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calibrate.html
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calibrate.html
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<html>
<head>
<script src="marty.js"></script>
<script src="https://ajax.googleapis.com/ajax/libs/jquery/3.2.1/jquery.min.js"></script>
<script src="martyScan.js"></script>
</head>
<body>
<script type="text/javascript">
//marty = new Marty("192.168.0.12", "Jeremangus");
martylist = [];
function scanForMartys(){
scanRange("192.168.0", martylist);
setTimeout(listMartys, 5000);
}
function listMartys(){
$('#MartyList').empty();
if (martylist.length){
for (var m in martylist){
//$('#MartyList').append("Found <b>" + martylist[m][1] + "</b> on the IP: " + martylist[m][0] + ". <a href=\"#\" onlick=\"calibrate('" + martylist[m][0] + "', '" + martylist[m][1] + "');\">Calibrate?</a><br /><a onclick=\"console.log('hello');\">hello</a>");
$('#MartyList').append("Found <b>" + martylist[m][1] + "</b> on the IP: " + martylist[m][0] + ". <button onclick=\"calibrateMarty('" + martylist[m][0] + "', '" + martylist[m][1] + "', 0);\">Calibrate</button>");
}
} else {
$('#MartyList').append("No Marty's found :-(. <a onlick='scanForMartys();'>Re-scan?</a>");
}
}
var m;
function calibrateMarty(ip, name, stage){
document.getElementById("calibration").style.visibility = 'visible';
switch (stage){
case 0:
m = new Marty(ip, name);
// allow time for connection
setTimeout(function(){calibrateMarty(ip, name, 1);}, 1000);
break;
case 1:
// TODO: check for successful connection
m.enable_motors();
m.hello();
m.lifelike_behaviours(false);
m.fall_protection(false);
setTimeout(function(){calibrateMarty(ip, name, 2);}, 100);
break;
case 2:
for (let i=0; i<9; i++){
var sname = "mp" + i;
var enabled = m.get_sensor("enabled" + i);
var mp = m.get_sensor(sname);
if (enabled == false){
m.enable_motors();
if (mp != null){
m.move_joint(i, mp);
} else {
m.move_joint(i, 0);
}
mp = "disabled!";
}
document.getElementById(sname).innerHTML = mp;
}
document.getElementById("chatter").innerHTML = m.get_sensor("chatter");
setTimeout(function(){calibrateMarty(ip, name, 2);}, 100);
break;
}
}
function adjustJoint(id, amount){
var oldPos = m.get_sensor("mp" + id);
if (oldPos === null){
setTimeout(function(){adjustJoint(id, amount);}, 200);
return;
}
m.move_joint(id, oldPos + amount);
return;
}
scanForMartys();
</script>
<p>
<div id="MartyList">Scanning for Martys...</div>
</p>
<p>
<div id="calibration" style="visibility:hidden">
Calibration:
<span id="martyname"></span>
<br />
<table>
<tr>
<td>Left hip: </td>
<td width="100"><span id="mp0">waiting...</span></td>
<td>
<button onclick="adjustJoint(0,-5)">-5</button>
<button onclick="adjustJoint(0, -1);">-1</button> /
<button onclick="adjustJoint(0,1)">+1</button>
<button onclick="adjustJoint(0,5)">+5</button> <br /></td>
</tr>
<tr>
<td>Left twist: </td>
<td><span id="mp1">waiting...</span></td>
<td>
<button onclick="adjustJoint(1,-5)">-5</button>
<button onclick="adjustJoint(1, -1);">-1</button> /
<button onclick="adjustJoint(1,1)">+1</button>
<button onclick="adjustJoint(1,5)">+5</button> <br /></td>
</td>
</tr>
<tr>
<td>Left knee: </td>
<td><span id="mp2">waiting...</span> </td>
<td>
<button onclick="adjustJoint(2,-5)">-5</button>
<button onclick="adjustJoint(2, -1);">-1</button> /
<button onclick="adjustJoint(2,1)">+1</button>
<button onclick="adjustJoint(2,5)">+5</button> <br /></td>
</td>
</tr>
<tr>
<td>Right hip: </td>
<td><span id="mp3">waiting...</span></td>
<td>
<button onclick="adjustJoint(3,-5)">-5</button>
<button onclick="adjustJoint(3, -1);">-1</button> /
<button onclick="adjustJoint(3,1)">+1</button>
<button onclick="adjustJoint(3,5)">+5</button> <br /></td>
</td>
</tr>
<tr>
<td>Right twist: </td>
<td><span id="mp4">waiting...</span></td>
<td>
<button onclick="adjustJoint(4,-5)">-5</button>
<button onclick="adjustJoint(4, -1);">-1</button> /
<button onclick="adjustJoint(4,1)">+1</button>
<button onclick="adjustJoint(4,5)">+5</button> <br /></td>
</td>
</tr>
<tr>
<td>Right knee: </td>
<td><span id="mp5">waiting...</span></td>
<td>
<button onclick="adjustJoint(5,-5)">-5</button>
<button onclick="adjustJoint(5, -1);">-1</button> /
<button onclick="adjustJoint(5,1)">+1</button>
<button onclick="adjustJoint(5,5)">+5</button> <br /></td>
</td>
</tr>
<tr>
<td>Left arm: </td>
<td><span id="mp6">waiting...</span></td>
<td>
<button onclick="adjustJoint(6,-5)">-5</button>
<button onclick="adjustJoint(6, -1);">-1</button> /
<button onclick="adjustJoint(6,1)">+1</button>
<button onclick="adjustJoint(6,5)">+5</button> <br /></td>
</td>
</tr>
<tr>
<td>Right arm:</td>
<td><span id="mp7">waiting...</span></td>
<td>
<button onclick="adjustJoint(7,-5)">-5</button>
<button onclick="adjustJoint(7, -1);">-1</button> /
<button onclick="adjustJoint(7,1)">+1</button>
<button onclick="adjustJoint(7,5)">+5</button>
</td>
</tr>
<tr>
<td>Eyes: </td>
<td><span id="mp8">waiting...</span> </td>
<td>
<button onclick="adjustJoint(8,-5)">-5</button>
<button onclick="adjustJoint(8, -1);">-1</button> /
<button onclick="adjustJoint(8,1)">+1</button>
<button onclick="adjustJoint(8,5)">+5</button> <br /></td>
</td>
<td><b>DO NOT MOVE EYES BY HAND</b></td>
</tr>
</table>
<p>
Chatter: <span id="chatter">waiting...</span>
</p>
<button onclick="m.save_calibration()">Save Calibration!</button>
<p>
<button onclick="m.walk(2, 0, 1500, 50);">Walk</button> <button onclick="m.stand_straight(2000);">Zero joints</button>
</div>
</body>
</html>