diff --git a/App/JS/client.js b/App/JS/client.js index 2c1cbf1..267390d 100755 --- a/App/JS/client.js +++ b/App/JS/client.js @@ -63,17 +63,17 @@ function sleep(ms) { var lastCameraVals = [0, 0] var cameraLimits = [90, 180] -function moveCamera() { - var gamepad = navigator.getGamepads()[0]; - if (gamepad.buttons[leftCameraButton].value > 0 && lastCameraVals[1] + cameraStep <= cameraLimits[1]) { - console.log('a') - clientSocket.send(`${lastCameraVals[0]},${lastVals[1] + cameraStep}`, 25565, '192.168.100.1'); - lastVals[1] += cameraStep; - } else if (gamepad.buttons[rightCameraButton].value > 0 && lastCameraVals[1] - cameraStep >= 0) { - clientSocket.send(`${lastCameraVals[0]},${lastVals[1] - cameraStep}`, 25565, '192.168.100.1'); - lastVals[1] -= cameraStep; - } -} +// function moveCamera() { +// var gamepad = navigator.getGamepads()[0]; +// if (gamepad.buttons[leftCameraButton].value > 0 && lastCameraVals[1] + cameraStep <= cameraLimits[1]) { +// console.log('a') +// clientSocket.send(`${lastCameraVals[0]},${lastVals[1] + cameraStep}`, 25565, '10.0.0.10'); +// lastVals[1] += cameraStep; +// } else if (gamepad.buttons[rightCameraButton].value > 0 && lastCameraVals[1] - cameraStep >= 0) { +// clientSocket.send(`${lastCameraVals[0]},${lastVals[1] - cameraStep}`, 25565, '10.0.0.10'); +// lastVals[1] -= cameraStep; +// } +// } var waiter = 10 @@ -93,17 +93,17 @@ async function moveGrabber(multiplier) { } else { grabberServos[parseInt(child.value) - 1] = false } - // clientSocket.send(`${grabberValue}`, 25565, '192.168.100.1'); + // clientSocket.send(`${grabberValue}`, 25565, '10.0.0.10'); } if (grabberServos == [true, true, true]) { await sleep(waiter) - clientSocket.send(`${grabberValue}`, 25565, '192.168.100.1') + clientSocket.send(`${grabberValue}`, 25565, '10.0.0.10') } for (var i = 0; i < 3; i++) { if (grabberServos[i] == true) { await sleep(waiter); - clientSocket.send(`${i+1}i${grabberValue}`, 25565, '192.168.100.1'); + clientSocket.send(`${i+1}i${grabberValue}`, 25565, '10.0.0.10'); } } resolve; @@ -119,32 +119,32 @@ async function moveGrabber(multiplier) { // } // } -document.onkeydown = async function(e) { - var key = e.key; - if (key == "ArrowLeft") { - // sendWheelValue(11, -1024); - clientSocket.send('111024', 9999, '192.168.100.1'); - } else if (key == "ArrowRight") { - clientSocket.send('11-1024', 9999, '192.168.100.1'); - } else if (key == "ArrowDown" && grabberValue > 0) { - // grabberValue -= grabberStep; - updateGrabberState(); - await moveGrabber(-1); - // clientSocket.send(`${grabberValue}`, 25565, '192.168.100.1'); - } else if (key == "ArrowUp" && grabberValue < 60) { - // grabberValue += grabberStep; - updateGrabberState(); - await moveGrabber(1); - // clientSocket.send(`${grabberValue}`, 25565, '192.168.100.1'); - } -} +// document.onkeydown = async function(e) { +// var key = e.key; +// if (key == "ArrowLeft") { +// // sendWheelValue(11, -1024); +// clientSocket.send('111024', 9999, '10.0.0.10'); +// } else if (key == "ArrowRight") { +// clientSocket.send('11-1024', 9999, '10.0.0.10'); +// } else if (key == "ArrowDown" && grabberValue > 0) { +// // grabberValue -= grabberStep; +// updateGrabberState(); +// await moveGrabber(-1); +// // clientSocket.send(`${grabberValue}`, 25565, '10.0.0.10'); +// } else if (key == "ArrowUp" && grabberValue < 60) { +// // grabberValue += grabberStep; +// updateGrabberState(); +// await moveGrabber(1); +// // clientSocket.send(`${grabberValue}`, 25565, '10.0.0.10'); +// } +// } -document.onkeyup = async function(e) { - var key = e.key; - if (key == "ArrowLeft" || key == "ArrowRight") { - clientSocket.send('110', 9999, '192.168.100.1'); - } -} +// document.onkeyup = async function(e) { +// var key = e.key; +// if (key == "ArrowLeft" || key == "ArrowRight") { +// clientSocket.send('110', 9999, '10.0.0.10'); +// } +// } function grabberDirection(G_M) {grabberMultipler = G_M;} @@ -156,9 +156,9 @@ function sendWithCheck(message, port, ip) { } } // Tells the server to restart the dynamixels through the relay circuit. -function restart() {sendWithCheck("restart", 9999, '192.168.100.1');} +function restart() {sendWithCheck("restart", 9999, '10.0.0.10');} -function softwareResetServos() {sendWithCheck("softwareResetServos", 9999, '192.168.100.1');} +function softwareResetServos() {sendWithCheck("softwareResetServos", 9999, '10.0.0.10');} /** * Moves any dynamixel that has been assigned jointMode in terms of\ @@ -183,15 +183,22 @@ function moveJointWithPercentage(ID, percentage) { if (ID == 10) { destination = (percentage * 476) / 100; } + if (ID == 12) { + destination = (percentage * 1023) / 100 + } + // console.log(flipperJointLimits[ID]) // Ensures sent servo destination data fits within their limits. - if(destination > flipperJointLimits[ID-5][1]) {destination = flipperJointLimits[ID-5][1];} - if(destination < flipperJointLimits[ID-5][0]) {destination = flipperJointLimits[ID-5][0];} + if(destination > flipperJointLimits[ID][1]) {destination = flipperJointLimits[ID][1];} + if(destination < flipperJointLimits[ID][0]) {destination = flipperJointLimits[ID][0];} if (ID < 9) { - sendWithCheck(`0${ID} ${destination} 200`, 9999, '192.168.100.1'); + sendWithCheck(`0${ID} ${destination} 200`, 9999, '10.0.0.10'); } else if (ID == 9) { - sendWithCheck(`09 ${destination} 1024`, 9999, '192.168.100.1'); + sendWithCheck(`09 ${destination} 1024`, 9999, '10.0.0.10'); + } else if (ID == 12 || ID == 13) { + console.log(destination) + sendWithCheck(`${ID} ${destination} 100`, 9999, '127.0.0.1'); } else { - sendWithCheck(`${ID} ${destination} 200`, 9999, '192.168.100.1'); + sendWithCheck(`${ID} ${destination} 200`, 9999, '10.0.0.10'); } } @@ -214,7 +221,7 @@ function changeFlipperSelection() { */ function sendWheelValue(dynamixel, val) { if (!(lastVals[dynamixel] == val)) { - sendWithCheck(`0${dynamixel}${val}`, 9999, '192.168.100.1'); + sendWithCheck(`0${dynamixel}${val}`, 9999, '10.0.0.10'); lastVals[dynamixel] = val; } } @@ -333,6 +340,37 @@ var flipperDirection = document.getElementById('flipperDirection'); var leftWheelDirection = document.getElementById('leftWheelsDirection'); var rightWheelDirection = document.getElementById('rightWheelsDirection'); +function centerCamera() { + clientSocket.send('10 1023 200', 9999, '10.0.0.10') + lastVals[10] = 1023 + clientSocket.send('12 512 200', 9999, '10.0.0.10') + lastVals[12] = 512 + clientSocket.send('13 816 200', 9999, '10.0.0.10') + lastVals[13] = 816 +} + +function cameraLeft() { + clientSocket.send('12 0 200', 9999, '10.0.0.10') + lastVals[12] = 0 +} + +function cameraRight() { + clientSocket.send('12 1023 200', 9999, '10.0.0.10') + lastVals[12] = 1023 +} + +function panCamera(ID, leftButton, rightButton) { + var gamepad = navigator.getGamepads()[0]; + if (gamepad.buttons[leftButton].value > 0 && lastVals[ID] + 5 <= flipperJointLimits[ID][1]) { + console.log(lastVals[ID] + 5) + moveJointWithPercentage(ID, lastVals[ID] + 5) + lastVals[ID] += 5 + } else if (gamepad.buttons[rightButton].value > 0 && lastVals[ID] - 5 >= flipperJointLimits[ID][0]) { + moveJointWithPercentage(ID, lastVals[ID] - 5) + lastVals[ID] -= 5 + } +} + /** * Writes the default values to the server */ @@ -353,6 +391,11 @@ async function writeDefaultValues() { moveJointWithPercentage(10, 100); lastVals[10] = 100; + centerCamera() + + // moveJointWithPercentage(11, 50); + // lastVals[11] = 50; + grabberValue = 0; moveGrabber(1); @@ -361,8 +404,8 @@ async function writeDefaultValues() { rightWheelDirection.innerHTML = 'Right wheels: forwards' setTimeout(function() { - clientSocket.send('10,100', 25565, '192.168.100.1') - lastCameraVals = [10, 100] + clientSocket.send('165,100', 25565, '10.0.0.10') + lastCameraVals = [165, 100] }, 100) } @@ -386,6 +429,8 @@ async function pollGamepad(gamepad, sticks = false) { moveFlipper(8, 3); moveArm(9, 3, 2); moveWrist(10, 1, 0); + panCamera(12, 14, 15) + // moveJointWithPercentage(11,50); // moveCamera() context.beginPath(); @@ -396,20 +441,19 @@ async function pollGamepad(gamepad, sticks = false) { } function moveStraight() { - clientSocket.send('01300', 9999, '192.168.100.1') - clientSocket.send('03300', 9999, '192.168.100.1') - clientSocket.send('02-300', 9999, '192.168.100.1') - clientSocket.send('04-300', 9999, '192.168.100.1') + clientSocket.send('011024', 9999, '10.0.0.10') + clientSocket.send('031024', 9999, '10.0.0.10') + clientSocket.send('02-1024', 9999, '10.0.0.10') + clientSocket.send('04-1024', 9999, '10.0.0.10') } function stop() { - clientSocket.send('010', 9999, '192.168.100.1') - clientSocket.send('030', 9999, '192.168.100.1') - clientSocket.send('020', 9999, '192.168.100.1') - clientSocket.send('040', 9999, '192.168.100.1') + clientSocket.send('010', 9999, '10.0.0.10') + clientSocket.send('030', 9999, '10.0.0.10') + clientSocket.send('020', 9999, '10.0.0.10') + clientSocket.send('040', 9999, '10.0.0.10') } - -// client.connect(5000, '192.168.100.1', function() { +// client.connect(5000, '10.0.0.10', function() { // console.log("Connected to server interface"); // }) // @@ -418,6 +462,7 @@ function stop() { // console.log(`Wrote '${data}' to server`); // } let gamepadInterval; +console.log(lastVals) writeDefaultValues(); window.addEventListener('gamepadconnected', function(event) { gamepadInterval = setInterval(() => { @@ -440,6 +485,7 @@ window.addEventListener('gamepadconnected', function(event) { } else if(!gamepad.buttons[5].pressed){ multipliers[0][0] = false; } + if (gamepad.buttons[4].pressed && !multipliers[1][0]) { multipliers[1][1] *= -1; @@ -463,6 +509,17 @@ window.addEventListener('gamepadconnected', function(event) { changeFlipperSelection(); } + // if (gamepad.buttons[15].pressed) { + // lastVals[11] = lastVals[11] - 10 + + // moveJointWithPercentage(11,lastVals[11]); + // } + // if (gamepad.buttons[14].pressed) { + // lastVals[11] = lastVals[11] - 10 + + // moveJointWithPercentage(11,lastVals[11]); + // } + else if(!gamepad.buttons[8].pressed) { b_button_state = false; } diff --git a/App/JS/main.js b/App/JS/main.js index 77ed7fc..6e49fab 100755 --- a/App/JS/main.js +++ b/App/JS/main.js @@ -20,14 +20,17 @@ var flipperSelect = true // true: front flippers | false: back flippers let gamepad; // Flipper limits are set inside the client, to avoid fake [Overload] Errors occuring on the server side. -var flipperJointLimits = [ - [1323,3372], // ID: 5 | Model: MX-28 - [1323,3372], // ID: 6 | Model: MX-28 - [1023,3072], // ID: 7 | Model: MX-28 - [1023,3072], // ID: 8 | Model: MX-28 - [200,2560], // ID: 9 | Model: MX-28 - [0,476], // ID: 10 | Model: AX-12 -] +var flipperJointLimits = { + 5: [1323,3372], // ID: 5 | Model: MX-28 + 6: [1323,3372], // ID: 6 | Model: MX-28 + 7: [1023,3072], // ID: 7 | Model: MX-28 + 8: [1023,3072], // ID: 8 | Model: MX-28 + 9: [200,2560], // ID: 9 | Model: MX-28 + 10: [512, 1024], // ID: 10 | Model: AX-12 + 12: [0, 1023], // ID: 12 | Model: XL-320 + 13: [205, 816] // ID: 13 | Model: XL-320 + // [0,1023], // ID: 10 | Model: AX-12 +} var b_button_state = false; var grabberMultipler = 0; var grabberStep = 1; diff --git a/App/index.html b/App/index.html index 0ded905..f315f21 100755 --- a/App/index.html +++ b/App/index.html @@ -9,14 +9,21 @@

Dashboard - Robotics GUI

- - -
- - + + + +

Left wheels: forwards

Right wheels: forwards

Flippers: front

+
+
+ + + + + +

Grabber Direction

Grabber position: 0%

diff --git a/main.js b/main.js index 14d7a90..4001827 100644 --- a/main.js +++ b/main.js @@ -19,6 +19,19 @@ function createWindow() { win.on('closed', () => { win = null; }); + win2 = new BrowserWindow({ + width: 1600, + height: 1200 + }); + win2.loadFile('App/loading.html'); + setTimeout(function() { + win2.loadFile('App/charts.html'); + }, 3000) + // win.loadURL('http://localhost:8080') + + win2.on('closed', () => { + win2 = null; + }); } app.on('ready', createWindow);