feat: added message for move

app.py

@@ -46,10 +46,16 @@ def image_stream():
     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")
-def message(directions):
-    walle.set_movement(directions['angle'], directions['distance'])
-    print(f"Moving in direction {directions['angle']:f} with velocity {directions['distance']}")
+def move_message(directions):
+    walle.set_movement(directions['angle'], directions['force'])
+    print(f"Moving in direction {directions['angle']:f} with velocity {directions['force']}")
 
 
 if __name__ == '__main__':

client/src/App.vue

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

client/src/components/Nipple.vue

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

control/walle.py

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