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bun.lock

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package.json

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public/models/face_landmark_68_model-shard1

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public/models/face_landmark_68_model-weights_manifest.json

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public/models/tiny_face_detector_model-shard1

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       [{"weights":[{"name":"conv0/filters","shape":[3,3,3,16],"dtype":"float32","quantization":{"dtype":"uint8","scale":0.009007044399485869,"min":-1.2069439495311063}},{"name":"conv0/bias","shape":[16],"dtype":"float32","quantization":{"dtype":"uint8","scale":0.005263455241334205,"min":-0.9211046672334858}},{"name":"conv1/depthwise_filter","shape":[3,3,16,1],"dtype":"float32","quantization":{"dtype":"uint8","scale":0.004001977630690033,"min":-0.5042491814669441}},{"name":"conv1/pointwise_filter","shape":[1,1,16,32],"dtype":"float32","quantization":{"dtype":"uint8","scale":0.013836609615999109,"min":-1.411334180831909}},{"name":"conv1/bias","shape":[32],"dtype":"float32","quantization":{"dtype":"uint8","scale":0.0015159862590771096,"min":-0.30926119685173037}},{"name":"conv2/depthwise_filter","shape":[3,3,32,1],"dtype":"float32","quantization":{"dtype":"uint8","scale":0.002666276225856706,"min":-0.317286870876948}},{"name":"conv2/pointwise_filter","shape":[1,1,32,64],"dtype":"float32","quantization":{"dtype":"uint8","scale":0.015265831292844286,"min":-1.6792414422128714}},{"name":"conv2/bias","shape":[64],"dtype":"float32","quantization":{"dtype":"uint8","scale":0.0020280554598453,"min":-0.37113414915168985}},{"name":"conv3/depthwise_filter","shape":[3,3,64,1],"dtype":"float32","quantization":{"dtype":"uint8","scale":0.006100742489683862,"min":-0.8907084034938438}},{"name":"conv3/pointwise_filter","shape":[1,1,64,128],"dtype":"float32","quantization":{"dtype":"uint8","scale":0.016276211832083907,"min":-2.0508026908425725}},{"name":"conv3/bias","shape":[128],"dtype":"float32","quantization":{"dtype":"uint8","scale":0.003394414279975143,"min":-0.7637432129944072}},{"name":"conv4/depthwise_filter","shape":[3,3,128,1],"dtype":"float32","quantization":{"dtype":"uint8","scale":0.006716050119961009,"min":-0.8059260143953211}},{"name":"conv4/pointwise_filter","shape":[1,1,128,256],"dtype":"float32","quantization":{"dtype":"uint8","scale":0.021875603993733724,"min":-2.8875797271728514}},{"name":"conv4/bias","shape":[256],"dtype":"float32","quantization":{"dtype":"uint8","scale":0.0041141652009066415,"min":-0.8187188749804216}},{"name":"conv5/depthwise_filter","shape":[3,3,256,1],"dtype":"float32","quantization":{"dtype":"uint8","scale":0.008423839597141042,"min":-0.9013508368940915}},{"name":"conv5/pointwise_filter","shape":[1,1,256,512],"dtype":"float32","quantization":{"dtype":"uint8","scale":0.030007277283014035,"min":-3.8709387695088107}},{"name":"conv5/bias","shape":[512],"dtype":"float32","quantization":{"dtype":"uint8","scale":0.008402082966823203,"min":-1.4871686851277068}},{"name":"conv8/filters","shape":[1,1,512,25],"dtype":"float32","quantization":{"dtype":"uint8","scale":0.028336129469030042,"min":-4.675461362389957}},{"name":"conv8/bias","shape":[25],"dtype":"float32","quantization":{"dtype":"uint8","scale":0.002268134028303857,"min":-0.41053225912299807}}],"paths":["tiny_face_detector_model-shard1"]}]

+89 -14

src/index.ts

···

       1
       1
        
       import "./global.css";

     

       2
       2
       +
       import * as faceapi from "face-api.js";

     

       2
       3
        
       

     

       3
       4
        
       let port: SerialPort;

     

       5
       5
       +
       let videoElement: HTMLVideoElement;

     

       6
       6
       +
       let lastError = 0;

     

       7
       7
       +
       let integral = 0;

     

       8
       8
       +
       

     

       9
       9
       +
       // PID constants

     

       10
       10
       +
       const Kp = 0.5;

     

       11
       11
       +
       const Ki = 0.1;

     

       12
       12
       +
       const Kd = 0.2;

     

       4
       13
        
       

     

       5
       14
        
       // Check if Serial API is supported

     

       6
       15
        
       if (!("serial" in navigator)) {

     
···

       13
       22
        
       				<div style="display: flex; flex-direction: row; height: 100vh;">

     

       14
       23
        
       								<div style="display: flex; flex-direction: column; align-items: center; justify-content: center; flex: 1; gap: 20px;">

     

       15
       24
        
       												<button id="connect">Connect Serial Port</button>

     

       25
       25
       +
       												<button id="startTracking">Start Face Tracking</button>

     

       26
       26
       +
       												<video id="webcam" width="640" height="480" autoplay muted></video>

     

       27
       27
       +
       												<canvas id="overlay" style="position: absolute;"></canvas>

     

       16
       28
        
       

     

       17
       29
        
       												<div>

     

       18
       30
        
       																<label>Left Motor (1) Rotations:</label>

     
···

       35
       47
        
       				</div>

     

       36
       48
        
       `;

     

       37
       49
        
       

     

       50
       50
       +
       async function loadFaceDetectionModels() {

     

       51
       51
       +
       	await faceapi.nets.tinyFaceDetector.loadFromUri("/models");

     

       52
       52
       +
       	await faceapi.nets.faceLandmark68Net.loadFromUri("/models");

     

       53
       53
       +
       }

     

       54
       54
       +
       

     

       55
       55
       +
       async function startWebcam() {

     

       56
       56
       +
       	try {

     

       57
       57
       +
       		const stream = await navigator.mediaDevices.getUserMedia({ video: true });

     

       58
       58
       +
       		videoElement.srcObject = stream;

     

       59
       59
       +
       	} catch (err) {

     

       60
       60
       +
       		console.error("Error accessing webcam:", err);

     

       61
       61
       +
       		alert("Failed to access webcam");

     

       62
       62
       +
       	}

     

       63
       63
       +
       }

     

       64
       64
       +
       

     

       65
       65
       +
       function calculatePID(error: number) {

     

       66
       66
       +
       	integral += error;

     

       67
       67
       +
       	const derivative = error - lastError;

     

       68
       68
       +
       	lastError = error;

     

       69
       69
       +
       

     

       70
       70
       +
       	return Kp * error + Ki * integral + Kd * derivative;

     

       71
       71
       +
       }

     

       72
       72
       +
       

     

       73
       73
       +
       async function trackFaces() {

     

       74
       74
       +
       	const canvas = document.getElementById("overlay") as HTMLCanvasElement;

     

       75
       75
       +
       	canvas.width = videoElement.width;

     

       76
       76
       +
       	canvas.height = videoElement.height;

     

       77
       77
       +
       	const displaySize = {

     

       78
       78
       +
       		width: videoElement.width,

     

       79
       79
       +
       		height: videoElement.height,

     

       80
       80
       +
       	};

     

       81
       81
       +
       

     

       82
       82
       +
       	setInterval(async () => {

     

       83
       83
       +
       		const detections = await faceapi.detectAllFaces(

     

       84
       84
       +
       			videoElement,

     

       85
       85
       +
       			new faceapi.TinyFaceDetectorOptions(),

     

       86
       86
       +
       		);

     

       87
       87
       +
       

     

       88
       88
       +
       		if (detections.length > 0) {

     

       89
       89
       +
       			const face = detections[0];

     

       90
       90
       +
       			const centerX = face.box.x + face.box.width / 2;

     

       91
       91
       +
       			const targetX = videoElement.width / 2;

     

       92
       92
       +
       			const error = (centerX - targetX) / videoElement.width;

     

       93
       93
       +
       

     

       94
       94
       +
       			const adjustment = calculatePID(error);

     

       95
       95
       +
       			await sendMotorCommand(1, adjustment);

     

       96
       96
       +
       			await sendMotorCommand(2, -adjustment);

     

       97
       97
       +
       

     

       98
       98
       +
       			// Draw face detection

     

       99
       99
       +
       			const context = canvas.getContext("2d");

     

       100
       100
       +
       			if (context) {

     

       101
       101
       +
       				context.clearRect(0, 0, canvas.width, canvas.height);

     

       102
       102
       +
       				faceapi.draw.drawDetections(canvas, detections);

     

       103
       103
       +
       			}

     

       104
       104
       +
       		}

     

       105
       105
       +
       	}, 100);

     

       106
       106
       +
       }

     

       107
       107
       +
       

     

       38
       108
        
       async function connectSerial() {

     

       39
       109
        
       	try {

     

       40
       110
        
       		port = await navigator.serial.requestPort();

     

       41
       111
        
       		await port.open({ baudRate: 115200 });

     

       42
       112
        
       

     

       43
       43
       -
       		// Verify port is open before continuing

     

       44
       113
        
       		if (port.writable == null) {

     

       45
       114
        
       			throw new Error("Failed to open serial port - port is not writable");

     

       46
       115
        
       		}

     
···

       48
       117
        
       		console.log("Connected to serial port");

     

       49
       118
        
       		appendToLog("Connected to serial port");

     

       50
       119
        
       

     

       51
       51
       -
       		// Start reading from the serial port

     

       52
       120
        
       		while (port.readable) {

     

       53
       121
        
       			const reader = port.readable.getReader();

     

       54
       122
        
       			try {

     
···

       80
       148
        
       	}

     

       81
       149
        
       }

     

       82
       150
        
       

     

       83
       83
       -
       async function sendMotorCommand(motorNum: number) {

     

       151
       151
       +
       async function sendMotorCommand(motorNum: number, rotation: number) {

     

       84
       152
        
       	if (!port) {

     

       85
       153
        
       		alert("Please connect serial port first");

     

       86
       154
        
       		return;

     
···

       91
       159
        
       		return;

     

       92
       160
        
       	}

     

       93
       161
        
       

     

       94
       94
       -
       	const rotations = (

     

       95
       95
       -
       		document.getElementById(`motor${motorNum}`) as HTMLInputElement

     

       96
       96
       -
       	).value;

     

       97
       162
        
       	const writer = port.writable.getWriter();

     

       98
       163
        
       	const encoder = new TextEncoder();

     

       99
       99
       -
       	const data = `${motorNum} ${rotations}\r`;

     

       164
       164
       +
       	const data = `${motorNum} ${rotation}\r`;

     

       100
       165
        
       

     

       101
       166
        
       	try {

     

       102
       167
        
       		await writer.write(encoder.encode(data));

     

       103
       103
       -
       		appendToLog(`Sent to motor ${motorNum}: ${rotations} rotations`);

     

       168
       168
       +
       		appendToLog(`Sent to motor ${motorNum}: ${rotation} rotations`);

     

       104
       169
        
       	} catch (err) {

     

       105
       170
        
       		console.error("Write error:", err);

     

       106
       171
        
       		appendToLog(`Error sending to motor ${motorNum}: ${err}`);

     
···

       114
       179
        
       	if (!app) throw new Error("App element not found");

     

       115
       180
        
       	app.innerHTML = createTemplate();

     

       116
       181
        
       

     

       117
       117
       -
       	// Add slider value display updates

     

       182
       182
       +
       	videoElement = document.getElementById("webcam") as HTMLVideoElement;

     

       183
       183
       +
       

     

       118
       184
        
       	document.getElementById("motor1")?.addEventListener("input", (e) => {

     

       119
       185
        
       		const value = (e.target as HTMLInputElement).value;

     

       120
       186
        
       		const display = document.getElementById("motor1Value");

     
···

       129
       195
        
       

     

       130
       196
        
       	document.getElementById("connect")?.addEventListener("click", connectSerial);

     

       131
       197
        
       	document

     

       132
       132
       -
       		.getElementById("send1")

     

       133
       133
       -
       		?.addEventListener("click", () => sendMotorCommand(1));

     

       134
       134
       -
       	document

     

       135
       135
       -
       		.getElementById("send2")

     

       136
       136
       -
       		?.addEventListener("click", () => sendMotorCommand(2));

     

       198
       198
       +
       		.getElementById("startTracking")

     

       199
       199
       +
       		?.addEventListener("click", async () => {

     

       200
       200
       +
       			await loadFaceDetectionModels();

     

       201
       201
       +
       			await startWebcam();

     

       202
       202
       +
       			trackFaces();

     

       203
       203
       +
       		});

     

       204
       204
       +
       	document.getElementById("send1")?.addEventListener("click", () => {

     

       205
       205
       +
       		const value = (document.getElementById("motor1") as HTMLInputElement).value;

     

       206
       206
       +
       		sendMotorCommand(1, parseFloat(value));

     

       207
       207
       +
       	});

     

       208
       208
       +
       	document.getElementById("send2")?.addEventListener("click", () => {

     

       209
       209
       +
       		const value = (document.getElementById("motor2") as HTMLInputElement).value;

     

       210
       210
       +
       		sendMotorCommand(2, parseFloat(value));

     

       211
       211
       +
       	});

     

       137
       212
        
       }

     

       138
       213
        
       

     

       139
       214
        
       function handleRoute() {