├── .gitignore ├── README.md ├── media ├── ModuleDiagram.png ├── TestSketch.fzz ├── TestSketch.png └── robotcontrol.gif ├── requirements.txt └── server-websocket ├── main.py ├── robot ├── Binary.py ├── Linear.py ├── Servo.py └── __init__.py ├── static ├── css │ ├── button.css │ ├── main.css │ └── style.css └── js │ ├── Joystick.js │ ├── jquery-3.3.1.min.js │ └── socket.io.js └── templates └── index.html /.gitignore: -------------------------------------------------------------------------------- 1 | *.swp 2 | *.pyc 3 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # RaspberryPi Robotcontrol 2 | 3 | Interactive, low-latency javascript-based websocket-GUI for touch-devices 4 | with a python-flask backend that interfaces to robotic components. 5 | It provides virtual 2-axis joysticks (inspired by nipple.js but without the multitouch issues) and buttons 6 | that all work simulatenously. Due to the two-way websocket connection, status-messages from the robot can be displayed in the text-area. 7 | 8 | ![Gif of GUI](media/robotcontrol.gif) 9 | 10 | This software provides 11 | * an interactive javascript low-latency websocket GUI served webpage 12 | * a python-flask server that runs on a raspberry pi (or really any linux-machine) 13 | * a two-way websocket connection for low latency control 14 | * some server-side robot-classes (servo-, stepper-, toggle-control) that are already mapped to control inputs 15 | 16 | _Important_: The GUI can currently only be controlled using touch-events, that means it should be used with a touchscreen device. 17 | 18 | Tested on RaspberryPi 3 B+ with raspbian and Samsung Galaxy S7, Android 8, mobile google chrome 67. 19 | 20 | ## Requirements 21 | * python, numpy, flask 22 | 23 | ## Howto run 24 | * install necessary python-packages using pip 25 | ``` 26 | pip install -r requirements.txt 27 | ``` 28 | * run flask-server (server-websocket/main.py) -> this will provide the websocket API and serve the webpage on port 5000 29 | ``` 30 | ./server-websocket/main.py 31 | ``` 32 | * call interface webpage in browser: http://server-ip:5000 33 | 34 | ## Module architecture 35 | 36 | ![Module structure](media/ModuleDiagram.png) 37 | 38 | ## Hardware test-setup 39 | 40 | ![Hardware layout](media/TestSketch.png) 41 | 42 | ## TODO 43 | * unify control-interface to allow easier mapping of interface-axis/buttons to robot actions 44 | -------------------------------------------------------------------------------- /media/ModuleDiagram.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TobiasWeis/robotcontrol-javascript/42adeaa0994e4b46c01fecf44ccc613a1a1f3782/media/ModuleDiagram.png -------------------------------------------------------------------------------- /media/TestSketch.fzz: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TobiasWeis/robotcontrol-javascript/42adeaa0994e4b46c01fecf44ccc613a1a1f3782/media/TestSketch.fzz -------------------------------------------------------------------------------- /media/TestSketch.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TobiasWeis/robotcontrol-javascript/42adeaa0994e4b46c01fecf44ccc613a1a1f3782/media/TestSketch.png -------------------------------------------------------------------------------- /media/robotcontrol.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TobiasWeis/robotcontrol-javascript/42adeaa0994e4b46c01fecf44ccc613a1a1f3782/media/robotcontrol.gif -------------------------------------------------------------------------------- /requirements.txt: -------------------------------------------------------------------------------- 1 | gevent-websocket 2 | Flask-Cors 3 | flask-socketio 4 | -------------------------------------------------------------------------------- /server-websocket/main.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/python 2 | """ 3 | We are using a small REST server to control our robot. 4 | """ 5 | from flask import Flask, render_template 6 | from flask_socketio import SocketIO, emit 7 | from flask_cors import CORS 8 | import math 9 | from multiprocessing import Process, Queue 10 | 11 | _debug = False 12 | 13 | 14 | # TODO: axis-mapping should be OOP and automatic! 15 | 16 | try: 17 | from robot.Linear import * 18 | linear = Linear(Queue(), verbose=False) 19 | linear.start() 20 | 21 | from robot.Servo import * 22 | servo = Servo(Queue(), 7, verbose=False) 23 | servo.start() 24 | servo2 = Servo(Queue(), 11, verbose=False) 25 | servo2.start() 26 | 27 | from robot.Binary import * 28 | binary = Binary(Queue(), 13, axis="A", verbose=False) 29 | binary.start() 30 | 31 | binary2 = Binary(Queue(),15, axis="B", verbose=False) 32 | binary2.start() 33 | except Exception, e: 34 | print("Could not import robot") 35 | print e 36 | 37 | 38 | app = Flask(__name__) 39 | app.config['SECRET_KEY'] = 'secret' 40 | CORS(app) 41 | socketio = SocketIO(app) 42 | 43 | 44 | @app.route('/') 45 | def index(): 46 | return render_template('index.html') 47 | 48 | 49 | @socketio.on_error_default 50 | def default_error_handler(e): 51 | print "======================= ERROR" 52 | print(request.event["message"]) 53 | print(request.event["args"]) 54 | 55 | 56 | @socketio.on('control', namespace='/control') 57 | def control(message): 58 | data = message["data"] 59 | if "left" in data.keys(): 60 | x = data["left"][0] 61 | y = data["left"][1] 62 | if _debug: print "[Server] Left: ",x,",",y 63 | linear.q.put(("left",x,y)) 64 | elif "right" in data.keys(): 65 | x = data["right"][0] 66 | y = data["right"][1] 67 | if _debug: print "[Server] Right: ",x,",",y 68 | servo.q.put(("right",x,y)) 69 | servo2.q.put(("right",y,x)) 70 | elif "A" in data.keys(): 71 | if _debug: print "[Server] A" 72 | binary.q.put(("A",1,0)) 73 | elif "B" in data.keys(): 74 | if _debug: print "[Server] B" 75 | binary2.q.put(("B",1,0)) 76 | 77 | if __name__ == "__main__": 78 | socketio.run(app, host="0.0.0.0", debug=True, use_reloader=False) 79 | -------------------------------------------------------------------------------- /server-websocket/robot/Binary.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/python 2 | """ 3 | 0.4 Amps/phase 4 | 0.11 Nm holding torque 5 | 0.9 deg step angle - 400 steps 6 | """ 7 | import time 8 | import numpy as np 9 | from multiprocessing import Process, Queue 10 | import RPi.GPIO as GPIO 11 | 12 | class Binary: 13 | def __init__(self, queue, pin, axis="A", verbose="False"): 14 | self.q = queue 15 | self.pin = pin 16 | self.state = 0 17 | self.debounce_time = 0.2 18 | self.last_button_ts = 0 19 | self.axis=axis 20 | self.verbose = verbose 21 | 22 | def start(self): 23 | self.p = Process(target=self.run, args=((self.q),)) 24 | self.p.start() 25 | 26 | def run(self, queue): 27 | inp = (0,0,0) 28 | 29 | GPIO.setwarnings(False) 30 | GPIO.setmode(GPIO.BOARD) 31 | GPIO.setup(self.pin, GPIO.OUT) # step 32 | 33 | while True: 34 | try: 35 | inp = queue.get_nowait() 36 | if self.verbose: print inp 37 | if inp[0] == self.axis and time.time() - self.last_button_ts > self.debounce_time: 38 | self.state = (self.state + 1) % 2 39 | if self.verbose: print "[Binary] Changed state to", self.state 40 | GPIO.output(self.pin, self.state) 41 | self.last_button_ts = time.time() 42 | except: 43 | time.sleep(0.01) 44 | pass 45 | 46 | if __name__ == "__main__": 47 | GPIO.setmode(GPIO.BOARD) 48 | 49 | GPIO.setup(7, GPIO.OUT) # step 50 | pwm = GPIO.PWM(7, 50) 51 | pwm.start(0) 52 | 53 | for i in range(10): 54 | pwm.ChangeDutyCycle(i) 55 | time.sleep(0.5) 56 | 57 | -------------------------------------------------------------------------------- /server-websocket/robot/Linear.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/python 2 | """ 3 | 0.4 Amps/phase 4 | 0.11 Nm holding torque 5 | 0.9 deg step angle - 400 steps 6 | """ 7 | import time 8 | import numpy as np 9 | from multiprocessing import Process 10 | import RPi.GPIO as GPIO 11 | 12 | class Linear: 13 | def __init__(self, queue, verbose="False"): 14 | self.q = queue 15 | self.verbose = verbose 16 | 17 | self.numsteps = 400 18 | self.microstep = 16 19 | self.actual_steps=self.numsteps * self.microstep 20 | 21 | GPIO.setwarnings(False) 22 | GPIO.setmode(GPIO.BOARD) 23 | 24 | GPIO.setup(3, GPIO.OUT) # step 25 | GPIO.setup(5, GPIO.OUT) # dir 26 | GPIO.output(3, GPIO.LOW) 27 | 28 | self.position = 0 29 | self.speed = 0 30 | self.direction = 0 31 | 32 | def start(self): 33 | self.p = Process(target=self.run, args=((self.q),)) 34 | self.p.start() 35 | 36 | def run(self, queue): 37 | inp = (0,0,0) 38 | while True: 39 | try: 40 | inp = queue.get_nowait() 41 | except: 42 | time.sleep(0.000001) 43 | pass 44 | 45 | if inp[0] == "left": # left stick 46 | axis = inp[1] #x 47 | self.direction = np.sign(axis) 48 | self.speed = abs(float(axis)) 49 | 50 | if self.speed > 0: 51 | if self.direction == 1: 52 | GPIO.output(5, GPIO.HIGH) 53 | else: 54 | GPIO.output(5, GPIO.LOW) 55 | 56 | self.speed_rpm = self.speed * 500.0 57 | # FIXME 58 | self.speed_rpm = 100 59 | self.num_steps_per_sec=self.speed_rpm*self.actual_steps/60.0 60 | self.interval = 1.0/self.num_steps_per_sec 61 | if self.verbose: print "Interval: ", self.interval 62 | 63 | for i in range(10): 64 | GPIO.output(3, GPIO.HIGH) 65 | time.sleep(self.interval/2.0) 66 | GPIO.output(3, GPIO.LOW) 67 | time.sleep(self.interval/2.0) 68 | 69 | -------------------------------------------------------------------------------- /server-websocket/robot/Servo.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/python 2 | """ 3 | 0.4 Amps/phase 4 | 0.11 Nm holding torque 5 | 0.9 deg step angle - 400 steps 6 | """ 7 | import time 8 | import numpy as np 9 | from multiprocessing import Process, Queue 10 | import RPi.GPIO as GPIO 11 | 12 | class Servo: 13 | def __init__(self, queue, pin, verbose="False"): 14 | self.q = queue 15 | self.servopin = pin 16 | self.verbose = verbose 17 | 18 | def start(self): 19 | self.p = Process(target=self.run, args=((self.q),)) 20 | self.p.start() 21 | 22 | def map(self, value): 23 | """ 24 | Servo running at 50 Hz -> 20 ms per cycle, 25 | control: high for 1ms to 2ms controls angle 26 | 20*0.05 == 1Ms 27 | 20*0.1 == 2Ms 28 | dutycycle value is from 0 to 100, 29 | value from controller is -1 to 1 30 | """ 31 | # at 0 we want to pulse to be 1.5 Ms -> 0.075 dutycycle 32 | 33 | value = ((value + 1)/2) # now 0-1 34 | value = value*(0.1-0.05)+0.05 35 | # map to 0-100 36 | return value * 100 37 | 38 | def run(self, queue): 39 | inp = (0,0,0) 40 | GPIO.setwarnings(False) 41 | GPIO.setmode(GPIO.BOARD) 42 | GPIO.setup(self.servopin, GPIO.OUT) # step 43 | self.pwm = GPIO.PWM(self.servopin, 50) 44 | 45 | self.pwm.start(7.5) 46 | 47 | while True: 48 | try: 49 | inp = queue.get_nowait() 50 | if inp[0] == "right": 51 | axis = inp[1] 52 | self.dc = self.map(axis) 53 | self.pwm.ChangeDutyCycle(self.dc) 54 | if self.verbose: print "[Servo] Dutycycle changed to ", axis,",", self.dc 55 | except: 56 | time.sleep(0.001) 57 | pass 58 | 59 | if __name__ == "__main__": 60 | GPIO.setmode(GPIO.BOARD) 61 | 62 | GPIO.setup(7, GPIO.OUT) # step 63 | pwm = GPIO.PWM(7, 50) 64 | pwm.start(0) 65 | 66 | for i in range(10): 67 | pwm.ChangeDutyCycle(i) 68 | time.sleep(0.5) 69 | 70 | -------------------------------------------------------------------------------- /server-websocket/robot/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TobiasWeis/robotcontrol-javascript/42adeaa0994e4b46c01fecf44ccc613a1a1f3782/server-websocket/robot/__init__.py -------------------------------------------------------------------------------- /server-websocket/static/css/button.css: -------------------------------------------------------------------------------- 1 | .button { 2 | -webkit-box-shadow: inset 0px 1px 0px rgba(255, 255, 255, 0.5), 0px 1px 2px rgba(0, 0, 0, 0.15); 3 | -moz-box-shadow: inset 0px 1px 0px rgba(255, 255, 255, 0.5), 0px 1px 2px rgba(0, 0, 0, 0.15); 4 | box-shadow: inset 0px 1px 0px rgba(255, 255, 255, 0.5), 0px 1px 2px rgba(0, 0, 0, 0.15); 5 | background-color: #eeeeee; 6 | background: -webkit-gradient(linear, 50% 0%, 50% 100%, color-stop(0%, #fbfbfb), color-stop(100%, #e1e1e1)); 7 | background: -webkit-linear-gradient(top, #fbfbfb, #e1e1e1); 8 | background: -moz-linear-gradient(top, #fbfbfb, #e1e1e1); 9 | background: -o-linear-gradient(top, #fbfbfb, #e1e1e1); 10 | background: linear-gradient(top, #fbfbfb, #e1e1e1); 11 | display: -moz-inline-stack; 12 | display: inline-block; 13 | vertical-align: middle; 14 | *vertical-align: auto; 15 | zoom: 1; 16 | *display: inline; 17 | border: 1px solid #d4d4d4; 18 | height: 32px; 19 | line-height: 32px; 20 | padding: 0px 25.6px; 21 | font-weight: 300; 22 | font-size: 14px; 23 | font-family: "HelveticaNeue-Light", "Helvetica Neue Light", "Helvetica Neue", Helvetica, Arial, "Lucida Grande", sans-serif; 24 | color: #666666; 25 | text-shadow: 0 1px 1px white; 26 | margin: 0; 27 | text-decoration: none; 28 | text-align: center; 29 | } 30 | 31 | .button:hover { 32 | background-color: #eeeeee; 33 | background: -webkit-gradient(linear, 50% 0%, 50% 100%, color-stop(0%, #ffffff), color-stop(100%, #dcdcdc)); 34 | background: -webkit-linear-gradient(top, #ffffff, #dcdcdc); 35 | background: -moz-linear-gradient(top, #ffffff, #dcdcdc); 36 | background: -o-linear-gradient(top, #ffffff, #dcdcdc); 37 | background: linear-gradient(top, #ffffff, #dcdcdc); 38 | } 39 | 40 | .button:active { 41 | -webkit-box-shadow: inset 0px 1px 3px rgba(0, 0, 0, 0.3), 0px 1px 0px white; 42 | -moz-box-shadow: inset 0px 1px 3px rgba(0, 0, 0, 0.3), 0px 1px 0px white; 43 | box-shadow: inset 0px 1px 3px rgba(0, 0, 0, 0.3), 0px 1px 0px white; 44 | text-shadow: 0px 1px 0px rgba(255, 255, 255, 0.4); 45 | background: #eeeeee; 46 | color: #bbbbbb; 47 | } 48 | 49 | 50 | input.button, button.button { 51 | height: 34px; 52 | cursor: pointer; 53 | } 54 | 55 | 56 | .button-block { 57 | display: block; 58 | } 59 | 60 | 61 | .button.disabled, 62 | .button.disabled:hover, 63 | .button.disabled:active, 64 | input.button:disabled, 65 | button.button:disabled { 66 | -webkit-box-shadow: 0px 1px 2px rgba(0, 0, 0, 0.1); 67 | -moz-box-shadow: 0px 1px 2px rgba(0, 0, 0, 0.1); 68 | box-shadow: 0px 1px 2px rgba(0, 0, 0, 0.1); 69 | background: #EEE; 70 | border: 1px solid #dddddd; 71 | text-shadow: 0 1px 1px white; 72 | color: #CCC; 73 | cursor: default; 74 | } 75 | 76 | 77 | .button-wrap { 78 | background: -webkit-gradient(linear, 50% 0%, 50% 100%, color-stop(0%, #e3e3e3), color-stop(100%, #f2f2f2)); 79 | background: -webkit-linear-gradient(top, #e3e3e3, #f2f2f2); 80 | background: -moz-linear-gradient(top, #e3e3e3, #f2f2f2); 81 | background: -o-linear-gradient(top, #e3e3e3, #f2f2f2); 82 | background: linear-gradient(top, #e3e3e3, #f2f2f2); 83 | -webkit-border-radius: 200px; 84 | -moz-border-radius: 200px; 85 | -ms-border-radius: 200px; 86 | -o-border-radius: 200px; 87 | border-radius: 200px; 88 | -webkit-box-shadow: inset 0px 1px 3px rgba(0, 0, 0, 0.04); 89 | -moz-box-shadow: inset 0px 1px 3px rgba(0, 0, 0, 0.04); 90 | box-shadow: inset 0px 1px 3px rgba(0, 0, 0, 0.04); 91 | padding: 10px; 92 | display: inline-block; 93 | } 94 | 95 | 96 | 97 | .button-circle { 98 | -webkit-border-radius: 240px; 99 | -moz-border-radius: 240px; 100 | -ms-border-radius: 240px; 101 | -o-border-radius: 240px; 102 | border-radius: 240px; 103 | -webkit-box-shadow: inset 0px 1px 1px rgba(255, 255, 255, 0.5), 0px 1px 2px rgba(0, 0, 0, 0.2); 104 | -moz-box-shadow: inset 0px 1px 1px rgba(255, 255, 255, 0.5), 0px 1px 2px rgba(0, 0, 0, 0.2); 105 | box-shadow: inset 0px 1px 1px rgba(255, 255, 255, 0.5), 0px 1px 2px rgba(0, 0, 0, 0.2); 106 | width: 120px; 107 | line-height: 120px; 108 | height: 120px; 109 | padding: 0px; 110 | border-width: 4px; 111 | font-size: 18px; 112 | } 113 | 114 | 115 | .button-primary { 116 | background: -webkit-gradient(linear, 50% 0%, 50% 100%, color-stop(0%, #00b5e5), color-stop(100%, #008db2)); 117 | background: -webkit-linear-gradient(top, #00b5e5, #008db2); 118 | background: -moz-linear-gradient(top, #00b5e5, #008db2); 119 | background: -o-linear-gradient(top, #00b5e5, #008db2); 120 | background: linear-gradient(top, #00b5e5, #008db2); 121 | background-color: #00a1cb; 122 | border-color: #007998; 123 | color: white; 124 | text-shadow: 0 -1px 1px rgba(0, 40, 50, 0.35); 125 | } 126 | 127 | .button-primary:hover { 128 | background-color: #00a1cb; 129 | background: -webkit-gradient(linear, 50% 0%, 50% 100%, color-stop(0%, #00c9fe), color-stop(100%, #008db2)); 130 | background: -webkit-linear-gradient(top, #00c9fe, #008db2); 131 | background: -moz-linear-gradient(top, #00c9fe, #008db2); 132 | background: -o-linear-gradient(top, #00c9fe, #008db2); 133 | background: linear-gradient(top, #00c9fe, #008db2); 134 | } 135 | 136 | .button-primary:active { 137 | background: #1495b7; 138 | color: #005065; 139 | } 140 | 141 | 142 | .button-action { 143 | background: -webkit-gradient(linear, 50% 0%, 50% 100%, color-stop(0%, #8fcf00), color-stop(100%, #6b9c00)); 144 | background: -webkit-linear-gradient(top, #8fcf00, #6b9c00); 145 | background: -moz-linear-gradient(top, #8fcf00, #6b9c00); 146 | background: -o-linear-gradient(top, #8fcf00, #6b9c00); 147 | background: linear-gradient(top, #8fcf00, #6b9c00); 148 | background-color: #7db500; 149 | border-color: #5a8200; 150 | color: white; 151 | text-shadow: 0 -1px 1px rgba(19, 28, 0, 0.35); 152 | } 153 | 154 | .button-action:hover { 155 | background-color: #7db500; 156 | background: -webkit-gradient(linear, 50% 0%, 50% 100%, color-stop(0%, #a0e800), color-stop(100%, #6b9c00)); 157 | background: -webkit-linear-gradient(top, #a0e800, #6b9c00); 158 | background: -moz-linear-gradient(top, #a0e800, #6b9c00); 159 | background: -o-linear-gradient(top, #a0e800, #6b9c00); 160 | background: linear-gradient(top, #a0e800, #6b9c00); 161 | } 162 | 163 | .button-action:active { 164 | background: #76a312; 165 | color: #374f00; 166 | } 167 | 168 | 169 | .button-highlight { 170 | background: -webkit-gradient(linear, 50% 0%, 50% 100%, color-stop(0%, #fa9915), color-stop(100%, #d87e04)); 171 | background: -webkit-linear-gradient(top, #fa9915, #d87e04); 172 | background: -moz-linear-gradient(top, #fa9915, #d87e04); 173 | background: -o-linear-gradient(top, #fa9915, #d87e04); 174 | background: linear-gradient(top, #fa9915, #d87e04); 175 | background-color: #f18d05; 176 | border-color: #bf7004; 177 | color: white; 178 | text-shadow: 0 -1px 1px rgba(91, 53, 2, 0.35); 179 | } 180 | 181 | .button-highlight:hover { 182 | background-color: #f18d05; 183 | background: -webkit-gradient(linear, 50% 0%, 50% 100%, color-stop(0%, #fba42e), color-stop(100%, #d87e04)); 184 | background: -webkit-linear-gradient(top, #fba42e, #d87e04); 185 | background: -moz-linear-gradient(top, #fba42e, #d87e04); 186 | background: -o-linear-gradient(top, #fba42e, #d87e04); 187 | background: linear-gradient(top, #fba42e, #d87e04); 188 | } 189 | 190 | .button-highlight:active { 191 | background: #d8891e; 192 | color: #8d5303; 193 | } 194 | 195 | 196 | .button-caution { 197 | background: -webkit-gradient(linear, 50% 0%, 50% 100%, color-stop(0%, #e8543f), color-stop(100%, #d9331a)); 198 | background: -webkit-linear-gradient(top, #e8543f, #d9331a); 199 | background: -moz-linear-gradient(top, #e8543f, #d9331a); 200 | background: -o-linear-gradient(top, #e8543f, #d9331a); 201 | background: linear-gradient(top, #e8543f, #d9331a); 202 | background-color: #e54028; 203 | border-color: #c22d18; 204 | color: white; 205 | text-shadow: 0 -1px 1px rgba(103, 24, 13, 0.35); 206 | } 207 | 208 | .button-caution:hover { 209 | background-color: #e54028; 210 | background: -webkit-gradient(linear, 50% 0%, 50% 100%, color-stop(0%, #eb6855), color-stop(100%, #d9331a)); 211 | background: -webkit-linear-gradient(top, #eb6855, #d9331a); 212 | background: -moz-linear-gradient(top, #eb6855, #d9331a); 213 | background: -o-linear-gradient(top, #eb6855, #d9331a); 214 | background: linear-gradient(top, #eb6855, #d9331a); 215 | } 216 | 217 | .button-caution:active { 218 | background: #cd5240; 219 | color: #952312; 220 | } 221 | 222 | 223 | .button-royal { 224 | background: -webkit-gradient(linear, 50% 0%, 50% 100%, color-stop(0%, #99389f), color-stop(100%, #752a79)); 225 | background: -webkit-linear-gradient(top, #99389f, #752a79); 226 | background: -moz-linear-gradient(top, #99389f, #752a79); 227 | background: -o-linear-gradient(top, #99389f, #752a79); 228 | background: linear-gradient(top, #99389f, #752a79); 229 | background-color: #87318c; 230 | border-color: #632466; 231 | color: white; 232 | text-shadow: 0 -1px 1px rgba(26, 9, 27, 0.35); 233 | } 234 | 235 | .button-royal:hover { 236 | background-color: #87318c; 237 | background: -webkit-gradient(linear, 50% 0%, 50% 100%, color-stop(0%, #ab3eb2), color-stop(100%, #752a79)); 238 | background: -webkit-linear-gradient(top, #ab3eb2, #752a79); 239 | background: -moz-linear-gradient(top, #ab3eb2, #752a79); 240 | background: -o-linear-gradient(top, #ab3eb2, #752a79); 241 | background: linear-gradient(top, #ab3eb2, #752a79); 242 | } 243 | 244 | .button-royal:active { 245 | background: #764479; 246 | color: #3e1740; 247 | } 248 | -------------------------------------------------------------------------------- /server-websocket/static/css/main.css: -------------------------------------------------------------------------------- 1 | body{ 2 | margin:0; 3 | padding:0; 4 | } 5 | 6 | h1{ 7 | width:100%; 8 | padding:0; 9 | margin:0; 10 | text-align:center; 11 | } 12 | 13 | .controllerzone{ 14 | width:100%; 15 | height:100%; 16 | background-color:#eee; 17 | float:left; 18 | } 19 | 20 | .joystickzone-left{ 21 | float:left; 22 | position:relative; 23 | left:0px; 24 | top:0px; 25 | width:20%; 26 | height:100%; 27 | background-color:#ccc; 28 | padding:0; 29 | margin:0; 30 | } 31 | 32 | .infozone{ 33 | float:left; 34 | background-color:#eee; 35 | height:100%; 36 | width:60%; 37 | margin:0; 38 | padding:0; 39 | } 40 | 41 | .statuszone{ 42 | float:left; 43 | background-color:#ccc; 44 | height:50%; 45 | width:100%; 46 | margin:0; 47 | padding:0; 48 | } 49 | 50 | 51 | .buttonzone{ 52 | float:left; 53 | background-color:#ddd; 54 | height:50%; 55 | width:100%; 56 | margin:0; 57 | padding:0; 58 | 59 | } 60 | 61 | .joystickzone-right{ 62 | float:right; 63 | position:relative; 64 | left:0px; 65 | top:0px; 66 | width:20%; 67 | height:100%; 68 | background-color:#ccc; 69 | margin:0; 70 | padding:0 71 | } 72 | -------------------------------------------------------------------------------- /server-websocket/static/css/style.css: -------------------------------------------------------------------------------- 1 | body{ 2 | float:left; 3 | width:100%; 4 | height:100%; 5 | margin:0; 6 | padding:0; 7 | overscroll-behavior:contain; 8 | } 9 | 10 | .joystick_zone{ 11 | float:left; 12 | width:20%; 13 | height:100%; 14 | background-color:#000; 15 | opacity:0.5; 16 | margin:0; 17 | padding:0; 18 | } 19 | 20 | .middle_zone{ 21 | float:left; 22 | width:60%; 23 | height:100%; 24 | padding:0; 25 | margin:0; 26 | border-style:none dashed none dashed; 27 | margin-left:0px; 28 | margin-right:0px; 29 | -webkit-box-sizing: border-box; /* box not larger when borders applied */ 30 | } 31 | 32 | 33 | .led_zone{ 34 | float:left; 35 | width:86%; 36 | margin-left:5%; 37 | margin-right:5%; 38 | margin-top:10px; 39 | margin-bottom:-10px; 40 | } 41 | 42 | .button_zone{ 43 | float:left; 44 | width:100%; 45 | height:45%; 46 | margin:0; 47 | padding:0; 48 | vertical-align:middle; 49 | } 50 | 51 | .info_zone{ 52 | float:left; 53 | width:86%; 54 | height:41%; 55 | margin-left:5%; 56 | margin-right:5%; 57 | margin-top:5%; 58 | padding-left:2%; 59 | padding-right:2%; 60 | padding-top:2%; 61 | padding-bottom:2%; 62 | background-color:#eee; 63 | box-shadow: inset 0 0 10px rgba(0,0,0,.5); 64 | font-family:Orbitron; 65 | } 66 | 67 | .led-box { 68 | float: left; 69 | margin:0; 70 | padding:0; 71 | } 72 | 73 | .led-text { 74 | float:left; 75 | line-height:18px; 76 | vertical-align:middle; 77 | margin-left:5px; 78 | font-family:Orbitron; 79 | font-size:10pt; 80 | } 81 | 82 | .led-blue { 83 | float:left; 84 | width: 14px; 85 | height: 14px; 86 | background-color: #24E0FF; 87 | border-radius: 50%; 88 | box-shadow: 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-webkit-tap-highlight-color:transparent; 134 | user-select: none; 135 | } 136 | 137 | 138 | .button{ 139 | background-image: -webkit-linear-gradient(top, #f4f1ee, #fff); 140 | background-image: linear-gradient(top, #f4f1ee, #fff); 141 | border-radius: 50%; 142 | box-shadow: 0px 8px 10px 0px rgba(0, 0, 0, .3), inset 0px 4px 1px 1px white, inset 0px -3px 1px 1px rgba(204,198,197,.5); 143 | float:left; 144 | height: 70px; 145 | margin-left:5%; 146 | margin-right:5%; 147 | margin-top:5%; 148 | position: relative; 149 | width: 70px; 150 | -webkit-transition: all .01s linear; 151 | transition: all .01s linear; 152 | vertical-align:middle; 153 | } 154 | 155 | .button:after{ 156 | color:#e9e6e4; 157 | content: ""; 158 | display: block; 159 | font-size: 30px; 160 | height: 30px; 161 | text-decoration: none; 162 | text-shadow: 0px -1px 1px #bdb5b4, 1px 1px 1px white; 163 | position: absolute; 164 | width: 30px; 165 | } 166 | 167 | 168 | .buttonB:after{ 169 | content: "B"; 170 | left: 24px; 171 | top: 20px; 172 | } 173 | 174 | .flower:after{ 175 | content: "✿"; 176 | left: 23px; 177 | top: 14px; 178 | } 179 | 180 | .buttonA:after{ 181 | content: "A"; 182 | left:24px; 183 | top:20px; 184 | } 185 | 186 | .cross:after{ 187 | content: "✖"; 188 | left: 24px; 189 | top: 15px; 190 | } 191 | 192 | 193 | 194 | 195 | .button:active{ 196 | background-image: -webkit-linear-gradient(top, #efedec, #f7f4f4); 197 | background-image: linear-gradient(top, #efedec, #f7f4f4); 198 | box-shadow: 0 3px 5px 0 rgba(0,0,0,.4), inset 0px -3px 1px 1px rgba(204,198,197,.5); 199 | } 200 | 201 | .button:active:after{ 202 | color:#dbd2d2; 203 | text-shadow: 0px -1px 1px #bdb5b4, 0px 1px 1px white; 204 | } 205 | -------------------------------------------------------------------------------- /server-websocket/static/js/Joystick.js: -------------------------------------------------------------------------------- 1 | var Joystick = function(divname,num, socket, name){ 2 | this.divname = "#"+divname; // so we can use jquery 3 | this.num = num; 4 | this.socket = socket; 5 | this.name = name; 6 | this.radius = 50; 7 | this.sx = -1; 8 | this.sy = -1; 9 | this.offset = $(this.divname).offset(); 10 | 11 | /* create base div */ 12 | $('
').appendTo('body'); 13 | $(this.divname+"_base_"+num).css("width",(this.radius*2)+"px"); 14 | $(this.divname+"_base_"+num).css("height",(this.radius*2)+"px"); 15 | 16 | $('
').appendTo('body'); 17 | console.log("CTOR called for " + divname); 18 | 19 | 20 | /* create listener */ 21 | $(this.divname).bind('touchstart touchmove click', {parentObj:this}, function(evt){ 22 | var parentobj = evt.data.parentObj; 23 | var touch = evt.originalEvent.targetTouches[0]; 24 | var offset = $(parentobj.divname).offset(); 25 | var x = touch.clientX - offset.left; 26 | var y = touch.clientY - offset.top; 27 | 28 | if (!( 29 | touch.clientX <= $(this).offset().left || touch.clientX >= $(this).offset().left + $(this).outerWidth() || 30 | touch.clientY <= $(this).offset().top || touch.clientY >= $(this).offset().top + $(this).outerHeight())){ 31 | if(parentobj.sx == -1){ 32 | parentobj.start(x,y); 33 | }else{ 34 | parentobj.handle(x,y); 35 | } 36 | 37 | /* send data via websocket */ 38 | var data = {} 39 | data[parentobj.name] = [(x-parentobj.sx)/parentobj.radius, (y-parentobj.sy)/parentobj.radius]; 40 | parentobj.socket.emit('control', {data:data}); 41 | } 42 | evt.preventDefault(); 43 | }); 44 | 45 | $(this.divname).bind('touchend', {parentObj:this}, function(evt){ 46 | var parentobj = evt.data.parentObj; 47 | parentobj.sx = -1; 48 | parentobj.sy = -1; 49 | $('#output'+parentobj.num).html("joystick end"); 50 | $(parentobj.divname+"_overlay_"+parentobj.num).css("display","none"); 51 | $(parentobj.divname+"_base_"+parentobj.num).css("display","none"); 52 | 53 | /* send data via websocket */ 54 | var data = {} 55 | data[parentobj.name] = [0.0,0.0]; 56 | parentobj.socket.emit('control', {data:data}); 57 | 58 | evt.preventDefault(); 59 | }); 60 | } 61 | 62 | Joystick.prototype.start = function(sx,sy){ 63 | this.sx = sx; 64 | this.sy = sy; 65 | 66 | $(this.divname+'_overlay_'+this.num).css("display","block"); 67 | $(this.divname+'_overlay_'+this.num).css("top", (this.sy-25+this.offset.left)+"px"); 68 | $(this.divname+'_overlay_'+this.num).css("left" ,(this.sx-25+this.offset.top)+"px"); 69 | 70 | $(this.divname+'_base_'+this.num).css("display","block"); 71 | $(this.divname+'_base_'+this.num).css("top", (this.sy-this.radius+this.offset.top)+"px"); 72 | $(this.divname+'_base_'+this.num).css("left" ,(this.sx-this.radius+this.offset.left)+"px"); 73 | } 74 | 75 | Joystick.prototype.handle = function(x,y){ 76 | // calculate relative coordinates to starting point 77 | if(Math.sqrt(Math.pow(x-this.sx,2)+Math.pow(y-this.sy, 2)) < this.radius){ 78 | $('#output'+this.num).html("joystick move:"+ ((x-this.sx)/this.radius).toFixed(1) + ":" + ((y-this.sy)/this.radius).toFixed(1)); 79 | 80 | $(this.divname+'_overlay_'+this.num).css("top", (y-25+this.offset.top)+"px"); 81 | $(this.divname+'_overlay_'+this.num).css("left" ,(x-25+this.offset.left)+"px"); 82 | } 83 | } 84 | 85 | -------------------------------------------------------------------------------- /server-websocket/static/js/jquery-3.3.1.min.js: -------------------------------------------------------------------------------- 1 | /*! 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12 | 13 |
14 |
15 |
16 |
Not Connected
17 |
18 |
19 |
20 |

-=<| robotcontrol v1.0 |>=-

21 |
Joystick left
22 |
Joystick right
23 |
Buttons
24 |
25 | 26 |
27 | 28 | 29 |
30 |
31 | 32 |
33 | 34 | 78 | 79 | 80 | 81 | --------------------------------------------------------------------------------