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window.onload = () => {
const socket = io("127.0.0.1:5001");
let connected = false;
socket.on("connect", () => {
console.log("Connected to the server");
connected = true;
});
socket.on("disconnect", () => {
console.log("Disconnected from the server");
connected = false;
});
const robotIp = "http://127.0.0.1:5001"
const amplitudeSlider = document.getElementById("amplitude");
const amplitudeValue = document.getElementById("amplitudeValue");
const frequencySlider = document.getElementById("frequency");
const frequencyValue = document.getElementById("frequencyValue");
const syncSlider = document.getElementById("sync");
const syncValue = document.getElementById("syncValue");
const motor_0Synced = document.getElementById("motor_0_synced");
const motor_1Synced = document.getElementById("motor_1_synced");
const motor_2Synced = document.getElementById("motor_2_synced");
const motor_3Synced = document.getElementById("motor_3_synced");
const motor_4Synced = document.getElementById("motor_4_synced");
const motor_5Synced = document.getElementById("motor_5_synced");
const verboseCheckbox = document.getElementById("verbose");
amplitudeSlider.addEventListener("input", function () {
amplitudeValue.textContent = amplitudeSlider.value;
});
frequencySlider.addEventListener("input", function () {
frequencyValue.textContent = frequencySlider.value;
});
syncSlider.addEventListener("input", function () {
syncValue.textContent = syncSlider.value;
});
let t0 = Date.now();
const syncStep = () => {
let t = Date.now() - t0;
const value = computeSinValue(
frequencySlider.value,
amplitudeSlider.value,
t / 1000
);
let goals = {};
if (motor_0Synced.checked) {
goals["motor_0"] = value;
}
if (motor_1Synced.checked) {
goals["motor_1"] = value;
}
if (motor_2Synced.checked) {
goals["motor_2"] = value;
}
if (motor_3Synced.checked) {
goals["motor_3"] = value;
}
if (motor_4Synced.checked) {
goals["motor_4"] = value;
}
if (motor_5Synced.checked) {
goals["motor_5"] = value;
}
if (verboseCheckbox.checked) {
console.log("Sending goals:", goals);
}
if (Object.keys(goals).length !== 0 && connected) {
// fetch(`${robotIp}/motor_control`, {
// method: "POST",
// headers: { "Content-Type": "application/json" },
// body: JSON.stringify(goals),
// }).catch(err => console.error("Send error:", err));
socket.emit("motor_control", goals);
}
const syncPeriod = 1000.0 / syncSlider.value;
setTimeout(syncStep, syncPeriod);
};
syncStep();
// Compute the current sin value at a given frequency
function computeSinValue(frequency, amplitude, time) {
return amplitude * Math.sin(2 * Math.PI * frequency * time);
}
}; |