype)\r\n packet = packet.concat(pack32(1000))\r\n console.log('wait block', stepWait.steps, 1000)\r\n } else {\r\n packet = packet.concat(pack32(stepWait.vAvg))\r\n console.log('wait block', stepWait.steps, stepWait.vAvg)\r\n }\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 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\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\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":"1082.3552828775018","left":"1759.0585733233784","inputs":{},"outputs":{}},"0.11492993115246741":{"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: 'objects',\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',\r\n event: function(evt) {\r\n outputs.blockRequest.event()\r\n }\r\n }\r\n }\r\n //\r\n // outputs\r\n //\r\n var outputs = {\r\n blockRequest: {\r\n type: 'event',\r\n label: 'block request',\r\n event: function() {\r\n mods.output(mod, 'blockRequest', mod.axis_num)\r\n }\r\n },\r\n packet: {\r\n type: 'packet',\r\n label: 'headless packet',\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 //\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 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 console.log('zero length step block')\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 packets: 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 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 // 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 stepWait = trapezoidToStepWait(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(trap.delta))\r\n\r\n if(isNaN(stepWait.vAvg)){\r\n console.log('maths failure on vAvg', trap.ramptype)\r\n packet = packet.concat(pack32(1000))\r\n console.log('wait block', stepWait.steps, 1000)\r\n } else {\r\n packet = packet.concat(pack32(stepWait.vAvg))\r\n console.log('wait block', stepWait.steps, stepWait.vAvg)\r\n }\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 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\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\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":"1333.4231471819282","left":"1757.406811058218","inputs":{},"outputs":{}},"0.331397605098536":{"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 = 'mkserial demuxer'\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":"1596.0533473424794","left":"1719.4162789595216","inputs":{},"outputs":{}},"0.6016248093108645":{"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":"865.5396810261734","left":"2244.9076601928673","inputs":{},"outputs":{}},"0.6668125390793329":{"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":"455.7083845941558","left":"286.91110079682414","inputs":{},"outputs":{}},"0.07962660707881353":{"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 = '50'\n mod.junctionDeviationIn.value = '0.5'\n mod.minSpeedIn.value = '1'\n\n mod.axisIdentifiers.value = 'X,Y,Z'\n axisIds = mod.axisIdentifiers.value.split(',')\n for (var i = 0; i < axisIds.length; i++) {\n currentPosition[i] = 0\n }\n\n mod.netWindowIn.value = '5'\n packetWindowSize = parseInt(mod.netWindowIn.value)\n\n var num = 0\n mod.queueLengthDisplay.innerHTML = num.toString()\n\n mod.netQueueDisplay.innerHTML = num.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 // have to ID moves because some are zero length ?\n acknowledgement(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 axisIds = mod.axisIdentifiers.value.split(',')\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 junction speed, units/s/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\n // ---------------------------------------------------- THE BUSINESS\n\n // network state\n var packetsInNetwork = 0\n var packetWindowSize = 0\n var axiscounter = 0\n\n function acknowledgement(obj) {\n // todo: add position input? where do we do steps -> float? dynamic would be cool ... or just a real position count\n axiscounter++\n if (axiscounter >= 2) { //} axisIds.length){\n packetsInNetwork--\n mod.netQueueDisplay.innerHTML = packetsInNetwork.toString()\n checkNetwork()\n outputs.moveComplete.event()\n axiscounter = 0\n }\n }\n\n function resetNetwork() {\n packetsInNetwork = 0\n mod.netQueueDisplay.innerHTML = packetsInNetwork.toString()\n }\n\n function checkNetwork() {\n // see windowed state and push more data out if need be\n while (packetWindowSize > packetsInNetwork && moveQue.length != 0) {\n sendMove()\n }\n }\n\n function sendMove() {\n outputs.plannedMove.event(moveQue.shift())\n mod.queueLengthDisplay.innerHTML = moveQue.length.toString()\n packetsInNetwork++\n mod.netQueueDisplay.innerHTML = packetsInNetwork.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 // 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 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 // not actually using this at the moment!\n var jdmin = parseFloat(mod.minSpeedIn.value)\n\n moveQue[moveQue.length - 1].exit = 0 // 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 var cos_theta = dotProduct(v_entry, v_exit) // dot product / mag * mag where mags are 1 each bc unit\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 var sin_theta_overtwo = Math.sqrt((1 - cos_theta) / 2)\n //console.log('sin_theta_overtwo', sin_theta_overtwo)\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\n var fj = Math.sqrt(accel * radius)\n //console.log('fj', fj)\n\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 //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 //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\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 }\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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