diff --git a/index.html b/index.html
new file mode 100644
index 0000000..4c8e669
--- /dev/null
+++ b/index.html
@@ -0,0 +1,9 @@
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/script.js b/script.js
index 99ef0fe..2691ce0 100644
--- a/script.js
+++ b/script.js
@@ -1,8 +1,13 @@
const URL = "192.168.185.20";
+const INFO_POSITION = 0x01;
+const INFO_LED = 0x02;
+
+const DEBUG = false;
let socketMoteur = undefined;
let socketInfos = undefined;
let moteur = undefined;
+let position = undefined;
const connectSockets = () => {
@@ -11,6 +16,7 @@ const connectSockets = () => {
}
socketMoteur = new WebSocket("ws://" + URL + "/motors.ws");
socketInfos = new WebSocket("ws://" + URL + "/infos.ws");
+ socketInfos.binaryType = "arraybuffer";
socketMoteur.onclose = function(event) {
if (event.wasClean) {
@@ -26,6 +32,7 @@ const connectSockets = () => {
socketInfos.onopen = function(e) {
console.log("[socketInfos] Connection established");
+ position.reset();
};
socketInfos.onclose = function(event) {
@@ -75,40 +82,69 @@ class Moteur {
}
avancer(v) {
- this.send(-1, -1, 1);
+ this.send(-1, -1, v);
}
reculer(v) {
- this.send(1, 1, 1);
+ this.send(1, 1, v);
}
droite(v) {
- this.send(1, -1, 1);
+ this.send(1, -1, v);
}
gauche(v) {
- this.send(-1, 1, 1);
+ this.send(-1, 1, v);
}
- stop(v) {
+ stop() {
this.send(0, 0, 0);
}
}
+class Position {
+ posX = 0;
+ posY = 0;
+ Rot = 0;
+ constructor(socket) {
+ socket.addEventListener("message", e => {
+ const view = new DataView(e.data);
+ let pos = 0;
+
+ const mask = view.getUint8(0);
+
+ if (mask & INFO_POSITION) {
+ const position_x = view.getFloat32(1);
+ const position_y = view.getFloat32(5);
+ const position_a = view.getFloat32(9);
+
+ if (DEBUG) {
+ console.log(
+ {"posX": position_x, "posY": position_y, "Rot": position_a }
+ );
+ }
+ }
+ });
+ }
+ reset() {
+ try {
+ const request = new XMLHttpRequest();
+ request.open("GET", "http://" + URL + "/position/reset");
+ request.send();
+ } catch (e) {}
+ }
+}
function run() {
connectSockets();
moteur = new Moteur();
-
- socketMoteur.onmessage = function(event) {
- console.log(`[message] Data received from server: ${event.data}`);
- };
+ position = new Position(socketInfos);
}