reinitial commit

.eslintrc.js

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+module.exports = {
+    "env": {
+        "es6": true
+    },
+    "extends": "eslint:recommended",
+    "rules": {
+        "indent": [
+            "error",
+            4
+        ],
+        "linebreak-style": [
+            "error",
+            "unix"
+        ],
+        "quotes": [
+            "error",
+            "double"
+        ],
+        "semi": [
+            "error",
+            "never"
+        ]
+    }
+};

.gitignore

@@ -0,0 +1,3 @@
+dist/
+myApp-darwin-x64/
+node_modules

ViewEyeRealTime.js

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+
+// svg_text()
+function SetGrid(){
+for (var i = 0;i < 511 ;i++){
+     var thehtml = svg_circle({cx: i, cy: 0, r: 1})
+     append_in_ui("svg_id", thehtml)
+    }
+}
+
+var scACount = 0
+var MinADCx = 5000
+var MaxADCx = 0
+var MinADCy = 5000
+var MaxADCy = 0
+
+//SetGrid()
+
+var centers_string = [[0x000, 0x000],
+                      [0x000, 0x000],
+                      [0x000, 0x000],
+                      [0x000, 0x000],
+                      [0x000, 0x000]]
+
+
+var working_axis = undefined
+var AxisTable = [[[500, 0, 0, 0, 0], Dexter.J1_A2D_SIN, Dexter.J1_A2D_COS, [-648000, 0, 0, 0, 0], 800], 
+                 [[0, 500, 0, 0, 0], Dexter.J2_A2D_SIN, Dexter.J2_A2D_COS, [0, -350000, 0, 0, 0], 400], 
+                 [[0, 0, 500, 0, 0], Dexter.J3_A2D_SIN, Dexter.J3_A2D_COS, [0, 0, -570000, 0, 0], 700], 
+                 [[0, 0, 0, 500, 0], Dexter.J4_A2D_SIN, Dexter.J4_A2D_COS, [0, 0, 0, -390000, 0], 300], 
+                 [[0, 0, 0, 0, 500], Dexter.J5_A2D_SIN, Dexter.J5_A2D_COS, [0, 0, 0, 0, -648000], 600]]
+
+
+//     AxisTable [axis][0]
+function smLinex(size, axis){
+  working_axis = axis
+  var result = []
+  result.push (Dexter.move_all_joints(AxisTable [axis][3]))
+  for (var i = 0;i < size;i++){
+      result.push (Dexter.move_all_joints_relative(AxisTable [axis][0]))
+      result.push (function () { 
+         var x = Dexter.my_dex2.robot_status[AxisTable [axis][1]]/10
+         var y = Dexter.my_dex2.robot_status[AxisTable [axis][2]]/10
+         var thehtml = svg_circle({cx: x, cy: y, r: 1})
+         append_in_ui("svg_id", thehtml)
+      })}   
+  return result
+}
+
+
+function handle1(arg) { 
+  if((arg.clicked_button_value === "background_id") ||
+     (arg.clicked_button_value === "svg_id")) {
+     centers_string[working_axis][0] = "0x" + ((arg.offsetX * 10) * 65536).toString(16)
+     centers_string[working_axis][1] = "0x" + ((arg.offsetY * 10) * 65536).toString(16)
+     out ("0x" + ((arg.offsetX * 10) * 65536).toString(16) + " " + "0x" + ((arg.offsetY * 10) * 65536).toString(16))
+    append_in_ui("svg_id", svg_circle({cx: arg.offsetX, cy: arg.offsetY, r: 3, color: "Red"}))    
+  }
+  if(arg.clicked_button_value === "submit_id"){
+  close_window(arg.window_index)
+  }
+}
+
+function new_eye_window(){
+	show_window({
+      title: "Eye View",
+      content: 
+      svg_svg({id: "svg_id", height: 410, width: 410, html_class: "clickable", child_elements: 
+         [svg_rect({id: "submit_id", html_class: "clickable", x: 10, y: 350, width: 75, height: 25, color: "green"})
+         ]}),
+      width: 500, // window width
+      height: 500, // window height
+      x: 0,        // Distance from left of DDE window to this window's left
+      y: 100,      // Distance from top  of DDE window to this window's top
+      callback: handle1
+})
+}
+
+function centers_output(){
+	out("copy from here" , "Red")
+	out(centers_string[0][0])
+    out(centers_string[0][1])
+    out(centers_string[2][0])
+    out(centers_string[2][1])
+    out(centers_string[1][0])
+    out(centers_string[1][1])
+    out(centers_string[3][0])
+    out(centers_string[3][1])
+    out(centers_string[4][0])
+    out(centers_string[4][1])
+	out("copy to here", "Red")
+    out("and place in //(Dexter ip address)/srv/samba/share/AdcCenters.txt")
+}
+function scan_axis(){
+	var retCMD = []
+    retCMD.push(Human.enter_number({
+                    title: "Calibrate LEDs",
+          			task: "Do this calibration first.<br/>" +
+          			      "<ol><li>Select each axis (0 through 4),</li>" +
+          			      '<li>click Submit get a the "Eye View" window.</li>' +
+          			      "<li>With the eye view window drawing points</li>" +
+          			      "<li>adjust the current joints 2 pots until the points form a circle.</li>" +
+          			      "<li>Wait until points stop drawing (about 30 seconds)</li>" +
+          			      "<li>click in the center of the circle.</li>" +
+          			      "<li>click the green button</li>" +
+                          "<li>repeat for the next joint.</li></ol>",
+        			user_data_variable_name: "measurement_axis", 
+          			initial_value: 0,
+          			min: 0,
+        			max: 5,
+        			step: 1,
+        			}))
+    retCMD.push(function () {if (this.user_data.measurement_axis != 5){  return new_eye_window()}})
+    retCMD.push(function () {return Dexter.move_all_joints(0, 0, 0, 0, 0)})
+    retCMD.push(function () {if (this.user_data.measurement_axis != 5){  return smLinex(AxisTable [this.user_data.measurement_axis][4], this.user_data.measurement_axis)}})
+    retCMD.push(function () {if (this.user_data.measurement_axis != 5){  return scan_axis()}})
+    return retCMD
+
+}
+
+function init_view_eye(){ //can't eval this until Dexter properly defined.
+    new Dexter({name: "basic_move_test_dex", ip_address: "192.168.1.144", port: 50000,
+                enable_heartbeat: false, simulate: false})
+    new Job({name: "BasicMoveTest2", robot: Robot.basic_move_test_dex, keep_history: false,
+         inter_do_item_dur: 5,
+         do_list: [ Dexter.move_all_joints(0, 0, 0, 0, 0),
+         			make_ins("S", "J1BoundryHigh",648000),
+        	        make_ins("S", "J1BoundryLow",-648000),
+                    make_ins("S", "J2BoundryLow",-350000),
+                    make_ins("S", "J2BoundryHigh",350000),
+                    make_ins("S", "J3BoundryLow",-570000),
+                    make_ins("S", "J3BoundryHigh",570000),
+                    make_ins("S", "J4BoundryLow",-390000),
+                    make_ins("S", "J4BoundryHigh",390000),
+                    make_ins("S", "J5BoundryLow",-680000),
+                    make_ins("S", "J5BoundryHigh",680000),
+
+         			make_ins("S", "MaxSpeed",200000),
+                    make_ins("S", "Acceleration",1),
+                    make_ins("S", "StartSpeed",7500),
+                    scan_axis(),
+                    function () {return centers_output()},
+                    make_ins("S", "MaxSpeed",300000),
+                    make_ins("S", "Acceleration",1),
+                    make_ins("S", "StartSpeed",500),
+                    Dexter.move_all_joints(0, 0, 0, 0, 0)
+                   ]})
+}
+// Job.BasicMoveTest2.start()
+
+
+/*
+var centers_string = undefined
+
+file_content("AdcCenters.txt", function (str) {centers_string = str})
+
+out (centers_string)
+
+write_file("AdcCenters.txt", centers_string) */
+
+
+