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feat: added message for move

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Rick Rongen
2020-05-17 19:50:58 +02:00
parent 8b268ef48c
commit f9907ee650
5 changed files with 29 additions and 24 deletions
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12
app.py
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@@ -46,10 +46,16 @@ def image_stream():
return "" return ""
@sio.on("camera")
def camera_message(directions):
walle.set_movement(directions['angle'], directions['force'])
print(f"Moving camera in direction {directions['angle']:f} with velocity {directions['force']}")
@sio.on("move") @sio.on("move")
def message(directions): def move_message(directions):
walle.set_movement(directions['angle'], directions['distance']) walle.set_movement(directions['angle'], directions['force'])
print(f"Moving in direction {directions['angle']:f} with velocity {directions['distance']}") print(f"Moving in direction {directions['angle']:f} with velocity {directions['force']}")
if __name__ == '__main__': if __name__ == '__main__':

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app.zip
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8
client/src/App.vue
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@@ -30,12 +30,12 @@ export default {
window.document.body.requestFullscreen(); window.document.body.requestFullscreen();
} }
}, },
moveCamera({ distance, angle }) { moveCamera({ force, angle }) {
console.log({ action: 'camera', distance, angle }); console.log({ action: 'camera', force, angle });
}, },
moveWalle({ distance, angle }) { moveWalle({ force, angle }) {
this.$socket.emit('move', { this.$socket.emit('move', {
angle, distance, force, angle,
}); });
// console.log({ action: 'walle', distance, angle }); // console.log({ action: 'walle', distance, angle });
}, },

6
client/src/components/Nipple.vue
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@@ -28,13 +28,13 @@ export default {
}); });
this.nipple.on('move', (evt, data) => { this.nipple.on('move', (evt, data) => {
this.$emit('move', { this.$emit('move', {
distance: data.distance, force: data.force,
angle: data.angle.degree, angle: data.angle.radian,
}); });
}); });
this.nipple.on('end', () => { this.nipple.on('end', () => {
this.$emit('move', { this.$emit('move', {
distance: 0, force: 0,
angle: 0, angle: 0,
}); });
}); });

27
control/walle.py
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@@ -30,31 +30,30 @@ class WallE:
self.servo_controller = ServoController() self.servo_controller = ServoController()
self.servo_controller.setup() self.servo_controller.setup()
def set_movement(self, angle: float, distance: float): def set_movement(self, angle: float, force: float):
if distance > 0: if force > 1:
distance = distance/50.0 # map 0 - 50 to 0 - 1 force = 1.0
angle_rad = math.radians(angle) cos_angle = math.cos(angle)
cos_angle = math.cos(angle_rad) sin_angle = math.sin(angle)
sin_angle = math.sin(angle_rad)
velocity_l = 0 velocity_l = 0
velocity_r = 0 velocity_r = 0
if cos_angle > 0 and sin_angle > 0: if cos_angle > 0 and sin_angle > 0:
if cos_angle > sin_angle: if cos_angle > sin_angle:
velocity_r = cos_angle * distance velocity_r = cos_angle * force
velocity_l = sin_angle * distance velocity_l = sin_angle * force
elif cos_angle < sin_angle: elif cos_angle < sin_angle:
velocity_r = sin_angle * distance velocity_r = sin_angle * force
velocity_l = cos_angle * distance velocity_l = cos_angle * force
elif cos_angle < 0 and sin_angle > 0: elif cos_angle < 0 and sin_angle > 0:
if cos_angle < sin_angle: if cos_angle < sin_angle:
velocity_r = 1 - sin_angle * distance velocity_r = 1 - sin_angle * force
velocity_l = sin_angle * distance velocity_l = sin_angle * force
elif cos_angle > abs(sin_angle): elif cos_angle > abs(sin_angle):
velocity_r = sin_angle * distance velocity_r = sin_angle * force
velocity_l = cos_angle * distance velocity_l = cos_angle * force
else: else:
pass pass
self.motor_a.set(velocity_l) self.motor_a.set(velocity_l)