Keyboard input added
This commit is contained in:
147
script.js
147
script.js
@ -288,6 +288,15 @@ const generateInputsBtn = document.getElementById('generate-inputs-btn');
|
||||
const clearInputsBtn = document.getElementById('delete-inputs-btn');
|
||||
const applyCustomBtn = document.getElementById('apply-custom-btn');
|
||||
|
||||
// Get control mode elements
|
||||
const controlModeToggle = document.getElementById('control-mode-toggle');
|
||||
const sliderControls = document.getElementById('slider-controls');
|
||||
const keyboardControls = document.getElementById('keyboard-controls');
|
||||
const keyboardMaxSpeed = document.getElementById('keyboard-max-speed');
|
||||
const keyboardMaxSpeedOutput = document.getElementById('keyboard-max-speed-value');
|
||||
const keyboardMaxRotation = document.getElementById('keyboard-max-rotation');
|
||||
const keyboardMaxRotationOutput = document.getElementById('keyboard-max-rotation-value');
|
||||
|
||||
// Preset buttons
|
||||
const preset2WheelBtn = document.getElementById('preset-2wheel');
|
||||
const preset3WheelBtn = document.getElementById('preset-3wheel');
|
||||
@ -301,6 +310,29 @@ const preset16OctBtn = document.getElementById('preset-16oct');
|
||||
|
||||
/*
|
||||
* END DOM VARIABLES
|
||||
* BEGIN CONTROL MODE AND INPUT DEVICE VARIABLES
|
||||
*/
|
||||
|
||||
// Control mode state
|
||||
let isManualInputMode = false; // true = keyboard/gamepad mode, false = slider mode
|
||||
|
||||
// Keyboard state tracking
|
||||
const keyState = {
|
||||
w: false, // Forward
|
||||
a: false, // Left
|
||||
s: false, // Backward
|
||||
d: false, // Right
|
||||
q: false, // Counter-clockwise
|
||||
e: false // Clockwise
|
||||
};
|
||||
|
||||
// Current manual input velocities (from keyboard or gamepad)
|
||||
let manualInputVelX = 0;
|
||||
let manualInputVelY = 0;
|
||||
let manualInputOmega = 0;
|
||||
|
||||
/*
|
||||
* END CONTROL MODE AND INPUT DEVICE VARIABLES
|
||||
* BEGIN LISTENER CODE
|
||||
*/
|
||||
|
||||
@ -319,6 +351,93 @@ resetBtn.addEventListener('click', (e) => {
|
||||
omegaOutput.textContent = parseFloat(omegaSlider.value);
|
||||
});
|
||||
|
||||
// Keyboard control sliders
|
||||
keyboardMaxSpeed.addEventListener('input', (e) => {
|
||||
keyboardMaxSpeedOutput.textContent = parseFloat(e.target.value);
|
||||
});
|
||||
keyboardMaxSpeedOutput.textContent = parseFloat(keyboardMaxSpeed.value);
|
||||
|
||||
keyboardMaxRotation.addEventListener('input', (e) => {
|
||||
keyboardMaxRotationOutput.textContent = parseFloat(e.target.value);
|
||||
});
|
||||
keyboardMaxRotationOutput.textContent = parseFloat(keyboardMaxRotation.value);
|
||||
|
||||
// Control mode toggle
|
||||
controlModeToggle.addEventListener('click', () => {
|
||||
isManualInputMode = !isManualInputMode;
|
||||
|
||||
if (isManualInputMode) {
|
||||
// Switch to manual input mode (keyboard/gamepad)
|
||||
sliderControls.style.display = 'none';
|
||||
keyboardControls.style.display = 'block';
|
||||
controlModeToggle.textContent = 'Switch to Slider Controls';
|
||||
|
||||
// Reset slider values when switching to manual input
|
||||
vxSlider.value = 0;
|
||||
vySlider.value = 0;
|
||||
omegaSlider.value = 0;
|
||||
vxOutput.textContent = '0';
|
||||
vyOutput.textContent = '0';
|
||||
omegaOutput.textContent = '0';
|
||||
} else {
|
||||
// Switch to slider mode
|
||||
sliderControls.style.display = 'block';
|
||||
keyboardControls.style.display = 'none';
|
||||
controlModeToggle.textContent = 'Switch to Keyboard Controls (WASD + QE)';
|
||||
|
||||
// Reset manual input state
|
||||
Object.keys(keyState).forEach(key => keyState[key] = false);
|
||||
manualInputVelX = 0;
|
||||
manualInputVelY = 0;
|
||||
manualInputOmega = 0;
|
||||
}
|
||||
});
|
||||
|
||||
// Keyboard event listeners
|
||||
document.addEventListener('keydown', (e) => {
|
||||
if (!isManualInputMode) return;
|
||||
|
||||
const key = e.key.toLowerCase();
|
||||
if (key in keyState) {
|
||||
keyState[key] = true;
|
||||
e.preventDefault();
|
||||
updateManualInputVelocities();
|
||||
}
|
||||
});
|
||||
|
||||
document.addEventListener('keyup', (e) => {
|
||||
if (!isManualInputMode) return;
|
||||
|
||||
const key = e.key.toLowerCase();
|
||||
if (key in keyState) {
|
||||
keyState[key] = false;
|
||||
e.preventDefault();
|
||||
updateManualInputVelocities();
|
||||
}
|
||||
});
|
||||
|
||||
// Function to update velocities based on manual input devices (keyboard/gamepad)
|
||||
function updateManualInputVelocities() {
|
||||
const maxSpeed = parseFloat(keyboardMaxSpeed.value);
|
||||
const maxRotation = parseFloat(keyboardMaxRotation.value);
|
||||
|
||||
// Calculate translation velocities from keyboard input
|
||||
manualInputVelX = 0;
|
||||
manualInputVelY = 0;
|
||||
|
||||
if (keyState.d) manualInputVelX += maxSpeed; // Right
|
||||
if (keyState.a) manualInputVelX -= maxSpeed; // Left
|
||||
if (keyState.w) manualInputVelY += maxSpeed; // Forward
|
||||
if (keyState.s) manualInputVelY -= maxSpeed; // Backward
|
||||
|
||||
// Calculate rotation velocity from keyboard input
|
||||
manualInputOmega = 0;
|
||||
if (keyState.e) manualInputOmega += maxRotation; // Clockwise
|
||||
if (keyState.q) manualInputOmega -= maxRotation; // Counter-clockwise
|
||||
|
||||
// TODO: Add gamepad input processing here
|
||||
}
|
||||
|
||||
// Preset button event listeners
|
||||
preset2WheelBtn.addEventListener('click', () => {
|
||||
const positions = PresetConfigs.twoWheel(robotSize);
|
||||
@ -652,10 +771,16 @@ function animate() {
|
||||
ctx.save();
|
||||
ctx.translate(canvas.width / 2, canvas.height / 2);
|
||||
|
||||
// Update speeds based on sliders
|
||||
xSpeed = parseFloat(vxSlider.value);
|
||||
ySpeed = -parseFloat(vySlider.value);
|
||||
turnSpeed = parseFloat(omegaSlider.value);
|
||||
// Update speeds based on control mode
|
||||
if (isManualInputMode) {
|
||||
xSpeed = manualInputVelX;
|
||||
ySpeed = -manualInputVelY; // Negative because canvas Y axis is inverted
|
||||
turnSpeed = manualInputOmega;
|
||||
} else {
|
||||
xSpeed = parseFloat(vxSlider.value);
|
||||
ySpeed = -parseFloat(vySlider.value);
|
||||
turnSpeed = parseFloat(omegaSlider.value);
|
||||
}
|
||||
|
||||
// Update module states before drawing the robot
|
||||
// The drive() method will update the gyroHeading internally
|
||||
@ -665,11 +790,17 @@ function animate() {
|
||||
// Get the actual robot velocity (after scaling to max module speed) for grid animation
|
||||
const actualVelocity = robot.getActualVelocity();
|
||||
|
||||
|
||||
// Update control outputs with actual speeds
|
||||
vxOutput.textContent = `Requested: ${vxSlider.value} | Actual: ${actualVelocity.x.toFixed(2)}`;
|
||||
vyOutput.textContent = `Requested: ${vySlider.value} | Actual: ${-actualVelocity.y.toFixed(2)}`;
|
||||
omegaOutput.textContent = `Requested: ${omegaSlider.value} | Actual: ${robot.actualTurnSpeed.toFixed(2)}`;
|
||||
if (isManualInputMode) {
|
||||
// In manual input mode (keyboard/gamepad), show the current values
|
||||
keyboardMaxSpeedOutput.textContent = `Max: ${keyboardMaxSpeed.value} | Current: ${Math.max(Math.abs(actualVelocity.x), Math.abs(actualVelocity.y)).toFixed(1)}`;
|
||||
keyboardMaxRotationOutput.textContent = `Max: ${keyboardMaxRotation.value} | Current: ${Math.abs(robot.actualTurnSpeed || 0).toFixed(2)}`;
|
||||
} else {
|
||||
// In slider mode, show requested vs actual
|
||||
vxOutput.textContent = `Requested: ${vxSlider.value} | Actual: ${actualVelocity.x.toFixed(2)}`;
|
||||
vyOutput.textContent = `Requested: ${vySlider.value} | Actual: ${-actualVelocity.y.toFixed(2)}`;
|
||||
omegaOutput.textContent = `Requested: ${omegaSlider.value} | Actual: ${(robot.actualTurnSpeed || 0).toFixed(2)}`;
|
||||
}
|
||||
|
||||
// Animate the grid
|
||||
let offsetSpeedDivisor = (100 - gridSquareSize <= 0 ? 1 : 100 - gridSquareSize);
|
||||
|
||||
Reference in New Issue
Block a user