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@mayarajan3
mayarajan3 committed Sep 30, 2024
1 parent 65ae2ff commit 1eff7cb
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139 changes: 39 additions & 100 deletions extensions/src/doodlebot/Doodlebot.ts
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Original file line number Diff line number Diff line change
Expand Up @@ -613,102 +613,25 @@ export default class Doodlebot {

async followLine() {

const line = [
[320.0, 0.0],
[321.18093016474705, 85.93089371628516],
[324.46129173348885, 155.591194051611],
[329.8474413179264, 210.9928561014725],
[337.7368075299604, 254.1478349613646],
[348.4625309811926, 287.0680857267824],
[361.20418428371824, 311.7655634932206],
[374.5270520484066, 330.2522233561744],
[387.18749088738452, 344.5400204111386],
[399.34185741311743, 356.6409097536084],
].map(([x, y]) => [x, y * 1.5]);

const line2 = [[0.0, 0.0],
[6.750959988805026, 28.656715258676463],
[16.80684538467081, 51.52899671303742],
[29.27087024849043, 69.52656205250135],
[43.24624864115695, 83.55912896648654],
[57.83619462356339, 94.53641514441152],
[72.14392225660285, 103.36813827569464],
[85.27264560116842, 110.96401604975448],
[96.3255787181531, 118.23376615600927],
[104.40593566845, 126.0871062838775]].map(([x, y]) => [
x + 320, // Add 320 to x
y * 3 // Multiply y by 2
]);

const line3 = [[0.0, 0.0],
[6.268865158534559, 20.97535705484649],
[15.20407690140092, 38.649805462755155],
[25.67096258758057, 53.6101410082584],
[36.53484957605513, 66.44315947588885],
[46.661065225806075, 77.73565665017801],
[54.91493689581503, 88.07442806521303],
[60.16179194506348, 98.04627025686385],
[61.26695773253297, 108.23797825832502],
[57.09576161720508, 119.2363481045747]].map(([x, y]) => [
x + 320, // Add 320 to x
y * 3 // Multiply y by 2
]);

const line4 = [[0.0, 0.0],
[4.263741167481272, 17.75353054629771],
[9.675681926862309, 33.672742232365366],
[14.965101388327154, 47.88832444264693],
[18.861278662060074, 60.53096656158614],
[20.093492858245157, 71.7313579736269],
[17.391023087066518, 81.62018806321313],
[9.48314845870837, 90.32814621478864],
[-4.900851916645138, 97.98592181279739],
[-27.0316989288099, 104.72420424168314]].map(([x, y]) => [
x + 320, // Add 320 to x
y * 3 // Multiply y by 2
]);

const line5 = [[0.0, 0.0],
[-2.458546532762881, 10.996484372490875],
[-8.215642996982728, 19.47870953494133],
[-18.51592857487068, 25.15912618527381],
[-34.604042448638, 27.750185021410845],
[-57.72462380049591, 26.964336741274786],
[-89.1223118126556, 22.514032042788193],
[-130.04174566732827, 14.111721623873494],
[-181.72756454672538, 1.4698561824531832],
[-245.42440763305805, 0.699113583550306]].map(([x, y]) => [
x + 320, // Add 320 to x
y * 3 // Multiply y by 2
]);

const line6 = [
[0.0, 0.0],
[0.09236843533610564, -0.07283113197185509],
[0.1787644355172215, -0.21099708488163482],
[0.2613754803283964, -0.42708340844685555],
[0.34238904955468125, -0.7336756523850327],
[0.4239926229811255, -1.1433593664136825],
[0.5083736803927803, -1.6687201002503227],
[0.597719701574695, -2.3223434036124684]

].map(([x, y]) => [
y * 100 + 320, // Add 320 to x
x * 100 * 3 // Multiply y by 2
]);

const line7 = [[0.0, 0.0], [0.09236843533610564, -0.07283113197185509], [0.1787644355172215, -0.21099708488163482], [0.2613754803283964, -0.42708340844685555], [0.34238904955468125, -0.7336756523850327], [0.4239926229811255, -1.1433593664136825], [0.5083736803927803, -1.6687201002503227], [0.597719701574695, -2.3223434036124684]].map(([x, y]) => [
y * 100 + 320, // Add 320 to x
x * 100 * 3 // Multiply y by 2
])


let line0;
let line1;
let line2;
let line3;
let line4;
let line5;
let line6;
line0=[[320, 0], [320, 33.3], [320, 66.6], [320.0, 100.0], [290.55547455897363, 121.01450702944364], [270.9257909316227, 140.13821690036886], [259.9562618457501, 157.8072022603516], [256.49220002915877, 174.45753575696776], [259.3789182096516, 190.525290037793], [267.46172911503135, 206.44653775040322], [279.585945473101, 222.6573515423743], [294.5968800116634, 239.59380406128207], [311.33984545852167, 257.6919679547024], [328.66015454147833, 277.387915870211], [345.40311998833647, 299.11772045538373], [360.41405452689895, 323.3174543577966], [372.5382708849686, 350.42319022502517], [380.62108179034846, 380.87100070464555], [383.50779997084123, 415.09695844423345]]
line1=[[320.0, 0.0], [320.0, 33.400000000000006], [290.55547455897363, 54.41450702944364], [270.9257909316227, 73.53821690036887], [259.9562618457501, 91.20720226035161], [256.49220002915877, 107.85753575696776], [259.3789182096516, 123.92529003779302], [267.46172911503135, 139.84653775040323], [279.585945473101, 156.0573515423743], [294.5968800116634, 172.99380406128208], [311.33984545852167, 191.09196795470243], [328.66015454147833, 210.78791587021098], [345.40311998833647, 232.51772045538374], [360.41405452689895, 256.71745435779656], [372.5382708849686, 283.8231902250252], [380.62108179034846, 314.27100070464553], [383.50779997084123, 348.4969584442334], [380.0437381542499, 386.93713609136466], [369.07420906837734, 430.0276062936151]]
line2=[[320.0, 0.0], [311.8369232127996, 26.161134071432784], [310.5980932335586, 46.92140652387483], [315.47549899916805, 63.213866215870496], [325.6611294465186, 75.97156200596407], [340.346973512501, 86.12754275270002], [358.7250201340062, 94.61485731462274], [379.98725824792496, 102.36655455027662], [403.3256767911483, 110.315683318206], [427.9322647005667, 119.39529247695522], [452.9990109130711, 130.53843088506878], [477.71790436555244, 144.67814740109097], [501.2809339949014, 162.74749088356626], [522.8800887380089, 185.67951019103896], [541.7073575317658, 214.40725418205352], [556.9547293130627, 249.86377171515434], [567.8141930187907, 292.9821116488858], [573.4777375858403, 344.6953228417921]]
line3=[[320.0, 0.0], [327.9833280658778, 15.016650851980016], [340.4769463262831, 25.524522770015245], [356.8719083941727, 32.59722944079429], [376.5592678825036, 37.30838455100564], [398.93007840423263, 40.73160178733782], [423.3753935723168, 43.94049483647929], [449.28626699971255, 48.00867738511856], [476.05375229937704, 54.00976311994425], [503.06890308426705, 63.01736572764473], [529.7227729673393, 76.10509889490865], [555.4064155615508, 94.34657630842443], [579.5108844798585, 118.81541165488063], [601.4272333352191, 150.5852186209658], [620.5465157405895, 190.72961089336843], [636.2597853089262, 240.3222021587769]]
line4=[[320.0, 0.0], [328.3624555126027, 15.776162355216856], [340.77079630514635, 31.77054214536007], [356.078208581285, 48.439516590554405], [373.1378785446733, 66.23946291092469], [390.80299239896493, 85.62675832659549], [407.9267363478144, 107.05778005769183], [423.362296594876, 130.98890532433836], [435.96285934380376, 157.8765113466599], [444.5816107982521, 188.17697534478123], [448.07173716187526, 222.34667453882724], [445.28642463832733, 260.8419861489226], [435.07885943126274, 304.11928739519226], [416.3022277443355, 352.63495549776053]]
line5=[[320.0, 0.0], [323.69086129808085, 22.328213599044407], [328.2294799544362, 46.561896128944376], [332.4062433387309, 72.45548836044426], [335.01153882063034, 99.7634310642892], [334.83575376979974, 128.24016501122384], [330.6692755559043, 157.64013097199293], [321.30249154860934, 187.71776971734135], [305.52578911758, 218.227522018014], [282.1295556324815, 248.92382864475547], [249.9041784629792, 279.5611303683108], [207.64004497873827, 309.89386795942426]]
line6=[[320.0, 0.0], [319.6063583708792, 26.22534112814168], [317.41907209558354, 53.569939827233725], [312.2897285040425, 81.58145729752641], [303.0699149261853, 109.80755473927005], [288.6112186919413, 137.79589335271513], [267.7652271312397, 165.09413433811207], [239.38352757400992, 191.24993889571107], [202.31770735018122, 215.81096822576276], [155.4193537896831, 238.32488352851706]]

const delay = 0.5;
const previousSpeed = 0.1;


let commands2 = followLine(line, delay, previousSpeed);
let commands2 = followLine(line0, delay, previousSpeed);

for (const command of commands2) {
console.log(command);
Expand All @@ -723,7 +646,8 @@ export default class Doodlebot {

}

commands2 = followLine(line2, delay, previousSpeed);

commands2 = followLine(line1, delay, previousSpeed);

for (const command of commands2) {
console.log(command);
Expand All @@ -736,9 +660,9 @@ export default class Doodlebot {
console.log("command");
console.log(command);


}
commands2 = followLine(line3, delay, previousSpeed);

commands2 = followLine(line2, delay, previousSpeed);

for (const command of commands2) {
console.log(command);
Expand All @@ -751,8 +675,9 @@ export default class Doodlebot {
console.log("command");
console.log(command);


}
commands2 = followLine(line4, delay, previousSpeed);
commands2 = followLine(line3, delay, previousSpeed);

for (const command of commands2) {
console.log(command);
Expand All @@ -766,7 +691,7 @@ export default class Doodlebot {
console.log(command);

}
commands2 = followLine(line5, delay, previousSpeed);
commands2 = followLine(line4, delay, previousSpeed);

for (const command of commands2) {
console.log(command);
Expand All @@ -780,8 +705,7 @@ export default class Doodlebot {
console.log(command);

}

commands2 = followLine(line6, delay, previousSpeed);
commands2 = followLine(line5, delay, previousSpeed);

for (const command of commands2) {
console.log(command);
Expand All @@ -796,7 +720,7 @@ export default class Doodlebot {

}

commands2 = followLine(line7, delay, previousSpeed);
commands2 = followLine(line6, delay, previousSpeed);

for (const command of commands2) {
console.log(command);
Expand All @@ -811,6 +735,21 @@ export default class Doodlebot {

}

// commands2 = followLine(line7, delay, previousSpeed);

// for (const command of commands2) {
// console.log(command);
// const { leftWheelSpeed, rightWheelSpeed, leftWheelDistance, rightWheelDistance } = command;
// await this.motorCommand(
// "steps",
// { steps: Math.round(leftWheelDistance), stepsPerSecond: Math.round(leftWheelSpeed) },
// { steps: Math.round(rightWheelDistance), stepsPerSecond: Math.round(rightWheelSpeed) }
// );
// console.log("command");
// console.log(command);

// }


}

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