Added robot presets and draw robot and basic grid functions

script.js

@@ -29,8 +29,8 @@ class SwerveModule {
         // speed and angle of this module to achieve it
 
         // Calculate rotation contribution (perpendicular to position vector)
-        const rotX = -this.position.y * omega;
+        const rotX = -this.position.y * turnSpeed;
-        const rotY = this.position.x * omega;
+        const rotY = this.position.x * turnSpeed;
 
         // Combine translation and rotation
         this.velocity.x = velocityX + rotX;
@@ -68,6 +68,72 @@ class SwerveDrive {
     }
 }
 
+// Preset robot generators
+const PresetConfigs = {
+    twoWheel: (size) => [
+        { x: 0, y: size / 2, name: "Left" },
+        { x: 0, y: -size / 2, name: "Right" }
+    ],
+
+    threeWheel: (size) => {
+        const radius = size / 2;
+        return [
+            { x: radius * Math.cos(Math.PI / 2), y: radius * Math.sin(Math.PI / 2), name: "Front" },
+            { x: radius * Math.cos(Math.PI / 2 + 2 * Math.PI / 3), y: radius * Math.sin(Math.PI / 2 + 2 * Math.PI / 3), name: "Back Left" },
+            { x: radius * Math.cos(Math.PI / 2 + 4 * Math.PI / 3), y: radius * Math.sin(Math.PI / 2 + 4 * Math.PI / 3), name: "Back Right" }
+        ];
+    },
+
+    fourWheelSquare: (size) => {
+        const half = size / 2;
+        return [
+            { x: half, y: half, name: "FL" },
+            { x: half, y: -half, name: "FR" },
+            { x: -half, y: half, name: "BL" },
+            { x: -half, y: -half, name: "BR" }
+        ];
+    },
+
+    fourWheelRectangle: (size) => {
+        const width = size * 0.7;
+        const length = size;
+        return [
+            { x: length / 2, y: width / 2, name: "FL" },
+            { x: length / 2, y: -width / 2, name: "FR" },
+            { x: -length / 2, y: width / 2, name: "BL" },
+            { x: -length / 2, y: -width / 2, name: "BR" }
+        ];
+    },
+
+    sixWheel: (size) => {
+        const radius = size / 2;
+        const modules = [];
+        for (let i = 0; i < 6; i++) {
+            const angle = (Math.PI / 2) + (i * Math.PI / 3);
+            modules.push({
+                x: radius * Math.cos(angle),
+                y: radius * Math.sin(angle),
+                name: `Module ${i + 1}`
+            });
+        }
+        return modules;
+    },
+
+    eightWheel: (size) => {
+        const radius = size / 2;
+        const modules = [];
+        for (let i = 0; i < 8; i++) {
+            const angle = (Math.PI / 2) + (i * Math.PI / 4);
+            modules.push({
+                x: radius * Math.cos(angle),
+                y: radius * Math.sin(angle),
+                name: `Module ${i + 1}`
+            });
+        }
+        return modules;
+    }
+};
+
 // Get all control elements
 const vxSlider = document.getElementById('vx-slider');
 const vySlider = document.getElementById('vy-slider');
@@ -109,4 +175,50 @@ omegaSlider.addEventListener('input', (e) => {
 
 maxSpeedSlider.addEventListener('input', (e) => {
     maxSpeedOutput.textContent = parseFloat(e.target.value).toFixed(1);
-});
+});
+
+// Get the canvas and context as constants
+const canvas = document.getElementById('swerve-canvas');
+const ctx = canvas.getContext('2d');
+
+// Get CSS variables for use in canvas
+const rootStyles = getComputedStyle(document.documentElement);
+
+function drawGrid(ctx, sideLength, gridSquareSize) {
+    ctx.strokeStyle = rootStyles.getPropertyValue('--grid-color');
+    ctx.lineWidth = 1;
+
+    for (let i = -sideLength / 2; i <= sideLength / 2; i += gridSquareSize) {
+        ctx.beginPath();
+        ctx.moveTo(i, -sideLength / 2);
+        ctx.lineTo(i, sideLength / 2);
+        ctx.stroke();
+
+        ctx.beginPath();
+        ctx.moveTo(-sideLength / 2, i);
+        ctx.lineTo(sideLength / 2, i);
+        ctx.stroke();
+    }
+}
+
+function drawRobot(ctx, robot) {
+    ctx.strokeStyle = rootStyles.getPropertyValue('--robot-frame-color')
+    ctx.fillStyle = rootStyles.getPropertyValue('--robot-fill-color');
+    ctx.lineWidth = 4;
+
+    const modules = robot.modules.sort((a, b) => Math.atan2(a.position.y, a.position.x) - Math.atan2(b.position.y, b.position.x));
+    console.log(modules);
+
+    ctx.beginPath();
+    ctx.moveTo(modules[0].position.x, modules[0].position.y);
+    for (let i = 1; i < modules.length; i++) {
+        ctx.lineTo(modules[i].position.x, modules[i].position.y);
+    }
+    ctx.closePath();
+    ctx.fill();
+    ctx.stroke();
+}
+
+ctx.translate(canvas.width / 2, canvas.height / 2);
+drawGrid(ctx, 600, 50);
+drawRobot(ctx, new SwerveDrive(PresetConfigs.eightWheel(200)));

styles.css

@@ -22,6 +22,12 @@
   --border-radius-sm: 4px;
 
   --shadow: 0 4px 6px rgba(0, 0, 0, 0.3);
+
+  --grid-color: #e4e4e733;
+  --robot-frame-color: #1e81bf;
+  --robot-fill-color: #5f9ec4;
+  --swerve-module-color: #7bb6db;
+  --swerve-arrow-color: #c73c3c;
 }
 
 body {