UI stuff, added manual control

README.md

@@ -3,6 +3,6 @@ AlphaBot
 
 ***Work in progress.***
 
-This app controls the [AplhaBot](http://www.waveshare.com/wiki/AlphaBot).
+This app controls the [AlphaBot](http://www.waveshare.com/wiki/AlphaBot).
 
 More documentation is [on the wiki](https://github.com/rakeshpai/alphabot/wiki).

brains.js

@@ -0,0 +1,29 @@
+const { bus } = require('./utils');
+const { obj: map } = require('through2-map');
+const { notify } = require('./ui-server');
+const powerOff = require('power-off');
+const manualControl = require('./manual-control');
+
+let mode = 'manual';
+notify('mode', mode);
+
+bus.on('setMode', value => {
+  mode = value;
+  notify('mode', value);
+});
+
+let shutdownInitiated = false;
+const shutdown = () => {
+  if(shutdownInitiated) return;
+
+  powerOff(() => {});
+  shutdownInitiated = true;
+}
+
+module.exports = map(sensors => {
+  if(sensors.raw.batteryVoltage < 6) shutdown();
+
+  if(mode === 'manual') return manualControl(sensors);
+
+  return { speed: 0, steering: 0 };
+});

config.js

@@ -15,11 +15,11 @@ module.exports = {
   // Getting this right is kinda important, so it's worth fiddling with
   // these values. Parameters are easy to measure using just a ruler.
   // All dimensions in mm.
-  wheelbase: 130,   // distance between the centres of the wheels
+  wheelbase: 140,   // distance between the centres of the wheels
 
   wheels: {
-    left: { diameter: 66 },
-    right: { diameter: 66 },
+    left: { diameter: 67 },
+    right: { diameter: 67 },
   },
 
   // Slew rate is the maximum allowable change in the mtor PWM

index.js

@@ -1,12 +1,8 @@
 const hardware = require('./hardware');
-const { obj: map } = require('through2-map');
 const interpretSensors = require('./sensors');
+const brains = require('./brains');
 const setMotorSpeeds = require('./motor-command');
-require('./ui-server');
-
-const brains = map(sensors => {
-  return { speed: 0, steering: 0 };
-});
+require('./ui-server'); // Not strictly needed, as it's automatically init'd.
 
 hardware
   .pipe(interpretSensors)

manual-control.js

@@ -0,0 +1,41 @@
+const { bus } = require('./utils');
+const config = require('./config');
+const lirc = require('./utils/lirc_receiver');
+
+const remoteKeysToInput = {
+  'KEY_CHANNEL': 'forward',
+  'KEY_PREVIOUS': 'left',
+  'KEY_PLAYPAUSE': 'right',
+  'KEY_NEXT': 'reverse'
+}
+
+let input = null;
+let inputTimer = null;
+
+const setInput = newInput => {
+  if(inputTimer) clearTimeout(inputTimer);
+
+  input = newInput;
+  inputTimer = setTimeout(() => input = null, 150);
+}
+
+lirc.on('keypress', ({ key }) => {
+  if(key in remoteKeysToInput) setInput(remoteKeysToInput[key]);
+});
+
+bus.on('motorCommand', setInput);
+
+module.exports = sensors => {
+  let command = { speed: 0, steering: 0 };
+
+  if(input) {
+    switch(input) {
+      case 'forward': command.speed = config.topSpeed; break;
+      case 'left': command.steering = 15; break;
+      case 'right': command.steering = -15; break;
+      case 'reverse': command.speed = -1 * config.topSpeed; break;
+    }
+  }
+
+  return command;
+}

motor-command.js

@@ -1,6 +1,6 @@
 const { obj: map } = require('through2-map');
 const config = require('./config');
-const { log } = require('./ui-server');
+const { notify } = require('./ui-server');
 
 const previous = { left: 0, right: 0 };
 
@@ -23,7 +23,7 @@ module.exports = map(({speed, steering, ts}) => {
   previous.left = Math.round(slewedSpeed(previous.left, leftSpeed));
   previous.right = Math.round(slewedSpeed(previous.right, rightSpeed));
 
-  log('motors', previous);
+  notify('motors', previous);
 
   return { wheels: previous, ts };
 });

package.json

@@ -8,16 +8,25 @@
     "start": "concurrently \"nodemon index.js\" \"PORT=80 react-scripts start\""
   },
   "nodemonConfig": {
-    "ignore": [ "public", "build", "src" ]
+    "ignore": [
+      "public",
+      "build",
+      "src"
+    ]
   },
   "author": "rakeshpai",
   "license": "MIT",
   "dependencies": {
     "alphabot-hal": "^1.0.1",
     "concurrently": "^3.5.0",
+    "glamor": "^2.20.40",
+    "mousetrap": "^1.6.1",
     "nodemon": "^1.12.0",
+    "power-off": "^1.1.2",
+    "react-chartist": "^0.13.0",
     "react-scripts": "^1.0.13",
     "reconnecting-websocket": "^3.2.1",
+    "split2": "^2.1.1",
     "through2-map": "^3.0.0",
     "ws": "^3.1.0"
   }

sensors/index.js

@@ -1,6 +1,6 @@
 const { obj: map } = require('through2-map');
 const odometry = require('./odometry');
-const { log } = require('../ui-server');
+const { notify } = require('../ui-server');
 
 module.exports = map(sensors => {
   const processed = {
@@ -9,7 +9,7 @@ module.exports = map(sensors => {
     ts: sensors.ts
   };
 
-  log('sensed', processed);
+  notify('sensed', processed);
 
   return processed;
 });

src/index.js

@@ -1,12 +1,13 @@
 import React from 'react';
 import { render } from 'react-dom';
-import App from './App';
+import App from './components/App';
 import store from './store';
+import './keyboard-shortcuts';
+
 // import registerServiceWorker from './registerServiceWorker';
+// registerServiceWorker();
 
 const renderApp = () => render(<App />, document.getElementById('root'));
 
 renderApp();
 store.onChange = renderApp;
-
-// registerServiceWorker();

src/keyboard-shortcuts.js

@@ -0,0 +1,34 @@
+import store from './store';
+import mousetrap from 'mousetrap';
+
+const debounce = (time, fn) => {
+  let lastCallTime;
+
+  return () => {
+    if(!lastCallTime || Date.now() - lastCallTime > time) {
+      lastCallTime = Date.now();
+      fn();
+    }
+  }
+}
+
+// Bind keyboard shortcuts
+const directionKeys = {
+  w: 'forward',
+  a: 'left',
+  s: 'reverse',
+  d: 'right',
+  up: 'forward',
+  down: 'reverse',
+  left: 'left',
+  right: 'right'
+};
+
+Object.keys(directionKeys).forEach((key, i, obj) => {
+  mousetrap.bind(key, debounce( 50, () => {
+    store.motorCommand(directionKeys[key]);
+  }));
+});
+
+mousetrap.bind('r', debounce(500, store.resetAll));
+mousetrap.bind('m', debounce(500, () => store.setMode(store.mode==='manual'?'auto':'manual')));