X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=www%2Findex.html;h=4e6b5650bc3225ea157c69a65d88365f7f2cce3e;hp=87da1eaf2281a5f03543f67c4ef218d8af046f82;hb=721db3c859a69179a9f956a53ae7e40cf0ca655b;hpb=add2510de35ca5a7416a5495170fa2b46b621c18

diff --git a/www/index.html b/www/index.html
index 87da1ea..4e6b565 100644
--- a/www/index.html
+++ b/www/index.html
@@ -12,6 +12,13 @@
 		.bottom-leds > .minicolors-theme-default.minicolors { margin: 5px 0; }
 		.top-leds > .minicolors-theme-default.minicolors { margin-top: 70px; }
 		.wt-icon {background: url('assets/images/wt_top.png'); background-size: cover; background-size: 100%; background-repeat: no-repeat; background-position: center; height: 260px;}
+		.cmd_vel_circle {
+			height: 250px;
+			width: 250px;
+			background-color: #bbb;
+			border-radius: 50%;
+			display: inline-block;
+		}
 		</style>
 
 		<script type="text/javascript">
@@ -56,6 +63,7 @@
 			var sensorTopic = new ROSLIB.Topic({ros: ros, name: '/sensors', messageType: 'wild_thumper/Sensor'});
 			var batteryTopic = new ROSLIB.Topic({ros: ros, name: '/battery', messageType: 'sensor_msgs/BatteryState'});
 			var ledStripeTopic = new ROSLIB.Topic({ros: ros, name: '/led_stripe', messageType: 'wild_thumper/LedStripe'});
+			var cmdVelTopic = new ROSLIB.Topic({ros: ros, name: '/teleop/cmd_vel', messageType: 'geometry_msgs/Twist'});
 
 			poseTopic.subscribe(function(message) {
 				var now = new Date();
@@ -121,28 +129,29 @@
 			});
 
 			// Initialize the teleop.
-			var teleop = new KEYBOARDTELEOP.Teleop({
+			teleop = new KEYBOARDTELEOP.Teleop({
 				ros : ros,
-				topic : '/cmd_vel'
+				topic : '/teleop/cmd_vel'
 			});
 
 			// Create a UI slider using JQuery UI.
 			$('#speed-slider').slider({
 				range : 'min',
-				min : 0,
-				max : 100,
-				value : 50,
+				min : 0.10,
+				max : 1.0,
+				step : 0.05,
+				value : 0.5,
 				slide : function(event, ui) {
 					// Change the speed label.
-					$('#speed-label').html('Speed: ' + ui.value + '%');
+					$('#speed-label').html('Speed: ' + ui.value + ' m/s');
 					// Scale the speed.
-					teleop.scale = (ui.value / 100.0);
+					teleop.scale = (ui.value * 2);
 				}
 			});
 
 			// Set the initial speed.
-			$('#speed-label').html('Speed: ' + ($('#speed-slider').slider('value')) + '%');
-			teleop.scale = ($('#speed-slider').slider('value') / 100.0);
+			$('#speed-label').html('Speed: ' + ($('#speed-slider').slider('value')) + ' m/s');
+			teleop.scale = ($('#speed-slider').slider('value') * 2);
 
 			$('.led_color').minicolors({
 				control: 'wheel',
@@ -165,6 +174,51 @@
 					ledStripeTopic.publish(msg);
 				}
 			});
+
+			function setSpeed(trans, rot) {
+				var msg = new ROSLIB.Message({
+					linear: {
+						x : trans,
+						y : 0,
+						z : 0
+					},
+					angular: {
+						x : 0,
+						y : 0,
+						z : rot
+					},
+				});
+				cmdVelTopic.publish(msg);
+			}
+
+			$('.cmd_vel_circle')
+			.bind('mousedown touchstart', function(e) {
+				isDragging = true;
+			})
+			.bind('mouseup touchend mouseleave', function(e) {
+				isDragging = false;
+				setSpeed(0, 0);
+			})
+			.bind('mousemove touchmove', function(e) {
+				if (isDragging) {
+					// absolute click position
+					var X,Y;
+					if (e.originalEvent.touches) {
+						X = e.originalEvent.touches[0].pageX;
+						Y = e.originalEvent.touches[0].pageY;
+					} else {
+						X = e.pageX;
+						Y = e.pageY;
+					}
+					// relative click position
+					var Xrel = X - this.offsetLeft - $(this).width()/2; 
+					var Yrel = Y - this.offsetTop - $(this).height()/2; 
+					// scale to -1..+1
+					var trans = -Yrel / ($(this).height()/2);
+					var rot = -Xrel / ($(this).width()/2);
+					setSpeed(trans, rot*3);
+				}
+			});
 		}
 		</script>
 		<title>Wild Thumper control</title>
@@ -186,6 +240,9 @@
 					<li class="nav-item">
 						<a class="nav-link" href="#lights" data-toggle="tab" role="tab">Lights</a>
 					</li>
+					<li class="nav-item">
+						<a class="nav-link" href="#drive" data-toggle="tab" role="tab">Drive</a>
+					</li>
 				</ul>
 			</nav>
 			<div class="tab-content">
@@ -253,72 +310,75 @@
 					<div class="row">
 						<div class="col-md-2 offset-md-1" >
 							<div class="d-flex justify-content-center">
-								<input class="led_color" type="hidden" name="[0]"/>
-								<input class="led_color" type="hidden" name="[1]"/>
-								<input class="led_color" type="hidden" name="[2]"/>
-								<input class="led_color" type="hidden" name="[3]"/>
+								<input class="led_color" type="hidden" name="[0]" readonly="true"/>
+								<input class="led_color" type="hidden" name="[1]" readonly="true"/>
+								<input class="led_color" type="hidden" name="[2]" readonly="true"/>
+								<input class="led_color" type="hidden" name="[3]" readonly="true"/>
 							</div>
 							<div>
 								<div class="row wt-icon">
 									<div class="col-md-2 align-self-center bottom-leds">
-										<input class="led_color" type="hidden" name="[14]"/>
-										<input class="led_color" type="hidden" name="[15]"/>
+										<input class="led_color" type="hidden" name="[14]" readonly="true"/>
+										<input class="led_color" type="hidden" name="[15]" readonly="true"/>
 									</div>
 									<div class="col-md-8">
 										<div class="d-flex justify-content-center top-leds">
-											<input class="led_color" type="hidden" name="[7]"/>
-											<input class="led_color" type="hidden" name="[6]"/>
-											<input class="led_color" type="hidden" name="[5]"/>
-											<input class="led_color" type="hidden" name="[4]"/>
+											<input class="led_color" type="hidden" name="[7]" readonly="true"/>
+											<input class="led_color" type="hidden" name="[6]" readonly="true"/>
+											<input class="led_color" type="hidden" name="[5]" readonly="true"/>
+											<input class="led_color" type="hidden" name="[4]" readonly="true"/>
 										</div>
 									</div>
 									<div class="col-md-2 align-self-center bottom-leds">
-										<input class="led_color" type="hidden" name="[13]"/>
-										<input class="led_color" type="hidden" name="[12]"/>
+										<input class="led_color" type="hidden" name="[13]" readonly="true"/>
+										<input class="led_color" type="hidden" name="[12]" readonly="true"/>
 									</div>
 								</div>
 							</div>
 							<div class="d-flex justify-content-center">
-								<input class="led_color" type="hidden" name="[8]"/>
-								<input class="led_color" type="hidden" name="[9]"/>
-								<input class="led_color" type="hidden" name="[10]"/>
-								<input class="led_color" type="hidden" name="[11]"/>
+								<input class="led_color" type="hidden" name="[8]" readonly="true"/>
+								<input class="led_color" type="hidden" name="[9]" readonly="true"/>
+								<input class="led_color" type="hidden" name="[10]" readonly="true"/>
+								<input class="led_color" type="hidden" name="[11]" readonly="true"/>
 							</div>
 						</div>
 						<div class="col-md-3 offset-md-1">
 							<div class="form-group row">
 								<label class="col-sm-2 col-form-label">Alle</label>
 								<div class="col-sm-10">
-									<input class="led_color" type="text" name="[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15]" class="form-control"/>
+									<input class="led_color" type="text" name="[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15]" class="form-control" readonly="true"/>
 								</div>
 							</div>
 							<div class="form-group row">
 								<label class="col-sm-2 col-form-label">Front</label>
 								<div class="col-sm-10">
-									<input class="led_color" type="text" name="[0, 1, 2, 3]" class="form-control"/>
+									<input class="led_color" type="text" name="[0, 1, 2, 3]" class="form-control" readonly="true"/>
 								</div>
 							</div>
 							<div class="form-group row">
 								<label class="col-sm-2 col-form-label">Aft</label>
 								<div class="col-sm-10">
-									<input class="led_color" type="text" name="[8, 9, 10, 11]" class="form-control"/>
+									<input class="led_color" type="text" name="[8, 9, 10, 11]" class="form-control readonly="true""/>
 								</div>
 							</div>
 							<div class="form-group row">
 								<label class="col-sm-2 col-form-label">Top</label>
 								<div class="col-sm-10">
-									<input class="led_color" type="text" name="[4, 5, 6, 7]" class="form-control"/>
+									<input class="led_color" type="text" name="[4, 5, 6, 7]" class="form-control" readonly="true"/>
 								</div>
 							</div>
 							<div class="form-group row">
 								<label class="col-sm-2 col-form-label">Bottom</label>
 								<div class="col-sm-10">
-									<input class="led_color" type="text" name="[12, 13, 14, 15]" class="form-control"/>
+									<input class="led_color" type="text" name="[12, 13, 14, 15]" class="form-control" readonly="true"/>
 								</div>
 							</div>
 						</div>
 					</div>
 				</div>
+				<div id="drive" class="tab-pane" role="tabpanel">
+					<div class="cmd_vel_circle"></div>
+				</div>
 			</div>
 		</div>
 		<script src="assets/javascripts/jquery-3.3.1.min.js"></script>