full spectrum of data read/write (needs testing), feedback checkbox activates position streaming for the 5 test motors
parent
cf3765ce5a
commit
2780ad2859
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@ -1,64 +1,75 @@
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export class ServoMotor {
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constructor(payload) {
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this.CHANNEL = payload[0];
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this.ID = payload[1];
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constructor(payload) {
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this.CHANNEL = payload[0];
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this.ID = payload[1];
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this.MODEL = getModelType(payload[3], payload[2]); // minor, major
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this.MODEL = getModelType(payload[3], payload[2]); // minor, major
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this.MIN_ANGLE_LIMIT = (payload[4] << 8) | payload[5];
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this.MAX_ANGLE_LIMIT = (payload[6] << 8) | payload[7];
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this.POSITION = (payload[8] << 8) | payload[9];
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this.MIN_ANGLE_LIMIT = (payload[4] << 8) | payload[5];
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this.MAX_ANGLE_LIMIT = (payload[6] << 8) | payload[7];
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this.POSITION = (payload[8] << 8) | payload[9];
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this.CW_DEAD_ZONE = payload[10];
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this.CCW_DEAD_ZONE = payload[11];
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this.OFFSET = (payload[12] << 8) | payload[13];
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this.MODE = payload[14];
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this.TORQUE_ENABLE = payload[15];
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this.ACCELERATION = payload[16];
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this.CW_DEAD_ZONE = payload[10];
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this.CCW_DEAD_ZONE = payload[11];
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this.OFFSET = (payload[12] << 8) | payload[13];
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this.MODE = payload[14];
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this.TORQUE_ENABLE = payload[15];
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this.ACCELERATION = payload[16];
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this.GOAL_POSITION = (payload[17] << 8) | payload[18];
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this.GOAL_TIME = (payload[19] << 8) | payload[20];
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this.GOAL_SPEED = (payload[21] << 8) | payload[22];
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this.LOCK = payload[23];
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this.GOAL_POSITION = (payload[17] << 8) | payload[18];
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this.GOAL_TIME = (payload[19] << 8) | payload[20];
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this.GOAL_SPEED = (payload[21] << 8) | payload[22];
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this.LOCK = payload[23];
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const rawSpeed = (payload[24] << 8) | payload[25];
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this.CURRENT_SPEED = rawSpeed > 0x7FFF ? rawSpeed - 0x10000 : rawSpeed;
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const rawSpeed = (payload[24] << 8) | payload[25];
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this.CURRENT_SPEED = rawSpeed > 0x7FFF ? rawSpeed - 0x10000 : rawSpeed;
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this.CURRENT_LOAD = (payload[26] << 8) | payload[27];
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this.TEMPERATURE = payload[28];
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this.MOVING = payload[29];
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this.CURRENT_CURRENT = (payload[30] << 8) | payload[31];
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this.VOLTAGE = payload[32];
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}
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this.CURRENT_LOAD = (payload[26] << 8) | payload[27];
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this.TEMPERATURE = payload[28];
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this.MOVING = payload[29];
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this.CURRENT_CURRENT = (payload[30] << 8) | payload[31];
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this.VOLTAGE = payload[32];
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}
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}
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// Takes Motor object and
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// Takes Motor object and updates simulated value, returns packet for real device
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export function writeData(motor, key) {
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const entry = DataMap[key];
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if (!entry) {
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throw new Error(`Invalid data key: ${key}`);
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}
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const { address, length } = entry;
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let { address, length } = entry;
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const value = motor[key];
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if (value === undefined) {
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throw new Error(`Motor does not contain value for key: ${key}`);
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}
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const packet = [motor.CHANNEL, motor.ID, address];
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// HANDLE DIFFERENT ADDRESS FOR LOCK ON SMS_STS
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if (key == 'LOCK') {
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if (motor.MODEL && (motor.MODEL.includes("SMS") || motor.MODEL.includes("STS"))) {
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address = DataMap.LOCK_SMS_STS.address;
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} else {
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address = DataMap.LOCK.address;
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}
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}
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const packet = [motor.CHANNEL, motor.ID, address, length]; // channel, id, address, value
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if (length === 2) {
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packet.push((value >> 8) & 0xFF);
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packet.push(value & 0xFF);
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packet.push((value >> 8) & 0xFF);
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} else if (length === 1) {
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packet.push(value);
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} else {
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throw new Error(`Unsupported byte length: ${length}`);
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}
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return packet;
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return new Uint8Array(packet);
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}
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@ -77,8 +88,8 @@ const DataMap = Object.freeze({
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GOAL_POSITION: { address: 0x2A, length: 2 },
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GOAL_TIME: { address: 0x2C, length: 2 },
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GOAL_SPEED: { address: 0x2E, length: 2 },
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LOCK_SCS: { address: 0x30, length: 1 },
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LOCK_SMS_STS: { address: 0x37, length: 1 },
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LOCK: { address: 0x30, length: 1 }, //SCS
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LOCK_SMS_STS: { address: 0x37, length: 1 },//SMS_STS
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POSITION: { address: 0x38, length: 2 },
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CURRENT_SPEED: { address: 0x3A, length: 2 },
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CURRENT_LOAD: { address: 0x3C, length: 2 },
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@ -175,6 +175,9 @@
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<label>
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<input type="checkbox" id="syncCheckbox"> Sync
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</label>
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<label>
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<input type="checkbox" id="feebackCheckbox"> Feedback
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</label>
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<canvas id="timelineCanvas" width="800" height="30"></canvas>
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68
script.js
68
script.js
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@ -9,6 +9,7 @@ window.onload = () => {
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const disconnectBtn = document.getElementById('disconnect');
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const connectBtn = document.getElementById('connect');
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const syncCheckbox = document.getElementById("syncCheckbox");
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const feebackCheckbox = document.getElementById("feebackCheckbox");
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const clearBtn = document.getElementById("clearAnimation");
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// Limits rate of move commands sent while sliding timeslider
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@ -329,6 +330,17 @@ window.onload = () => {
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handleScanChannelResponse(new Uint8Array(payload))
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break;
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case 0x10: // CMD_SCAN_CHANNEL
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console.log(new Uint8Array(payload));
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document.getElementById('log').value += `Data updated\n`;
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//handleScanChannelResponse(new Uint8Array(payload))
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break;
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case 0x15: // POSITION STREAM
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//console.log(new Uint8Array(payload));
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handlePositionStreamPacket(payload);
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break;
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// Add more cases as needed
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default:
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document.getElementById('log').value += `Unknown command ${command}\n`;
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@ -350,6 +362,16 @@ window.onload = () => {
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}
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});
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function handlePositionStreamPacket(data) {
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for (let i = 0; i < 5; i++) {
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const high = data[i * 2]; // High byte
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const low = data[i * 2 + 1]; // Low byte
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const value = (high << 8) | low; // Combine into uint16_t
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dials[i].value = value;
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}
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}
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function handleLoadedFile(data) {
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// Ensure data is a Uint8Array
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console.log(data.buffer);
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@ -834,7 +856,7 @@ window.onload = () => {
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editedCells.forEach(cell => {
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const row = cell.closest('tr');
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const rowId = row.getAttribute('data-row-id');
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const title = getColumnTitle(cell); // see below
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const title = getColumnTitle(cell);
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const value = cell.textContent.trim();
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packets.push({
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@ -842,11 +864,15 @@ window.onload = () => {
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title,
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value
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});
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// Remove the classes
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cell.classList.remove('edited', 'bg-warning');
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});
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return packets;
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}
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function getColumnTitle(cell) {
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const table = cell.closest('table');
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const cellIndex = cell.cellIndex;
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@ -882,10 +908,10 @@ window.onload = () => {
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selection.addRange(newRange);
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}
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function getServoMotorByID(channel, id){
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for (var i = 0; i < servoMotors[channel].length; i++){
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function getServoMotorByID(channel, id) {
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for (var i = 0; i < servoMotors[channel].length; i++) {
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console.log(servoMotors[channel][i].ID, id);
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if (servoMotors[channel][i].ID === id){
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if (servoMotors[channel][i].ID === id) {
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return servoMotors[channel][i];
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}
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}
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@ -912,14 +938,14 @@ window.onload = () => {
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document.getElementById('btnSendChangesCh0').onclick = async () => {
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const packets = collectChangePackets(0); // or 2
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for (var i = 0; i < packets.length; i++){
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for (var i = 0; i < packets.length; i++) {
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let channel = 0
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let servoMotor = getServoMotorByID(channel, parseInt(packets[i].id, 10));
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let dataKey = packets[i].title;
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let value = packets[i].value;
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servoMotor[dataKey] = value;
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console.log(writeData(servoMotor, dataKey));
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let dataPacket = writeData(servoMotor, dataKey);
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serial.requestWriteData(dataPacket);
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}
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console.log(servoMotors);
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console.log('Sending packets:', packets);
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@ -928,6 +954,16 @@ window.onload = () => {
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document.getElementById('btnSendChangesCh1').onclick = async () => {
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const packets = collectChangePackets(1); // or 2
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for (var i = 0; i < packets.length; i++) {
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let channel = 1
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let servoMotor = getServoMotorByID(channel, parseInt(packets[i].id, 10));
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let dataKey = packets[i].title;
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let value = packets[i].value;
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servoMotor[dataKey] = value;
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let dataPacket = writeData(servoMotor, dataKey);
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serial.requestWriteData(dataPacket);
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}
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console.log(servoMotors);
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console.log('Sending packets:', packets);
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};
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@ -954,5 +990,23 @@ window.onload = () => {
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feebackCheckbox.addEventListener('change', async function () {
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if (feebackCheckbox.checked) {
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console.log("Checkbox is checked!");
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serial.requestPositionStreaming(true);
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} else {
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console.log("Checkbox is unchecked!");
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serial.requestPositionStreaming(false);
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}
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});
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function matchPositions() {
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// if (feebackCheckbox.checked) {
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// console.log("Running every 100ms");
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// }
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}
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// Run 10 times per second
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const intervalId = setInterval(matchPositions, 100);
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};
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21
serial.js
21
serial.js
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@ -12,6 +12,10 @@ const CMD_DELETE_FILE = 0x04;
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const CMD_SET_POSITION = 0x07;
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const CMD_PLAY_FILE = 0x08;
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const CMD_SCAN_CHANNEL = 0x09;
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const CMD_WRITE_DATA = 0x10;
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const CMD_READ_DATA = 0x11;
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const CMD_START_POSITION_STREAM = 0x14;
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const POSITION_STREAM = 0x15;
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export class SerialManager {
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constructor() {
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@ -60,7 +64,7 @@ export class SerialManager {
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await this.send(CMD_LOAD_FILE, payload); // CMD_LOAD_FILE
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}
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async requestPlayFile(payload){
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async requestPlayFile(payload) {
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console.log("Playing File: " + "filename");
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await this.send(CMD_PLAY_FILE, payload);
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@ -76,17 +80,26 @@ export class SerialManager {
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await this.send(CMD_DELETE_FILE, payload);
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}
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async sendSetPositions(payload){
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async sendSetPositions(payload) {
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console.log("Setting positions");
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await this.send(CMD_SET_POSITION, payload);
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}
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async requestScan(channel){
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console.log("Scanning Channel " + (channel+1));
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async requestScan(channel) {
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console.log("Scanning Channel " + (channel + 1));
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let payload = new Uint8Array([channel]);
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await this.send(CMD_SCAN_CHANNEL, payload);
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}
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async requestWriteData(payload) {
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console.log(payload);
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await this.send(CMD_WRITE_DATA, payload);
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}
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async requestPositionStreaming(stream) { //stream true/false
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await this.send(CMD_START_POSITION_STREAM, new Uint8Array([stream]));
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}
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startReading(onPacket) {
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const decoder = new TextDecoder();
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let buffer = [];
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