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Copy path3jsbot_userinput.js
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173 lines (138 loc) · 5.81 KB
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//////////////////////////////////////////////////
///// USER INTERACTION SUPPORT ROUTINES
//////////////////////////////////////////////////
/* CS148 user input control mappings (based on reference code)
WASD - move robot base in plane forward/left/backward/right
QE - rotate robot base in plane left/right
HJKL - move joint selector left sibling/parent/child/right sibling
UI - rotate selected joint positive/negative
O - enable PD servo (while held down)
P - enable IK (while held down)
RF - move IK target position up/down
*/
/* CS148: user input for selecting joints */
function init_keyboard_events() {
document.addEventListener('keydown', function(e) {handle_keydown(e.keyCode); }, true);
}
function handle_keydown(keycode) {
//console.log("handle_keydown: "+keycode);
switch (keycode) { // h:72 j:74 k:75 l:76
case 74: // j
change_active_link_down();
//console.log("change_active_link_down");
break;
case 75: // k
change_active_link_up();
//console.log("change_active_link_up");
break;
case 76: // l
change_active_joint_next();
//console.log("change_active_joint_next");
break;
case 72: // h
change_active_joint_previous();
//console.log("change_active_joint_previous");
break;
}
}
function user_input() {
/* CS148: user input for controlling joints */
// incrment/decrement angle of active joint
if ( keyboard.pressed("u") ) {
robot.joints[active_joint].control += 0.01; // add motion increment
}
else if ( keyboard.pressed("i") ) {
robot.joints[active_joint].control += -0.01; // add motion increment
}
// CS148: user input for base movement
// move robot base in the ground plane
if ( keyboard.pressed("a") ) { // turn
robot.control.rpy[1] += 0.1;
}
if ( keyboard.pressed("d") ) { // turn
robot.control.rpy[1] += -0.1;
}
if ( keyboard.pressed("w") ) { // forward
robot.control.xyz[2] += 0.1 * (robot_heading[2][0]);
robot.control.xyz[0] += 0.1 * (robot_heading[0][0]);
}
if ( keyboard.pressed("s") ) { // backward
robot.control.xyz[2] += -0.1 * (robot_heading[2][0]);
robot.control.xyz[0] += -0.1 * (robot_heading[0][0]);
}
if ( keyboard.pressed("q") ) { // strafe
robot.control.xyz[2] += 0.1 * (robot_lateral[2][0]);
robot.control.xyz[0] += 0.1 * (robot_lateral[0][0]);
}
if ( keyboard.pressed("e") ) { // strafe
robot.control.xyz[2] += -0.1 * (robot_lateral[2][0]);
robot.control.xyz[0] += -0.1 * (robot_lateral[0][0]);
}
if ( keyboard.pressed("m") )
generate_motion_plan = true;
else
generate_motion_plan = false;
// traverse generated motion plan
if ( keyboard.pressed("n") | keyboard.pressed("b")) {
if (typeof robot_path !== 'undefined') {
// increment index
if ((keyboard.pressed("n"))&&(robot_path_traverse_idx<robot_path.length-1))
robot_path_traverse_idx++;
if((keyboard.pressed("b"))&&(robot_path_traverse_idx>0))
robot_path_traverse_idx--;
// set angle
robot.origin.xyz = [
robot_path[robot_path_traverse_idx].vertex[0],
robot_path[robot_path_traverse_idx].vertex[1],
robot_path[robot_path_traverse_idx].vertex[2]
];
robot.origin.rpy = [
robot_path[robot_path_traverse_idx].vertex[3],
robot_path[robot_path_traverse_idx].vertex[4],
robot_path[robot_path_traverse_idx].vertex[5]
];
for (x in robot.joints) {
//q_names[x] = q_start_config.length;
robot.joints[x].angle = robot_path[robot_path_traverse_idx].vertex[q_names[x]];
}
}
}
/* CS148: user input for executing inverse kinematics iterations */
if ( keyboard.pressed("p") )
update_ik = true;
/* CS148: user input for executing proportional derivative servo */
if ( keyboard.pressed("o") )
update_pd = true;
/* CS148: user input for moving IK target up/down */
if ( keyboard.pressed("r") ) // ik target up
ik_target[1][0] += 0.01;
if ( keyboard.pressed("f") ) // ik target down
ik_target[1][0] -= 0.01;
}
/* CS148: user input for joint selection */
function change_active_link_down() {
if (robot.links[robot.joints[active_joint].child].children.length != 0 && robot.joints[active_joint].child !== 'undefined' ) {
robot.joints[active_joint].display_geom.material.opacity = 1.0;
active_link = robot.joints[active_joint].child;
active_joint = robot.links[active_link].children[0];
robot.joints[active_joint].display_geom.material.opacity = 0.5;
}
}
function change_active_link_up() {
if (active_link !== robot.base) {
robot.joints[active_joint].display_geom.material.opacity = 1.0;
active_joint = robot.links[active_link].parent;
active_link = robot.joints[active_joint].parent;
robot.joints[active_joint].display_geom.material.opacity = 0.5;
}
}
function change_active_joint_next() {
robot.joints[active_joint].display_geom.material.opacity = 1.0;
active_joint = robot.links[active_link].children[(robot.links[active_link].children.indexOf(active_joint)+1) % robot.links[active_link].children.length];
robot.joints[active_joint].display_geom.material.opacity = 0.5;
}
function change_active_joint_previous() {
robot.joints[active_joint].display_geom.material.opacity = 1.0;
active_joint = robot.links[active_link].children[(robot.links[active_link].children.length + robot.links[active_link].children.indexOf(active_joint)-1) % robot.links[active_link].children.length];
robot.joints[active_joint].display_geom.material.opacity = 0.5;
}