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reef align into autoscore #15

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reef align into autoscore #15

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e4219d2
works no rotation
EdzmLeGoat Feb 26, 2025
7d6ce7d
fixed rotation
EdzmLeGoat Feb 26, 2025
6c0ffec
rot fixed
EdzmLeGoat Feb 26, 2025
482141b
drive limits, improved feel, tested jaunt, improved poses, tried ktli…
EdzmLeGoat Feb 27, 2025
cff70ea
delete useless files and fix stuff
EdzmLeGoat Feb 27, 2025
226f22d
Revert "delete useless files and fix stuff"
EdzmLeGoat Feb 27, 2025
45320ba
redo commit mb i had one bad line
EdzmLeGoat Feb 27, 2025
9b741ed
characterization of sorts
EdzmLeGoat Feb 27, 2025
2147de2
rot jaunt and webcom changes
EdzmLeGoat Feb 27, 2025
25bcfb1
adjustment of command structure and speed combination. fixed a small …
EdzmLeGoat Mar 2, 2025
abdf468
changes at competition
EdzmLeGoat Mar 3, 2025
6386fa8
merge w/ main and stuff
EdzmLeGoat Mar 4, 2025
c1ceb64
more changes to web and removing logging
EdzmLeGoat Mar 4, 2025
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26 changes: 15 additions & 11 deletions src/main/deploy/autoscore/coralLevel.js
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -14,15 +14,17 @@ const setCoralImg = (level) => {
coralImage.src = `coralLevelImages/coral${level}.png`;
}

const coralImgPos = coralImage.getBoundingClientRect();
//this is radius not actual width
const coralWidth = (coralImgPos.right-coralImgPos.left) / 2;
const coralHeight = (coralImgPos.bottom-coralImgPos.top) / 2;
const coralX = coralImgPos.left + coralWidth;
const coralY = coralImgPos.top + coralHeight;
coralImage.addEventListener("mousemove", (event) => {
["mousemove", "touchmove"].forEach(_ => coralImage.addEventListener(_, (event) => {
//this is radius not actual width
const coralImgPos = coralImage.getBoundingClientRect();
const coralHeight = (coralImgPos.bottom-coralImgPos.top) / 2;
const coralY = coralImgPos.top + coralHeight;
let mouseY = event.clientY;
let ydiff = coralY - mouseY;
if(_ == "touchmove") {
mouseY = event.changedTouches[0].clientY;
ydiff = coralY - mouseY;
}
if(!coralSelected) {
if(ydiff > coralHeight * 0.4) {
setCoralImg("L4");
Expand All @@ -38,8 +40,10 @@ coralImage.addEventListener("mousemove", (event) => {
prevCoralLevel = 1;
}
}
});
coralImage.addEventListener("mouseleave", () => {
}));


["mouseleave", "touchend"].forEach(_ => coralImage.addEventListener(_, () => {
if(coralSelected) {
if(coralLevel == 1) {
setCoralImg("L1");
Expand All @@ -53,7 +57,7 @@ coralImage.addEventListener("mouseleave", () => {
} else {
setCoralImg("None");
}
})
}));

coralImage.onclick = () => {
coralSelected = !coralSelected;
Expand All @@ -62,7 +66,7 @@ coralImage.onclick = () => {
coralImage.src = `coralLevelImages/coralL${coralLevel}.png`;
coralText.innerText = `Coral Level: ${coralLevel}`;
if(areaSelected) {
confirmReefButton.innerText = `Score at Level ${coralLevel} and Area ${reefArea}`;
confirmReefButton.innerText = `Score at Level ${coralLevel} and Area ${numberToLetter[11-(reefArea+4)%12]}`;
}
} else {
setCoralImg("None");
Expand Down
70 changes: 47 additions & 23 deletions src/main/deploy/autoscore/index.html
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Original file line number Diff line number Diff line change
Expand Up @@ -13,21 +13,7 @@

<body>
<div class="scoringContainer" style="display: none;">
<div class="reefContainer">
<div class="levelContainer" style="display: none;">
<div class="Level" id="L4">
Level 4 Score
</div>
<div class="Level" id="L3">
Level 3 Score
</div>
<div class="Level" id="L2">
Level 2 Score
</div>
<div class="Level" id="L1">
Level 1 Score
</div>
</div>
<div class="reefContainer" style="display: none;">
<div class="coralLevelImage">
<img src="coralLevelImages/coralNone.png" alt="" id="coral">
</div>
Expand All @@ -43,19 +29,16 @@ <h1 class="reefText" id="areaText">Reef Area: None</h1>
<div class="Button" id="confirmReefButton">
Choose Robot Alignment
</div>
<div class="Button" id="cancelCommand">
Cancel Command
</div>
</div>
</div>
<div class="processorContainer">
<div class="processorContainer" style="display: none;">
<div class="buttonContainer">
<div class="Button" id="processorScore">
Score Processor
</div>
</div>
</div>
<div class="netContainer">
<div class="netContainer" style="display: none;">
<div class="buttonContainer">
<div class="Button" id="netScoreRed">
Score Net on Red Side
Expand All @@ -65,7 +48,7 @@ <h1 class="reefText" id="areaText">Reef Area: None</h1>
</div>
</div>
</div>
<div class="coralIntakeContainer">
<div class="coralIntakeContainer" style="display: none;">
<div class="buttonContainer">
<div class="Button" id="coralIntakeTop">
Intake Coral Top
Expand All @@ -75,9 +58,50 @@ <h1 class="reefText" id="areaText">Reef Area: None</h1>
</div>
</div>
</div>
<div class="manualContainer" style="display: none;">
<div>
<h1 id="manualText">
Scoring on Area _ and Level _
</h1>
</div>
<div>
<div class="Button" id="cancel">
Cancel Command
</div>
</div>
<div>
<div class="Button" id="score">
Score!
</div>
</div>
<div class="pivotContainer">
<div class="Button" id="pivotForward">
Move Pivot Forward
</div>
<div class="Button" id="pivotBack">
Move Pivot Backwards
</div>
</div>
<div class="elevatorContainer">
<div class="Button" id="elevatorUp">
Move Elevator Up
</div>
<div class="Button" id="elevatorDown">
Move Elevator Down
</div>
</div>
<div class="wristContainer">
<div class="Button" id="wristForward">
Move Wrist Forward
</div>
<div class="Button" id="wristBack">
Move Wrist Backwards
</div>
</div>
</div>
</div>
<div class="messageContainer" style="display: none">
<h1 id="messageDisplay"></h1>
<div class="messageContainer" style="display: none;">
<h1 id="messageDisplay">NO ROBOT CONNECTION</h1>
</div>
<script src="ntsetup.js"></script>
<script src="robotCommunication.js"></script>
Expand Down
69 changes: 36 additions & 33 deletions src/main/deploy/autoscore/reefPlacement.js
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Original file line number Diff line number Diff line change
@@ -1,38 +1,41 @@
const locationImg = document.getElementById("locationSelect");
const confirmReefButton = document.getElementById("confirmReefButton");

let inPicker = false;
locationImg.onmouseenter = () => inPicker = true;
locationImg.onmouseleave = () => {
if(!areaSelected) {
inPicker = false;
locationImg.src = "locationSelectorImages/locationSelectorNone.png";
}
}

document.addEventListener("mousemove", (event) => {
if(inPicker && !areaSelected) {
let imgPosition = locationImg.getBoundingClientRect();
let imageCenterX = imgPosition.left + (imgPosition.right-imgPosition.left) / 2;
let imageCenterY = imgPosition.top + (imgPosition.bottom-imgPosition.top) / 2;

let x = event.clientX-imageCenterX;
let y = imageCenterY-event.clientY;

let angleRadians = Math.atan2(x, y);
let angleDegrees = angleRadians * (180 / Math.PI);
if(angleRadians < 0) {
angleDegrees = 360 + angleRadians * (180 / Math.PI);
["touchmove", "mousemove"].forEach(_ => {
locationImg.addEventListener(_, (event) => {
if(!areaSelected) {
let imgPosition = locationImg.getBoundingClientRect();
let imageCenterX = imgPosition.left + (imgPosition.right-imgPosition.left) / 2;
let imageCenterY = imgPosition.top + (imgPosition.bottom-imgPosition.top) / 2;

let x = event.clientX-imageCenterX;
let y = imageCenterY-event.clientY;
if(_ == "touchmove") {
x = event.changedTouches[0].clientX-imageCenterX;
y = imageCenterY-event.changedTouches[0].clientY;
}

let angleRadians = Math.atan2(x, y);
let angleDegrees = angleRadians * (180 / Math.PI);
if(angleRadians < 0) {
angleDegrees = 360 + angleRadians * (180 / Math.PI);
}
reefArea = Math.floor(((angleDegrees-120) % 360)/30) + 5;
if(reefArea == -1) {
locationImg.src = `locationSelectorImages/locationSelectorNone.png`;
} else {
locationImg.src = `locationSelectorImages/locationSelector${reefArea < 5 ? reefArea+8 : reefArea-4}.png`;
}
}
reefArea = Math.floor(((angleDegrees-120) % 360)/30) + 5;
if(reefArea == -1) {
locationImg.src = `locationSelectorImages/locationSelectorNone.png`;
} else {
locationImg.src = `locationSelectorImages/locationSelector${
reefArea < 5 ? reefArea+8 : reefArea-4
}.png`;
});
});

["touchend", "mouseleave"].forEach(_ => {
locationImg.addEventListener(_, () => {
if(!areaSelected) {
locationImg.src = "locationSelectorImages/locationSelectorNone.png";
}
}
});
});

let areaText = document.getElementById("areaText");
Expand All @@ -41,15 +44,15 @@ let areaSelectionText = document.getElementById("areaSelectionText");
locationImg.onclick = () => {
areaSelected = !areaSelected;
if(areaSelected) {
areaText.innerText = `Reef Area: ${reefArea}`;
areaText.innerText = `Reef Area: ${numberToLetter[11-(reefArea+4)%12]}`;
areaSelectionText.innerText = "Click again to reselect";
locationImg.src = "locationSelectorImages/locationSelectorNone.png";
} else {
confirmReefButton.innerText = `Choose Robot Alignment`;
areaText.innerText = `Reef Area: None`;
areaSelectionText.innerText = "Click the area you want to go to.";
locationImg.src = "locationSelectorImages/locationSelectorNone.png";
}
if(coralSelected) {
confirmReefButton.innerText = `Score at Level ${coralLevel} and Area ${reefArea}`;
confirmReefButton.innerText = `Score at Level ${coralLevel} and Area ${numberToLetter[11-(reefArea+4)%12]}`;
}
}
68 changes: 54 additions & 14 deletions src/main/deploy/autoscore/robotCommunication.js
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Original file line number Diff line number Diff line change
Expand Up @@ -46,6 +46,20 @@ function valueUpdateHandler( topic, timestamp_us, value ) {
console.log("value updated: " + topic.name);
if(topic.name == "/webcom/Alliance") {
setAlliance(value);
} else if(topic.name == "/webcom/isDone" && value===true) {
document.getElementById("manualText").innerText = `Scoring on Area ${numberToLetter[11-(reefArea+4)%12]} and Level ${coralLevel}`;
showContainer("manualContainer");
["pivotForward", "pivotBack", "elevatorUp", "elevatorDown", "wristForward", "wristBack"].forEach(
id => {
const elt = document.getElementById(id);
const eltinterval = setInterval(() => {
if(window.getComputedStyle(elt).backgroundColor == "rgb(200, 0, 0)") {
setCommand(id);
}
}, 0.02);
intervalList.push(eltinterval);
}
);
}
}

Expand Down Expand Up @@ -97,27 +111,26 @@ let coralLevel = -1;
let reefArea = -1;
let coralSelected = false;
let areaSelected = false;
let intervalList = [];

let reefScoreButtonClickable = true;
const resetReefStuff = () => {
const resetReef = () => {
coralSelected = false;
areaSelected = false;
coralLevel = -1;
document.getElementById("confirmReefButton").innerText = `Choose Robot Alignment`;
document.getElementById("areaSelectionText").innerText = "Hover to the area you want to go to.";
document.getElementById("coral").src = `coralLevelImages/coralNone.png`;
document.getElementById("areaText").innerText = "Reef Area: None";
document.getElementById("coralText").innerText = "Coral Level: None";
document.getElementById("locationSelect").src = "locationSelectorImages/locationSelectorNone.png";
intervalList.forEach(ivl => clearInterval(ivl));
intervalList.length = 0;
}

document.getElementById("confirmReefButton").onclick = async () => {
if(reefScoreButtonClickable && coralSelected && areaSelected) {
reefScoreButtonClickable = false;
confirmReefButton.innerText = "Scoring...";
await scoreReef(reefArea, coralLevel);
confirmReefButton.innerText = "Choose Robot Alignment";
reefScoreButtonClickable = true;
resetReefStuff();
if(coralSelected && areaSelected) {
scoreReef(reefArea, coralLevel);
document.getElementById("confirmReefButton").innerText = "Scoring...";
}
}

Expand All @@ -136,7 +149,6 @@ const scoreProcessor = async () => {
}

const intakeCoral = async (isAtTopSide) => {
console.log("intaking coral");
if(isAtTopSide) {
setCommand("intakeCoralTop");
} else {
Expand Down Expand Up @@ -168,15 +180,43 @@ const connection = () => {
messageContainer.style.display = "none";
scoringContainer.style.display = "flex";
msgDisplay.innerText = "";
resetReef();
showContainer("reefContainer");
}

document.getElementById("cancelCommand").onclick = () => {
document.getElementById("cancel").onclick = () => {
setCommand("cancel");
resetReef();
showContainer("reefContainer");
}

processorContainer.style = "display: none";
netContainer.style = "display: none";
coralIntakeContainer.style = "display: none";
document.getElementById("score").onclick = () => {
setCommand("score");
resetReef();
showContainer("reefContainer");
}

let currentContainer = "reefContainer";

const showContainer = (container) => {
document.querySelector(`.${currentContainer}`).style.display = "none";
currentContainer = container;
document.querySelector(`.${currentContainer}`).style.display = "flex";
}

noConnection();

const numberToLetter = [
'A',
'B',
'C',
'D',
'E',
'F',
'G',
'H',
'I',
'J',
'K',
'L'
];
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