Custom Modules now have default placement

index.html

@@ -14,94 +14,6 @@
         <p>Interactive simulation of a swerve drive robot with configurable size, speeds, and number of wheels</p>
     </header>
     <main>
-        <section class="visualization-canvas">
-            <h2>Robot Visualization</h2>
-            <canvas id="swerve-canvas" width="800" height="800"></canvas>
-        </section>
-
-        <section class="control-panel">
-            <h2>Drive Controls</h2>
-
-            <fieldset>
-                <legend>Translation &amp; Rotation</legend>
-
-                <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">
-                    <output id="vy-value">0</output>
-                </div>
-
-                <div class="control-group">
-                    <label for="vx-slider">Strafe Left/Right (pixels/s)</label>
-                    <input type="range" id="vx-slider" min="-300" max="300" step="10" value="0">
-                    <output id="vx-value">0</output>
-                </div>
-
-                <div class="control-group">
-                    <label for="omega-slider">Rotation (rad/s)</label>
-                    <input type="range" id="omega-slider" min="-3" max="3" step="0.1" value="0">
-                    <output id="omega-value">0</output>
-                </div>
-
-                <button id="reset-btn" type="button">Reset Controls</button>
-            </fieldset>
-
-            <fieldset>
-                <legend>Performance Limits</legend>
-
-                <div class="control-group">
-                    <label for="max-speed-slider">Max Module Speed (pixels/s)</label>
-                    <input type="range" id="max-speed-slider" min="200" max="1000" step="10" value="400">
-                    <output id="max-speed-value">0</output>
-                </div>
-            </fieldset>
-        </section>
-        <section class="config-panel">
-            <h2>Robot Configuration</h2>
-            <fieldset>
-                <legend>Quick Presets</legend>
-                <div class="preset-buttons">
-                    <button id="preset-2wheel" type="button">2-Wheel</button>
-                    <button id="preset-3wheel" type="button">3-Wheel Triangle</button>
-                    <button id="preset-4wheel" type="button">4-Wheel Square</button>
-                    <button id="preset-4rect" type="button">4-Wheel Rectangle</button>
-                    <button id="preset-6wheel" type="button">6-Wheel Hexagon</button>
-                    <button id="preset-8wheel" type="button">8-Wheel Octagon</button>
-                    <button id="preset-8square" type="button">8-Wheel Square</button>
-                    <button id="preset-12hex" type="button">12-Wheel Hexagon</button>
-                    <button id="preset-16oct" type="button">16-Wheel Octogon</button>
-                </div>
-            </fieldset>
-            <fieldset>
-                <legend>Custom Configuration</legend>
-
-                <div class="control-group">
-                    <label for="module-count">Number of Modules</label>
-                    <input type="number" id="module-count" min="2" max="12" value="4" step="1">
-                </div>
-
-                <button id="generate-inputs-btn" type="button">Generate Position Inputs</button>
-                <button id="delete-inputs-btn" type="button">Remove Position Inputs</button>
-
-                <div id="module-position-inputs" class="position-inputs">
-                    <!-- Dynamically generated position inputs will appear here -->
-                </div>
-
-                <button id="apply-custom-btn" type="button" style="display: none;">Apply Custom Configuration</button>
-            </fieldset>
-        </section>
-        <section class="module-states">
-            <h2>Module States</h2>
-            <div id="current-config-info" class="config-info">
-                Current Configuration: <strong id="config-name">4-Wheel Rectangle</strong>
-                (<span id="module-count-display">4</span> modules)
-                <br>
-                Gyro Heading: <strong id="gyro-heading-display">0.0°</strong>
-            </div>
-            <div class="module-grid" id="module-grid">
-                <!-- Dynamically generated module data will appear here -->
-            </div>
-        </section>
         <section class="documentation">
             <h2>About This Project</h2>
             <details>
@@ -275,6 +187,128 @@ if scale &lt; 1:
                 </div>
             </details>
         </section>
+        <section class="visualization-canvas">
+            <h2>Robot Visualization</h2>
+            <canvas id="swerve-canvas" width="800" height="800"></canvas>
+        </section>
+
+        <section class="control-panel">
+            <h2>Drive Controls</h2>
+
+            <fieldset>
+                <legend>Translation &amp; Rotation</legend>
+
+                <div class="control-group">
+                    <button id="control-mode-toggle" type="button">Switch to Keyboard Controls (WASD + QE)</button>
+                </div>
+
+                <div id="slider-controls">
+                    <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">
+                        <output id="vy-value">0</output>
+                    </div>
+
+                    <div class="control-group">
+                        <label for="vx-slider">Strafe Left/Right (pixels/s)</label>
+                        <input type="range" id="vx-slider" min="-300" max="300" step="10" value="0">
+                        <output id="vx-value">0</output>
+                    </div>
+
+                    <div class="control-group">
+                        <label for="omega-slider">Rotation (rad/s)</label>
+                        <input type="range" id="omega-slider" min="-3" max="3" step="0.1" value="0">
+                        <output id="omega-value">0</output>
+                    </div>
+
+                    <button id="reset-btn" type="button">Reset Controls</button>
+                </div>
+
+                <div id="keyboard-controls" style="display: none;">
+                    <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">
+                        <output id="keyboard-max-speed-value">150</output>
+                    </div>
+
+                    <div class="control-group">
+                        <label for="keyboard-max-rotation">Max Rotation (rad/s)</label>
+                        <input type="range" id="keyboard-max-rotation" min="0.5" max="3" step="0.1" value="1.5">
+                        <output id="keyboard-max-rotation-value">1.5</output>
+                    </div>
+
+                    <div class="keyboard-instructions">
+                        <h4>Keyboard Controls:</h4>
+                        <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>
+                        <p><em>Click on the canvas area to focus for keyboard input</em></p>
+                    </div>
+                </div>
+            </fieldset>
+
+            <fieldset>
+                <legend>Performance Limits</legend>
+
+                <div class="control-group">
+                    <label for="max-speed-slider">Max Module Speed (pixels/s)</label>
+                    <input type="range" id="max-speed-slider" min="200" max="1000" step="10" value="400">
+                    <output id="max-speed-value">0</output>
+                </div>
+            </fieldset>
+        </section>
+        <section class="config-panel">
+            <h2>Robot Configuration</h2>
+            <fieldset>
+                <legend>Quick Presets</legend>
+                <div class="preset-buttons">
+                    <button id="preset-2wheel" type="button">2-Wheel</button>
+                    <button id="preset-3wheel" type="button">3-Wheel Triangle</button>
+                    <button id="preset-4wheel" type="button">4-Wheel Square</button>
+                    <button id="preset-4rect" type="button">4-Wheel Rectangle</button>
+                    <button id="preset-6wheel" type="button">6-Wheel Hexagon</button>
+                    <button id="preset-8wheel" type="button">8-Wheel Octagon</button>
+                    <button id="preset-8square" type="button">8-Wheel Square</button>
+                    <button id="preset-12hex" type="button">12-Wheel Hexagon</button>
+                    <button id="preset-16oct" type="button">16-Wheel Octogon</button>
+                </div>
+            </fieldset>
+            <fieldset>
+                <legend>Custom Configuration</legend>
+
+                <div class="control-group">
+                    <label for="module-count">Number of Modules</label>
+                    <input type="number" id="module-count" min="2" max="64" value="4" step="1">
+                </div>
+
+                <button id="generate-inputs-btn" type="button">Generate Position Inputs</button>
+                <button id="delete-inputs-btn" type="button">Remove Position Inputs</button>
+
+                <div id="module-position-inputs" class="position-inputs">
+                    <!-- Dynamically generated position inputs will appear here -->
+                </div>
+
+                <button id="apply-custom-btn" type="button" style="display: none;">Apply Custom Configuration</button>
+            </fieldset>
+        </section>
+        <section class="module-states">
+            <h2>Module States</h2>
+            <div id="current-config-info" class="config-info">
+                Current Configuration: <strong id="config-name">4-Wheel Rectangle</strong>
+                (<span id="module-count-display">4</span> modules)
+                <br>
+                Gyro Heading: <strong id="gyro-heading-display">0.0°</strong>
+            </div>
+            <div class="module-grid" id="module-grid">
+                <!-- Dynamically generated module data will appear here -->
+            </div>
+        </section>
+
     </main>
 
     <script type="module" src="vendor/lucio/graham-scan.mjs"></script>

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);
@@ -397,8 +516,8 @@ preset16OctBtn.addEventListener('click', () => {
 generateInputsBtn.addEventListener('click', () => {
     const count = parseInt(moduleCountInput.value);
 
-    if (isNaN(count) || count < 2) {
+    if (isNaN(count) || count < 2 || count > 64) {
-        alert('Please enter a valid number of modules above or equal to 2.');
+        alert('Please enter a valid number of modules between 2 and 64.');
         return;
     }
     generateModuleInputs(count);
@@ -438,11 +557,67 @@ applyCustomBtn.addEventListener('click', () => {
 * BEGIN DYNAMIC DOM FUNCTIONS
 */
 
+// Function to calculate evenly spaced module positions in circular layers
+function calculateModulePositions(count) {
+    if (count <= 0) return [];
+
+    const baseRadius = 50; // Base radius for the first layer
+    const positions = [];
+    let remainingModules = count;
+    let numberOfLayers = Math.ceil(count / 6);
+    let modulesPerLayer = Math.ceil(count / numberOfLayers);
+    let angleOffset = 0;
+    let currentLayer = 0;
+    let moduleIndex = 0;
+
+    while (remainingModules > 0) {
+        // Determine modules for this layer
+        let modulesInThisLayer;
+
+        if (remainingModules <= modulesPerLayer) {
+            // Last layer gets all remaining modules
+            modulesInThisLayer = remainingModules;
+        } else {
+            // All other layers: try to distribute evenly with max modulesPerLayer
+            const remainingLayers = Math.ceil(remainingModules / modulesPerLayer);
+            modulesInThisLayer = Math.min(modulesPerLayer, Math.ceil(remainingModules / remainingLayers));
+        }
+
+        // Calculate radius for this layer
+        const radius = currentLayer === 0 ? baseRadius : baseRadius * (1 + currentLayer * 0.75);
+
+        // Calculate positions for modules in this layer
+        for (let i = 0; i < modulesInThisLayer; i++) {
+            const angle = (angleOffset + 2 * Math.PI * i) / modulesInThisLayer;
+            const x = Math.round(radius * Math.cos(angle));
+            const y = Math.round(radius * Math.sin(angle));
+
+            positions.push({
+                x: x,
+                y: y,
+                name: `Layer ${currentLayer + 1} Module ${(moduleIndex % modulesPerLayer) + 1}`
+            });
+
+            moduleIndex++;
+        }
+        angleOffset += Math.PI;
+
+        remainingModules -= modulesInThisLayer;
+        currentLayer++;
+    }
+
+    return positions;
+}
+
 function generateModuleInputs(count) {
     const container = document.getElementById('module-position-inputs');
     container.innerHTML = ''; // Clear existing inputs
 
+    // Calculate evenly spaced positions
+    const positions = calculateModulePositions(count);
+
     for (let i = 0; i < count; i++) {
+        const position = positions[i];
         const moduleFieldset = document.createElement('fieldset');
         moduleFieldset.className = 'module-input-group';
         moduleFieldset.innerHTML = `
@@ -450,15 +625,15 @@ function generateModuleInputs(count) {
 
         <div class="control-group">
             <label for="module-${i}-name">Module Name</label>
-            <input type="text" id="module-${i}-name" value="Module ${i + 1}" required>
+            <input type="text" id="module-${i}-name" value="${position.name}" required>
         </div>
         <div class="control-group">
             <label for="module-${i}-x">X Position (pixels)</label>
-            <input type="number" id="module-${i}-x" step="1" value="0" required>
+            <input type="number" id="module-${i}-x" step="1" value="${position.x}" required>
         </div>
         <div class="control-group">
             <label for="module-${i}-y">Y Position (pixels)</label>
-            <input type="number" id="module-${i}-y" step="0.1" value="0" required>
+            <input type="number" id="module-${i}-y" step="0.1" value="${position.y}" required>
         </div>
         `;
         container.appendChild(moduleFieldset);
@@ -652,10 +827,16 @@ function animate() {
     ctx.save();
     ctx.translate(canvas.width / 2, canvas.height / 2);
 
-    // Update speeds based on sliders
+    // Update speeds based on control mode
-    xSpeed = parseFloat(vxSlider.value);
+    if (isManualInputMode) {
-    ySpeed = -parseFloat(vySlider.value);
+        xSpeed = manualInputVelX;
-    turnSpeed = parseFloat(omegaSlider.value);
+        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 +846,17 @@ 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)}`;
+    if (isManualInputMode) {
-    vyOutput.textContent = `Requested: ${vySlider.value} | Actual: ${-actualVelocity.y.toFixed(2)}`;
+        // In manual input mode (keyboard/gamepad), show the current values
-    omegaOutput.textContent = `Requested: ${omegaSlider.value} | Actual: ${robot.actualTurnSpeed.toFixed(2)}`;
+        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);

styles.css

@@ -238,7 +238,7 @@ tr:hover {
 
 .visualization-area {
   grid-column: 1 / 2;
-  grid-row: 1 / 3;
+  grid-row: 2 / 4;
 }
 
 #swerve-canvas {
@@ -252,22 +252,22 @@ tr:hover {
 
 .controls-panel {
   grid-column: 1 / 2;
-  grid-row: 2 / 3;
+  grid-row: 3 / 4;
 }
 
 .config-panel {
   grid-column: 2 / 3;
-  grid-row: 1 / 2;
+  grid-row: 2 / 3;
 }
 
 .module-states {
   grid-column: 2 / 3;
-  grid-row: 2 / 3;
+  grid-row: 3 / 4;
 }
 
 .documentation {
   grid-column: 1 / 3;
-  grid-row: 4 / 5;
+  grid-row: 1 / 2;
 }
 
 fieldset {