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index_current.html
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<!--
Wifi/WEB based rover driver page
Written by Scott Beasley - 2015
Free to use or modify. Enjoy!
-->
<html>
<style>
#locMark {
width: 20px;
height: 20px;
position: absolute;
}
#endMark {
width: 20px;
height: 20px;
position: absolute;
}
#phone {
width: 20px;
height: 20px;
position: absolute;
}
</style>
<head>
<title>Wifi Controlled Rover</title>
<script src="jquerylocal.js"></script>
<script type="text/javascript">
document.onkeypress = keypressed;
var last_action = "";
var start_dt = new Date ( );
var last_mills = start_dt.getTime ( );
function sendMotion (action) {
var run_dt = new Date ( );
var mills = run_dt.getTime ( );
// If a dup, ignore if newer than .500ms
if (action == last_action && (mills - last_mills) <= 500)
return;
last_mills = mills;
last_action = action;
request = new XMLHttpRequest ( );
request.open ("GET", action, true);
request.send ( );
}
function sendLocation (x,y){
action = ("addpoint?x=" + x + "&y=" + y);
request = new XMLHttpRequest ( );
request.open ("GET", action, true);
request.send ( );
}
function SendScan (tx,ty,bx,by)
{
action = ("scanarea?tx=" + tx + "&ty=" + ty + "&bx=" + bx + "&by=" + by + "&lines=10");
request = new XMLHttpRequest ();
request.open ("GET",action,true);
request.send();
}
function retriveLocation(){
fetch("loc")
.then(function (response) {
return response.json();
})
.then(function(myJSON){
document.querySelector("#GX").innerHTML = myJSON.GPSX;
document.querySelector("#GY").innerHTML = myJSON.GPSY;
document.querySelector("#IMU").innerHTML = myJSON.Rotation;
document.querySelector("#Dist").innerHTML = myJSON.Dist.toFixed(6) + "/" + myJSON.TDist.toFixed(6);
document.querySelector("#Depth").innerHTML = myJSON.Depth.toFixed(6) + " feet";
document.querySelector("#Print").innerHTML = myJSON.Print;
moveMark(myJSON.GPSX,myJSON.GPSY,"locMark");
moveMark(myJSON.OLDX,myJSON.OLDY,"endMark");
//get phone loc
//alert(navigator.geolocation)
if(navigator.geolocation)
{
//alert("working")
navigator.geolocation.getCurrentPosition(moveThing);
}
else
{
//alert("NO GPS");
}
deleteMarks()
for (var i = 0; i < myJSON.TargetPoints.length; i++){
placeMark(myJSON.TargetPoints[i].GPSX, myJSON.TargetPoints[i].GPSY)
}
})
}
function moveThing(pos)
{
//alert("func called")
moveMark(pos.coords.latitude, pos.coords.longitude, "phone");
}
setInterval( retriveLocation, 2.5*1000);
function keypressed (event) {
var keyCd = ('charCode' in event) ? event.charCode : event.keyCode;
if (keyCd == 49) // 1
sendMotion ('panlt')
if (keyCd == 50) // 2
sendMotion ('panrt')
if (keyCd == 51) // 3
sendMotion ('panfull_lt')
if (keyCd == 52)
sendMotion ('panfull_rt') // 4
if (keyCd == 47) // /
sendMotion ('home')
if (keyCd == 113 || keyCd == 81) // q
sendMotion ('ltforward')
if (keyCd == 119 || keyCd == 87) // w
sendMotion ('forward')
if (keyCd == 122 || keyCd == 90) // z
sendMotion ('backward')
if (keyCd == 101 || keyCd == 69) // e
sendMotion ('rtforward')
if (keyCd == 97 || keyCd == 65) // a
sendMotion ('left')
if (keyCd == 104 || keyCd == 72) // h
sendMotion ('stop')
if (keyCd == 115 || keyCd == 83) // s
sendMotion ('right')
}
</script>
</head>
<center>
DroneBoat Control
<font face="Arial">
<table name="Table" border="0" cellpadding="6">
<tr>
<td align="center">
Left-Forward
<br>
<input type="hidden" name="ltforward" value="0" id="ltforward" />
<input type="image" src="arrow_up_left.png"
id="imgLtforward" onclick="sendMotion ('ltforward');"/>
</td>
<td align="center">
Forward
<br>
<input type="hidden" name="forward" value="0" id="forward" />
<input type="image" src="forward.png" id="imgforward"
onclick="sendMotion ('forward');"/>
</td>
<td align="center">
Right-Forward
<br>
<input type="hidden" name="rtforward" value="0" id="rtforward" />
<input type="image" src="arrow_up_right.png"
id="imgRtforward" onclick="sendMotion ('rtforward');"/>
</td>
</tr>
<tr>
<td align="center">
Left
<br>
<input type="hidden" name="left" value="0" id="left" />
<input type="image" src="left.png" id="imgleft"
onclick="sendMotion ('left');"/>
</td>
<td align="center">
Stop
<br>
<input type="hidden" name="stop" value="0" id="stop" />
<input type="image" src="stop.png" width="50" id="imgstop"
onclick="sendMotion ('stop');"/>
</td>
<td align="center">
Right
<br>
<input type="hidden" name="right" value="0" id="right" />
<input type="image" src="right.png" id="imgright"
onclick="sendMotion ('right');"/>
</td>
</tr>
<tr>
<td align="center">
Left-Small
<br>
<input type="hidden" name="ltmini" value="0" id="ltforward" />
<input type="image" src="arrow_down_left.png"
id="imgltback" onclick="sendMotion ('ltmini');"/>
</td>
<td align="center">
Backward
<br>
<input type="hidden" name="backward" value="0" id="backward" />
<input type="image" src="backward.png" id="imgbackward"
onclick="sendMotion ('backward');"/>
</td>
<td align="center">
Right-Small
<br>
<input type="hidden" name="rtmini" value="0" id="rtforward" />
<input type="image" src="arrow_down_right.png"
id="imgrtback" onclick="sendMotion ('rtmini');"/>
</td>
</tr>
<tr>
<td align="center">
</td>
<td align="center">
Activate Waterjet!
<br>
<input type="hidden" name="jet" value="0" id="jet" />
<input type="image" src="forward.png"
id="jetpng" onclick="sendMotion ('jet');"/>
</td>
</tr>
</table>
<table name="Table" border="0" cellpadding="6">
<tr>
<td align="center">
</td>
<td align="center">
GPS MAP
<br>
<img id="map" src="pond.png" width="500" height="250">
</td>
</tr
</table>
<img id="locMark" src="markerW.png" width="20" height="20">
<img id="endMark" src="markerEnd.png" width="20" height="20">
<img id="phone" src="markerPhone.png" width="20" height="20">
<table name="Table" border="0" cellpadding="6">
<tr>
<td align="center">
Calibrate IMU
<br>
<input type="hidden" name="stop" value="0" id="stop" />
<input type="image" src="gohome.png" width="50" id="imgstop"
onclick="sendMotion ('calib');"/>
</td>
<td align="center">
Overide GPS
<br>
<input type="hidden" name="stop" value="0" id="stop" />
<input type="image" src="stop.png" width="50" id="imgstop"
onclick="sendMotion ('overide');"/>
</td>
<td align="center">
Reset IMU
<br>
<input type="hidden" name="stop" value="0" id="stop" />
<input type="image" src="gohome.png" width="50" id="imgstop"
onclick="sendMotion ('reset');"/>
</td>
</tr>
</table>
<table name="Table" border="0" cellpadding="6">
<tr>
<td align="center">
ScanMap
<br>
<img id="scanmap" src="pond.png" height="500" width="500">
</td>
</tr>
</table>
<br>
<p>Current Depth</p>
<p id=Depth></p>
<p>Current GPS Location</p>
<p id=GX></p>
<p id=GY></p>
<p>Current IMU Heading</p>
<p id=IMU></p>
<p>Current distance from target point</p>
<p id=Dist></p>
<p>Last Print</p>
<p id=Print></p>
<br><br>
</font>
</center>
<script>
var mapW = 500;
var mapH = 250;
//really the top
var gpsBX = 39.998929;
var gpsBY = -86.151867;
//really the bottom
var gpsTX = 39.998573;
var gpsTY = -86.151004;
function getMap(){
fetch("map")
.then(function (response) {
return response.json();
})
.then(function(myJSON){
mapW = myJSON.MapW;
mapH = myJSON.MapH;
//really the top
gpsBX = myJSON.TopN;
gpsBY = myJSON.TopW;
//really the bottom
gpsTX = myJSON.BottomN;
gpsTY = myJSON.BottomW;
var elem = document.getElementById("map");
elem.src = myJSON.Source;
elem.height = myJSON.MapH;
elem.width = myJSON.MapW;
elem = document.getElementById("scanmap");
elem.src = myJSON.Source;
elem.height = myJSON.MapH;
elem.width = myJSON.MapW;
})
}
getMap();
retriveLocation();
var FlipBitty = 0;
var gpsx = 0;
var gpsy = 0;
$(document).ready(function() {
$("#map").on("click", function(event) {
var clickx = event.pageX - $("#map").position().left;
var clicky = event.pageY - $("#map").position().top;
var gpsx = (((clicky/mapH) * (gpsTX - gpsBX)) + gpsBX).toFixed(6);
var gpsy = (((clickx/mapW) * (gpsTY - gpsBY)) + gpsBY).toFixed(6);
//alert("X: " + clickx + " Y: " + clicky);
//alert("GPSX: " + gpsx + " GPSY: " + gpsy);
sendLocation(gpsx, gpsy);
var marker = document.createElement("img");
marker.src = "marker.png";
marker.height = 20;
marker.width = 20;
marker.className = "TargetLocs";
var style = "position: absolute; top: " + (event.pageY-20) + "px; left: " + (event.pageX-10) + "px;";
marker.style = style;
document.body.appendChild(marker);
});
$("#scanmap").on("click", function(event) {
var clickx = event.pageX - $("#scanmap").position().left;
var clicky = event.pageY - $("#scanmap").position().top;
var gpsx = (((clicky/mapH) * (gpsTX - gpsBX)) + gpsBX).toFixed(6);
var gpsy = (((clickx/mapW) * (gpsTY - gpsBY)) + gpsBY).toFixed(6);
var marker = document.createElement("img");
marker.src = "markerPhone.png";
marker.height = 20;
marker.width = 20;
marker.className = "TargetLocs"; //this makes it auto-delete
var style = "position: absolute; top: " + (event.pageY-20) + "px; left: " + (event.pageX-10) + "px;";
marker.style = style;
document.body.appendChild(marker);
if(FlipBitty == 1)
{
FlipBitty = 0;
SendScan(lastx,lasty,gpsx,gpsy);
}
else
{
FlipBitty = 1;
lastx = gpsx;
lasty = gpsy;
}
});
});
function moveMark(gpsN, gpsW, id)
{
//alert("moving")
var N = (((gpsN-gpsBX)/(gpsTX-gpsBX))*mapH) + $("#map").position().top - 20;
var W = (((gpsW-gpsBY)/(gpsTY-gpsBY))*mapW) + $("#map").position().left - 10;
//move the marker to this pos
//alert("N: " + N + " W: " + W);
N = N.toFixed(0);
W = W.toFixed(0);
var elem = document.getElementById(id);
elem.style.top = N + 'px';
elem.style.left = W + 'px';
elem.style.position = "absolute";
}
function placeMark(gpsW, gpsN)
{
//alert(gpsN);
//alert(gpsW);
var N = (((gpsN-gpsBX)/(gpsTX-gpsBX))*mapH) + $("#map").position().top - 20;
var W = (((gpsW-gpsBY)/(gpsTY-gpsBY))*mapW) + $("#map").position().left - 10;
N = N.toFixed(0);
W = W.toFixed(0);
var elem = document.createElement("img");
elem.style.top = N + 'px';
elem.style.left = W + 'px';
//alert("N:" + N + " W: " + W);
elem.style.position = "absolute";
elem.src = "marker.png";
elem.height = 20;
elem.width = 20;
elem.className = "TargetLocs";
document.body.appendChild(elem);
}
function deleteMarks()
{
var elements = document.getElementsByClassName("TargetLocs")
while (elements[0]) //strange loop because we modify while it runs
{
elements[0].parentNode.removeChild(elements[0]);
}
}
//alert("move")
//moveMark(40,-86)
</script>
</html>