fix footer

update cache version name && add source footer
Change how to use documentation to match how controls work now
2025-11-18 13:10:49 -05:00 · 2025-11-18 13:08:23 -05:00 · 2025-11-17 10:33:19 -05:00 · 2025-11-17 10:27:24 -05:00 · 2025-11-17 10:22:20 -05:00 · 2025-11-11 13:47:58 -05:00
7 changed files with 249 additions and 23 deletions
--- a/icons/192.svg
+++ b/icons/192.svg
@ -0,0 +1,22 @@
+<svg width="192" height="192" xmlns="http://www.w3.org/2000/svg">
+  <rect width="192" height="192" fill="#16213e"/>
+  <circle cx="96" cy="96" r="70" fill="none" stroke="#0f3460" stroke-width="3"/>
+  
+  <!-- Swerve modules (4 corners) -->
+  <circle cx="56" cy="56" r="12" fill="#e94560"/>
+  <circle cx="136" cy="56" r="12" fill="#e94560"/>
+  <circle cx="56" cy="136" r="12" fill="#e94560"/>
+  <circle cx="136" cy="136" r="12" fill="#e94560"/>
+  
+  <!-- Velocity arrows -->
+  <line x1="56" y1="56" x2="56" y2="40" stroke="#ff6b6b" stroke-width="3" stroke-linecap="round"/>
+  <line x1="136" y1="56" x2="136" y2="40" stroke="#ff6b6b" stroke-width="3" stroke-linecap="round"/>
+  <line x1="56" y1="136" x2="56" y2="152" stroke="#ff6b6b" stroke-width="3" stroke-linecap="round"/>
+  <line x1="136" y1="136" x2="136" y2="152" stroke="#ff6b6b" stroke-width="3" stroke-linecap="round"/>
+  
+  <!-- Center point -->
+  <circle cx="96" cy="96" r="6" fill="#4ecca3"/>
+  
+  <!-- Robot frame -->
+  <polygon points="56,56 136,56 136,136 56,136" fill="none" stroke="#4ecca3" stroke-width="2"/>
+</svg>
--- a/icons/512.svg
+++ b/icons/512.svg
@ -0,0 +1,41 @@
+<svg width="512" height="512" xmlns="http://www.w3.org/2000/svg">
+  <rect width="512" height="512" fill="#16213e"/>
+  <circle cx="256" cy="256" r="190" fill="none" stroke="#0f3460" stroke-width="8"/>
+  
+  <!-- Swerve modules (4 corners) -->
+  <circle cx="150" cy="150" r="32" fill="#e94560"/>
+  <circle cx="362" cy="150" r="32" fill="#e94560"/>
+  <circle cx="150" cy="362" r="32" fill="#e94560"/>
+  <circle cx="362" cy="362" r="32" fill="#e94560"/>
+  
+  <!-- Velocity arrows -->
+  <line x1="150" y1="150" x2="150" y2="100" stroke="#ff6b6b" stroke-width="8" stroke-linecap="round"/>
+  <polygon points="150,90 140,110 160,110" fill="#ff6b6b"/>
+  
+  <line x1="362" y1="150" x2="362" y2="100" stroke="#ff6b6b" stroke-width="8" stroke-linecap="round"/>
+  <polygon points="362,90 352,110 372,110" fill="#ff6b6b"/>
+  
+  <line x1="150" y1="362" x2="150" y2="412" stroke="#ff6b6b" stroke-width="8" stroke-linecap="round"/>
+  <polygon points="150,422 140,402 160,402" fill="#ff6b6b"/>
+  
+  <line x1="362" y1="362" x2="362" y2="412" stroke="#ff6b6b" stroke-width="8" stroke-linecap="round"/>
+  <polygon points="362,422 352,402 372,402" fill="#ff6b6b"/>
+  
+  <!-- Center point -->
+  <circle cx="256" cy="256" r="16" fill="#4ecca3"/>
+  
+  <!-- Robot frame -->
+  <polygon points="150,150 362,150 362,362 150,362" fill="none" stroke="#4ecca3" stroke-width="6"/>
+  
+  <!-- Grid lines in background -->
+  <g opacity="0.2" stroke="#4ecca3" stroke-width="1">
+    <line x1="100" y1="100" x2="100" y2="412"/>
+    <line x1="200" y1="100" x2="200" y2="412"/>
+    <line x1="300" y1="100" x2="300" y2="412"/>
+    <line x1="400" y1="100" x2="400" y2="412"/>
+    <line x1="100" y1="100" x2="412" y2="100"/>
+    <line x1="100" y1="200" x2="412" y2="200"/>
+    <line x1="100" y1="300" x2="412" y2="300"/>
+    <line x1="100" y1="400" x2="412" y2="400"/>
+  </g>
+</svg>
--- a/index.html
+++ b/index.html
@ -4,7 +4,15 @@
 <head>
    <meta charset="UTF-8">
    <meta name="viewport" content="width=device-width, initial-scale=1.0">
+    <meta name="theme-color" content="#16213e">
+    <meta name="description"
+        content="Interactive simulation of a swerve drive robot with configurable size, speeds, and number of wheels">
+    <link rel="icon" type="image/svg+xml" href="/icons/512.svg">
    <title>Swerve Drive Visualizer</title>
+
+    <!-- PWA Manifest -->
+    <link rel="manifest" href="/manifest.json">
+
    <link rel="stylesheet" href="styles.css">
 </head>

@ -24,7 +32,43 @@
                        velocities. Use the controls to experiment with different configurations and movement patterns.
                    </p>

-                    <h3>Drive Controls</h3>
+                    <h3>Control Modes</h3>
+                    <p>The simulator offers two control modes. Switch between them using the <strong>Switch to
+                            Keyboard/Joystick Controls</strong> or <strong>Switch to Slider Controls</strong> button.
+                    </p>
+
+                    <h4>Keyboard/Joystick Mode (Default)</h4>
+                    <p>Control the robot using keyboard keys or on-screen joysticks (if on a touch enabled device):</p>
+                    <ul>
+                        <li><strong>Keyboard Controls:</strong>
+                            <ul>
+                                <li><strong>W:</strong> Move Forward</li>
+                                <li><strong>A:</strong> Strafe Left</li>
+                                <li><strong>S:</strong> Move Backward</li>
+                                <li><strong>D:</strong> Strafe Right</li>
+                                <li><strong>Q:</strong> Rotate Counter-Clockwise</li>
+                                <li><strong>E:</strong> Rotate Clockwise</li>
+                            </ul>
+                        </li>
+                        <li><strong>On-Screen Joysticks (Touch enabled devices only):</strong>
+                            <ul>
+                                <li><strong>Left Joystick:</strong> Controls translation (movement in X and Y
+                                    directions)</li>
+                                <li><strong>Right Joystick:</strong> Controls rotation (turning)</li>
+                                <li>Touch or click and drag within the joystick circles to control the robot</li>
+                                <li>Joysticks take priority when active; otherwise, keyboard controls are used</li>
+                            </ul>
+                        </li>
+                        <li><strong>Max Speed:</strong> Sets the maximum translation speed for keyboard/joystick input
+                        </li>
+                        <li><strong>Max Rotation:</strong> Sets the maximum rotation speed for keyboard/joystick input
+                        </li>
+                    </ul>
+
+
+
+                    <h4>Slider Mode</h4>
+                    <p>Use sliders to set precise velocity values:</p>
                    <ul>
                        <li><strong>Strafe Left/Right:</strong> Controls the robot's velocity in the X direction
                            (field-relative). Positive values move right, negative values move left.</li>
@ -32,11 +76,16 @@
                            (field-relative). Positive values move forward, negative values move backward.</li>
                        <li><strong>Rotation:</strong> Controls the robot's angular velocity (turn rate) in radians per
                            second. Positive values rotate counter-clockwise.</li>
-                        <li><strong>Max Module Speed:</strong> Sets the maximum speed limit for any individual swerve
-                            module. If calculated speeds exceed this, all modules are scaled proportionally.</li>
                        <li><strong>Reset Controls:</strong> Returns all velocity sliders to zero.</li>
                    </ul>

+                    <h3>Performance Limits</h3>
+                    <ul>
+                        <li><strong>Max Module Speed:</strong> Sets the maximum speed limit for any individual swerve
+                            module. If calculated speeds exceed this, all modules are scaled proportionally to maintain
+                            the intended direction of movement.</li>
+                    </ul>
+
                    <h3>Preset Configurations</h3>
                    <p>Choose from 9 pre-built robot configurations ranging from 2 to 16 wheels. Each preset
                        demonstrates different module arrangements:</p>
@ -199,10 +248,10 @@ if scale &lt; 1:
                <legend>Translation &amp; Rotation</legend>

                <div class="control-group">
-                    <button id="control-mode-toggle" type="button">Switch to Keyboard/Joystick Controls</button>
+                    <button id="control-mode-toggle" type="button">Switch to Slider Controls</button>
                </div>

-                <div id="slider-controls">
+                <div id="slider-controls" style="display: none;">
                    <div class="control-group">
                        <label for="vy-slider">Move Forward/Backward (pixels/s)</label>
                        <input type="range" id="vy-slider" min="-300" max="300" step="10" value="0">
@ -224,7 +273,7 @@ if scale &lt; 1:
                    <button id="reset-btn" type="button">Reset Controls</button>
                </div>

-                <div id="keyboard-controls" style="display: none;">
+                <div id="keyboard-controls">
                    <div class="control-group">
                        <label for="keyboard-max-speed">Max Speed (pixels/s)</label>
                        <input type="range" id="keyboard-max-speed" min="50" max="300" step="10" value="150">
@ -309,10 +358,54 @@ if scale &lt; 1:
            </div>
        </section>

+
+        <footer id="site-footer">
+            <a href="https://git.munebase.dev/Munelit/swerve-visualizer">Source for this site can be found here.</a>
+        </footer>
+
    </main>

    <script type="module" src="vendor/lucio/graham-scan.mjs"></script>
    <script type="module" src="script.js"></script>
+
+    <!-- Register Service Worker for PWA -->
+    <script>
+        if ('serviceWorker' in navigator) {
+            window.addEventListener('load', () => {
+                navigator.serviceWorker.register('/sw.js')
+                    .then((registration) => {
+                        console.log('Service Worker registered successfully:', registration.scope);
+
+                        // Check for updates periodically
+                        setInterval(() => {
+                            registration.update();
+                        }, 60000); // Check every minute
+
+                        // Handle updates
+                        registration.addEventListener('updatefound', () => {
+                            const newWorker = registration.installing;
+                            newWorker.addEventListener('statechange', () => {
+                                if (newWorker.state === 'installed' && navigator.serviceWorker.controller) {
+                                    // New service worker available, prompt user to reload
+                                    if (confirm('A new version is available! Reload to update?')) {
+                                        newWorker.postMessage({ type: 'SKIP_WAITING' });
+                                        window.location.reload();
+                                    }
+                                }
+                            });
+                        });
+                    })
+                    .catch((error) => {
+                        console.log('Service Worker registration failed:', error);
+                    });
+
+                // Handle controller change (new service worker activated)
+                navigator.serviceWorker.addEventListener('controllerchange', () => {
+                    window.location.reload();
+                });
+            });
+        }
+    </script>
 </body>

 </html>
--- a/manifest.json
+++ b/manifest.json
@ -0,0 +1,22 @@
+{
+    "name": "MuneBase Swerve Drive Sim",
+    "short_name": "Swerve Sim",
+    "start_url": "/",
+    "display": "standalone",
+    "theme_color": "#16213e",
+    "background_color": "#16213e",
+    "icons": [
+        {
+            "src": "/icons/192.svg",
+            "sizes": "192x192",
+            "type": "image/svg+xml",
+            "purpose": "any"
+        },
+        {
+            "src": "/icons/512.svg",
+            "sizes": "512x512",
+            "type": "image/svg+xml",
+            "purpose": "any"
+        }
+    ]
+}
--- a/script.js
+++ b/script.js
@ -5,7 +5,7 @@
 import GrahamScan from "./vendor/lucio/graham-scan.mjs";

 class Joystick {
-    constructor(ctx, x, y, radius) {
+    constructor(ctx, x, y, radius, visibleByDefault) {
        this.ctx = ctx;
        this.x = x;
        this.y = y;
@ -13,7 +13,7 @@ class Joystick {
        this.nubX = x;
        this.nubY = y;
        this.active = false;
-        this.visible = false;
+        this.visible = visibleByDefault;
    }

    draw() {
@ -45,9 +45,13 @@ class Joystick {

    deactivate() {
        this.active = false;
+        this.reset();
    }

    touchInRange(x, y) {
+        if (!this.visible)
+            return false;
+
        const deltaX = x - this.x;
        const deltaY = y - this.y;
        const dist = Math.sqrt(deltaX * deltaX + deltaY * deltaY);
@ -398,7 +402,7 @@ const preset16OctBtn = document.getElementById('preset-16oct');
 */

 // Control mode state
-let isManualInputMode = false; // true = keyboard/gamepad mode, false = slider mode
+let isManualInputMode = true; // true = keyboard/gamepad mode, false = slider mode

 // Keyboard state tracking
 const keyState = {
@ -446,6 +450,9 @@ keyboardMaxRotation.addEventListener('input', (e) => {
 });
 keyboardMaxRotationOutput.textContent = parseFloat(keyboardMaxRotation.value);

+
+const supportsTouch = (navigator.maxTouchPoints > 0);
+
 // Control mode toggle
 controlModeToggle.addEventListener('click', () => {
    isManualInputMode = !isManualInputMode;
@ -463,13 +470,15 @@ controlModeToggle.addEventListener('click', () => {
        vxOutput.textContent = '0';
        vyOutput.textContent = '0';
        omegaOutput.textContent = '0';
-        leftJoystick.setIsVisible(true);
-        rightJoystick.setIsVisible(true);
+        if (supportsTouch) {
+            leftJoystick.setIsVisible(true);
+            rightJoystick.setIsVisible(true);
+        }
    } else {
        // Switch to slider mode
        sliderControls.style.display = 'block';
        keyboardControls.style.display = 'none';
-        controlModeToggle.textContent = 'Switch to Keyboard/Joystick Controls';
+        controlModeToggle.textContent = supportsTouch ? 'Switch to Keyboard/Joystick Controls' : 'Switch to Keyboard';

        // Reset manual input state
        Object.keys(keyState).forEach(key => keyState[key] = false);
@ -883,8 +892,8 @@ function updateModuleDisplays(robot) {
 * BEGIN ANIMATION CODE
 */

-const leftJoystick = new Joystick(ctx, -250, 250, 100);
-const rightJoystick = new Joystick(ctx, 250, 250, 100);
+const leftJoystick = new Joystick(ctx, -250, 250, 100, supportsTouch);
+const rightJoystick = new Joystick(ctx, 250, 250, 100, supportsTouch);

 function drawGrid(ctx, sideLength, gridSquareSize, xOffset, yOffset) {
    ctx.save();
@ -990,9 +999,6 @@ function drawRobot(ctx, robot, heading) {
 }

 // Initialize Variables
-// Joysticks
-const supportsTouch = (navigator.maxTouchPoints > 0);
-

 // General robot
 const robotSize = 200;
@ -1018,13 +1024,20 @@ function animate() {
    if (isManualInputMode) {
        const maxSpeed = parseFloat(keyboardMaxSpeed.value);
        const maxRotation = parseFloat(keyboardMaxRotation.value);
-        // xSpeed = manualInputVelX;
-        // ySpeed = -manualInputVelY; // Negative because canvas Y axis is inverted
-        // turnSpeed = manualInputOmega;

-        xSpeed = leftJoystick.getX() * maxSpeed;
-        ySpeed = -leftJoystick.getY() * maxSpeed;
-        turnSpeed = rightJoystick.getX() * maxRotation;
+        // Combine keyboard and joystick inputs
+        const keyboardX = manualInputVelX;
+        const keyboardY = -manualInputVelY; // Negative because canvas Y axis is inverted
+        const keyboardOmega = manualInputOmega;
+
+        const joystickX = leftJoystick.getX() * maxSpeed;
+        const joystickY = -leftJoystick.getY() * maxSpeed;
+        const joystickOmega = rightJoystick.getX() * maxRotation;
+
+        // Use joystick if active, otherwise use keyboard
+        xSpeed = leftJoystick.active ? joystickX : keyboardX;
+        ySpeed = leftJoystick.active ? joystickY : keyboardY;
+        turnSpeed = rightJoystick.active ? joystickOmega : keyboardOmega;
    } else {
        xSpeed = parseFloat(vxSlider.value);
        ySpeed = -parseFloat(vySlider.value);
--- a/styles.css
+++ b/styles.css
@ -232,6 +232,8 @@ tr:hover {
  margin-top: var(--spacing-large);
  border-top: 2px solid var(--border-color);
  border-radius: var(--border-radius) var(--border-radius) 0 0;
+  grid-row: 4 / 5;
+  grid-column: 1 / 3;
 }

 /* Additions for this page */
--- a/sw.js
+++ b/sw.js
@ -0,0 +1,33 @@
+const CACHE_NAME = 'v2';
+const ASSETS = [
+    '/',
+    '/index.html',
+    '/script.js',
+    '/styles.css',
+    '/manifest.json',
+    '/icons/192.svg',
+    '/icons/512.svg',
+    '/vendor/lucio/graham-scan.mjs'
+];
+
+self.addEventListener('install', (e) => {
+    e.waitUntil(
+        caches.open(CACHE_NAME).then(cache => cache.addAll(ASSETS))
+    );
+    self.skipWaiting();
+});
+
+self.addEventListener('activate', (e) => {
+    e.waitUntil(
+        caches.keys().then(keys =>
+            Promise.all(keys.filter(k => k !== CACHE_NAME).map(k => caches.delete(k)))
+        )
+    );
+    self.clients.claim();
+});
+
+self.addEventListener('fetch', (e) => {
+    e.respondWith(
+        caches.match(e.request).then(response => response || fetch(e.request))
+    );
+});
Author	SHA1	Message	Date
Moonlit Productions	de733edf48	fix footer	2025-11-18 13:10:49 -05:00
Moonlit Productions	c72b6e5f1a	update cache version name && add source footer	2025-11-18 13:08:23 -05:00
Moonlit Productions	64bd500161	Change how to use documentation to match how controls work now	2025-11-17 10:33:19 -05:00
Moonlit Productions	77bcfd3196	Fix joysticks not being visible by default on mobile	2025-11-17 10:27:24 -05:00
Moonlit Productions	c1aa7d2086	default to keyboard/joystick control	2025-11-17 10:22:20 -05:00
Moonlit Productions	c225ee696a	Re-added keyboard controls alongside joysticks	2025-11-11 13:47:58 -05:00
Moonlit Productions	fb8cf9bbfc	Added extra details to hopefully fix mobile installability	2025-11-10 15:08:14 -05:00
Moonlit Productions	402b147654	Actually upload the PWA files	2025-11-10 14:54:29 -05:00
Moonlit Productions	e9d3b71f28	bare minimum for PWA added	2025-11-10 14:52:15 -05:00