commit d16f8e6d0fe1185f309fd96ca9f4c5ae9a87b35b · dunkirk.sh/myrus

+2 -2

server/index.ts

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       app.post("/motor1", (req, res) => {

     

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       	const speed = req.body.speed;

     

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       	const command = `1 ${speed}\n`;

     

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       	serialPort.write(command);

     

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       	res.send("OK");

     

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       });

     

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       app.post("/motor2", (req, res) => {

     

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       	const speed = req.body.speed;

     

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       	const command = `2 ${speed}\n`;

     

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       	serialPort.write(command);

     

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       	res.send("OK");

     

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       });

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       app.post("/motor1", (req, res) => {

     

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       	const speed = req.body.speed;

     

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       	const command = `1 ${speed}\r`;

     

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       	serialPort.write(command);

     

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       	res.send("OK");

     

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       });

     

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       app.post("/motor2", (req, res) => {

     

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       	const speed = req.body.speed;

     

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       	const command = `2 ${speed}\r`;

     

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       	serialPort.write(command);

     

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       	res.send("OK");

     

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       });

+67 -26

src/index.ts

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       let videoElement: HTMLVideoElement;

     

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       let lastError = 0;

     

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       let integral = 0;

     

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       // PID constants

     

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       const Kp = 0.5;

     
···

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

     

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

     

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       												<div>

     

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

     

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       																<input type="range" id="motor1" min="-10" max="10" step="0.1" value="0">

     

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       																<span id="motor1Value">0</span>

     

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       																<button id="send1">Send</button>

     

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       												</div>

     

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       												<div>

     

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       																<label>Right Motor (2) Rotations:</label>

     

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       																<input type="range" id="motor2" min="-10" max="10" step="0.1" value="0">

     

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       																<span id="motor2Value">0</span>

     

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       																<button id="send2">Send</button>

     

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       												</div>

     

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       								</div>

     

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       								<div style="width: 300px; padding: 20px; border-left: 1px solid #ccc; overflow-y: auto;">

     
···

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       	}

     

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       }

     

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       function defaultPageRender() {

     

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       	const app = document.querySelector<HTMLDivElement>("#app");

     

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

     
···

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

     

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

     

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

     

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

     

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       		if (display) display.textContent = value;

     

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       	});

     

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       	document.getElementById("motor2")?.addEventListener("input", (e) => {

     

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

     

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       		const display = document.getElementById("motor2Value");

     

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       		if (display) display.textContent = value;

     

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       	});

     

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

     

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       	document

     
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       			await startWebcam();

     

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       			trackFaces();

     

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       		});

     

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

     

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

     

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       		sendMotorCommand(1, parseFloat(value));

     

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       	});

     

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

     

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

     

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       		sendMotorCommand(2, parseFloat(value));

     

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       	});

     

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       }

     

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···

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       let videoElement: HTMLVideoElement;

     

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       let lastError = 0;

     

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       let integral = 0;

     

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       let isDragging = false;

     

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       let joystickX = 0;

     

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       let joystickY = 0;

     

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       // PID constants

     

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       const Kp = 0.5;

     
···

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

     

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

     

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       												<div id="joystick" style="width: 200px; height: 200px; border: 2px solid black; border-radius: 50%; position: relative; margin: 20px;">

     

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       																<div id="joystickHandle" style="width: 20px; height: 20px; background: red; border-radius: 50%; position: absolute; top: 90px; left: 90px; cursor: pointer;"></div>

     

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       												</div>

     

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       												<div>

     

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       																<span>Motor Values - X: </span><span id="motor1Value">0</span>

     

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       																<span>, Y: </span><span id="motor2Value">0</span>

     

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       																<button id="sendJoystick">Send</button>

     

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       												</div>

     

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       								</div>

     

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       								<div style="width: 300px; padding: 20px; border-left: 1px solid #ccc; overflow-y: auto;">

     
···

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       	}

     

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       }

     

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       function updateJoystickPosition(x: number, y: number) {

     

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       	const joystick = document.getElementById("joystick");

     

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       	const handle = document.getElementById("joystickHandle");

     

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       	if (!joystick || !handle) return;

     

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       	const bounds = joystick.getBoundingClientRect();

     

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       	const radius = bounds.width / 2;

     

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       	// Calculate relative position from center

     

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       	const relX = x - bounds.left - radius;

     

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       	const relY = y - bounds.top - radius;

     

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       	// Calculate distance from center

     

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       	const distance = Math.sqrt(relX * relX + relY * relY);

     

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       	// Normalize to radius if outside circle

     

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       	const normalizedX = distance > radius ? (relX / distance) * radius : relX;

     

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       	const normalizedY = distance > radius ? (relY / distance) * radius : relY;

     

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       	// Update handle position

     

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       	handle.style.left = normalizedX + radius - 10 + "px";

     

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       	handle.style.top = normalizedY + radius - 10 + "px";

     

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       	// Update values (-0.5 to 0.5 range)

     

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       	joystickX = normalizedX / (radius * 2);

     

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       	joystickY = normalizedY / (radius * 2);

     

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       	document.getElementById("motor1Value")!.textContent = joystickX.toFixed(2);

     

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       	document.getElementById("motor2Value")!.textContent = joystickY.toFixed(2);

     

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       }

     

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       function defaultPageRender() {

     

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       	const app = document.querySelector<HTMLDivElement>("#app");

     

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

     
···

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

     

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       	const joystick = document.getElementById("joystick");

     

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       	const handle = document.getElementById("joystickHandle");

     

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       	if (joystick && handle) {

     

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       		handle.addEventListener("mousedown", () => {

     

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       			isDragging = true;

     

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       		});

     

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       		document.addEventListener("mousemove", (e) => {

     

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       			if (isDragging) {

     

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       				updateJoystickPosition(e.clientX, e.clientY);

     

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       			}

     

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       		});

     

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       		document.addEventListener("mouseup", () => {

     

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       			if (isDragging) {

     

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       				isDragging = false;

     

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       			}

     

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       		});

     

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       	}

     

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

     

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       	document

     
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       			await startWebcam();

     

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       			trackFaces();

     

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       		});

     

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       	document.getElementById("sendJoystick")?.addEventListener("click", () => {

     

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       		sendMotorCommand(1, joystickX);

     

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       		sendMotorCommand(2, joystickY);

     

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       	});

     

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       247
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       	document.addEventListener("keydown", (e) => {

     

       248
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       		if (e.key === "Enter") {

     

       249
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       			sendMotorCommand(1, joystickX);

     

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       			sendMotorCommand(2, joystickY);

     

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       		}

     

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       	});

     

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       }

     

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