Cleanup helper scripts. Closes #7

scripts/dump_git.js

@@ -0,0 +1,10 @@
+const fs = require('fs');
+const { execSync } = require('child_process');
+
+try {
+  const output = execSync('git log -p -3 src/main.cpp', { cwd: 'm:/Nextcloud/IoT/esp32s3-wiji' });
+  fs.writeFileSync('m:/Nextcloud/IoT/esp32s3-wiji/git_history.txt', output);
+  console.log('Success');
+} catch (e) {
+  console.log('Error', e.message);
+}

scripts/generate_bg.py

@@ -0,0 +1,54 @@
+import json
+import os
+
+svg_lines = [
+    '<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 300 175">',
+    '  <!-- Background -->',
+    '  <rect width="300" height="175" fill="#fdf6e3"/>',
+    '  <!-- Decoration on left -->',
+    '  <circle cx="75" cy="87.5" r="60" fill="none" stroke="#eee8d5" stroke-width="4" stroke-dasharray="10,5"/>',
+    '  <circle cx="75" cy="87.5" r="40" fill="none" stroke="#eee8d5" stroke-width="2" />',
+    '  <text x="75" y="87.5" fill="#93a1a1" font-family="sans-serif" font-size="12" text-anchor="middle" font-weight="bold">MECHANISM</text>',
+    '  <text x="75" y="102.5" fill="#93a1a1" font-family="sans-serif" font-size="10" text-anchor="middle">CLEARANCE</text>',
+]
+
+# X from 150 to 300
+for row in range(9):
+    y_base = 25 + row * 16
+    svg_lines.append(f'  <line x1="155" y1="{y_base}" x2="295" y2="{y_base}" stroke="#e0e0e0" stroke-width="1"/>')
+    svg_lines.append(f'  <line x1="155" y1="{y_base-5}" x2="295" y2="{y_base-5}" stroke="#e0e0e0" stroke-width="0.5" stroke-dasharray="2,2"/>')
+    svg_lines.append(f'  <line x1="155" y1="{y_base-10}" x2="295" y2="{y_base-10}" stroke="#e0e0e0" stroke-width="1"/>')
+
+spots = []
+alphabet = "ABCDEFGHIJKLMNOPQRSTUVWXYZ"
+
+for i, letter in enumerate(alphabet):
+    col = i % 3
+    row = i // 3
+    
+    svg_x = 175 + col * 50
+    svg_y = 25 + row * 16
+    
+    phys_x = svg_x - 150
+    phys_y = 145 - svg_y
+    
+    spots.append({
+        "id": letter,
+        "label": f"{letter.upper()}{letter.lower()}",
+        "x": phys_x,
+        "y": phys_y
+    })
+    
+    text_str = f'  <text x="{svg_x}" y="{svg_y}" fill="#268bd2" font-family="cursive, \'Comic Sans MS\', sans-serif" font-size="14" font-style="italic" text-anchor="middle">{letter.upper()}{letter.lower()}</text>'
+    svg_lines.append(text_str)
+
+svg_lines.append('</svg>')
+
+with open('web/assets/backgrounds/portrait-right/bg.svg', 'w') as f:
+    f.write('\n'.join(svg_lines))
+    
+with open('web/assets/backgrounds/portrait-right/spots.json', 'w') as f:
+    json.dump({
+        "bounds": { "xMin": -150, "xMax": 150, "yMin": -30, "yMax": 145 },
+        "spots": spots
+    }, f, indent=2)

scripts/get_git.js

@@ -0,0 +1,7 @@
+const { execSync } = require('child_process');
+const fs = require('fs');
+
+try {
+  const log = execSync('git log -p -n 10 src/main.cpp', { encoding: 'utf8' });
+  fs.writeFileSync('git_log.txt', log);
+} catch(e) {}

scripts/test_angles.js

@@ -0,0 +1,20 @@
+const d2 = 12.9, l1 = 85.0, l2 = 110.0;
+for(let t1=0; t1<360; t1++){
+  for(let t2=0; t2<360; t2++){
+    let th1 = t1 * Math.PI/180; let th2 = t2 * Math.PI/180;
+    let e1x = -d2 + l1*Math.cos(th1); let e1y = l1*Math.sin(th1);
+    let e2x = d2 + l1*Math.cos(th2); let e2y = l1*Math.sin(th2);
+    let dx = e2x - e1x; let dy = e2y - e1y;
+    let dist = Math.sqrt(dx*dx + dy*dy);
+    if(dist < 1e-6 || dist > 2*l2) continue;
+    let a = dist/2; let h = Math.sqrt(Math.max(0, l2*l2 - a*a));
+    let mx = (e1x+e2x)/2; let my = (e1y+e2y)/2;
+    let px1 = mx + h*(dy/dist); let py1 = my + h*(-dx/dist);
+    let px2 = mx - h*(dy/dist); let py2 = my - h*(-dx/dist);
+    let useFirst = py1 >= py2;
+    let ex = useFirst ? px1 : px2; let ey = useFirst ? py1 : py2;
+    if(Math.abs(ex - 114.4) < 1.0 && Math.abs(ey - 112.7) < 1.0){
+      console.log('Match: t1=' + t1 + ' t2=' + t2 + ' -> ' + ex.toFixed(1) + ', ' + ey.toFixed(1));
+    }
+  }
+}

scripts/test_angles.py

@@ -0,0 +1,48 @@
+import math
+
+d2 = 12.9
+l1 = 85.0
+l2 = 110.0
+
+for t1 in range(360):
+    for t2 in range(360):
+        th1 = math.radians(t1)
+        th2 = math.radians(t2)
+        
+        e1x = -d2 + l1 * math.cos(th1)
+        e1y = l1 * math.sin(th1)
+        
+        e2x = d2 + l1 * math.cos(th2)
+        e2y = l1 * math.sin(th2)
+        
+        dx = e2x - e1x
+        dy = e2y - e1y
+        dist = math.sqrt(dx*dx + dy*dy)
+        
+        if dist < 1e-6 or dist > 2*l2:
+            continue
+            
+        a = dist / 2
+        h2 = l2*l2 - a*a
+        if h2 < 0:
+            h2 = 0
+        h = math.sqrt(h2)
+        
+        mx = (e1x + e2x) / 2
+        my = (e1y + e2y) / 2
+        
+        px1 = mx + h * (dy / dist)
+        py1 = my + h * (-dx / dist)
+        
+        px2 = mx - h * (dy / dist)
+        py2 = my - h * (-dx / dist)
+        
+        if py1 >= py2:
+            ex = px1
+            ey = py1
+        else:
+            ex = px2
+            ey = py2
+            
+        if abs(ex - 114.4) < 1.0 and abs(ey - 112.7) < 1.0:
+            print(f"Match: t1={t1} t2={t2} -> {ex:.1f}, {ey:.1f}")

scripts/test_ble.py

@@ -0,0 +1,55 @@
+import asyncio
+import sys
+try:
+    from bleak import BleakScanner, BleakClient
+except ImportError:
+    print("Please install bleak first: pip install bleak")
+    sys.exit(1)
+
+DEVICE_NAME = "WijiBoard"
+SERVICE_UUID = "18f3b235-9831-4c75-8ec0-210469b820a0"
+CMD_UUID = "cd083b06-4447-4cf3-a7c3-322ecf802ce4"
+STATUS_UUID = "82e38c5b-d3ab-41d1-861c-b84dc6bb1e03"
+
+async def main():
+    print(f"Scanning for {DEVICE_NAME}...")
+    devices = await BleakScanner.discover(timeout=5.0)
+    
+    target_device = None
+    for d in devices:
+        if d.name == DEVICE_NAME:
+            target_device = d
+            break
+            
+    if not target_device:
+        print(f"Could not find {DEVICE_NAME}. Make sure it is powered on and advertising.")
+        return
+
+    print(f"Found {DEVICE_NAME} at {target_device.address}. Connecting...")
+    
+    async with BleakClient(target_device.address) as client:
+        print(f"Connected: {client.is_connected}")
+        
+        # Setup notifications
+        def notification_handler(sender, data):
+            print(f"[STATUS UPDATE] {data.decode('utf-8')}")
+            
+        print("Subscribing to status characteristic...")
+        try:
+            await client.start_notify(STATUS_UUID, notification_handler)
+            print("Successfully subscribed!")
+        except Exception as e:
+            print(f"Failed to subscribe: {e}")
+            
+        # Send a test command
+        test_cmd = "S1+100"
+        print(f"Sending test command: '{test_cmd}'...")
+        await client.write_gatt_char(CMD_UUID, test_cmd.encode('utf-8'), response=False)
+        
+        print("Waiting 5 seconds to receive any status updates...")
+        await asyncio.sleep(5.0)
+        
+        print("Disconnecting...")
+
+if __name__ == "__main__":
+    asyncio.run(main())

scripts/test_homing_math.py

@@ -0,0 +1,41 @@
+import math
+
+d2 = 12.9
+l1 = 85.0
+l2 = 110.0
+
+t1_deg = 474 / 2048.0 * 360.0
+t2_deg = 530 / 2048.0 * 360.0
+
+th1 = math.radians(t1_deg)
+th2 = math.radians(t2_deg)
+
+e1x = -d2 + l1 * math.cos(th1)
+e1y = l1 * math.sin(th1)
+
+e2x = d2 + l1 * math.cos(th2)
+e2y = l1 * math.sin(th2)
+
+dx = e2x - e1x
+dy = e2y - e1y
+dist = math.sqrt(dx*dx + dy*dy)
+
+a = dist / 2
+h = math.sqrt(l2*l2 - a*a)
+
+mx = (e1x + e2x) / 2
+my = (e1y + e2y) / 2
+
+px1 = mx + h * (dy / dist)
+py1 = my + h * (-dx / dist)
+
+px2 = mx - h * (dy / dist)
+py2 = my - h * (-dx / dist)
+
+ex = px1 if py1 >= py2 else px2
+ey = py1 if py1 >= py2 else py2
+
+with open("output.txt", "w") as f:
+    f.write(f"End Effector: {ex:.1f}, {ey:.1f}\n")
+    f.write(f"Elbow 1: {e1x:.1f}, {e1y:.1f}\n")
+    f.write(f"Elbow 2: {e2x:.1f}, {e2y:.1f}\n")

scripts/test_math.js

@@ -0,0 +1,39 @@
+const ARM = { d2: 12.9, l1: 85.0, l2: 110.0, STEPS_PER_REV: 2048 };
+const HOME_STEPS = { m1: 1024, m2: 0 };
+
+function solve(x, y) {
+  const { d2, l1, l2 } = ARM;
+  const xpd = x + d2;
+  const t = Math.sqrt(xpd * xpd + y * y);
+  const cosW2 = (l2 * l2 - t * t - l1 * l1) / (-2 * l1 * t);
+  const r = Math.atan2(y, xpd);
+  const w2 = Math.acos(cosW2);
+  const theta1 = r + w2;
+
+  const xmd = x - d2;
+  const s = Math.sqrt(xmd * xmd + y * y);
+  const cosW1 = (l2 * l2 - s * s - l1 * l1) / (-2 * l1 * s);
+  const q = Math.atan2(y, xmd);
+  const w1 = Math.acos(cosW1);
+  const theta2 = q - w1;
+  return { theta1, theta2 };
+}
+
+function radToSteps(rad) { return Math.round((rad / (2 * Math.PI)) * ARM.STEPS_PER_REV); }
+
+const targetX = 115, targetY = 113;
+const { theta1, theta2 } = solve(targetX, targetY);
+console.log(`Target: (${targetX}, ${targetY})`);
+console.log(`theta1: ${theta1 * 180 / Math.PI} deg`);
+console.log(`theta2: ${theta2 * 180 / Math.PI} deg`);
+
+const newSteps1 = radToSteps(theta1);
+const newSteps2 = radToSteps(theta2);
+console.log(`newSteps1: ${newSteps1}`);
+console.log(`newSteps2: ${newSteps2}`);
+
+console.log(`delta1 from HOME_STEPS.m1 (1024): ${newSteps1 - HOME_STEPS.m1}`);
+console.log(`delta2 from HOME_STEPS.m2 (0): ${newSteps2 - HOME_STEPS.m2}`);
+
+const delta1_old = newSteps1 - (-1024);
+console.log(`delta1 from OLD_HOME_STEPS.m1 (-1024): ${delta1_old}`);

scripts/test_render.js

@@ -0,0 +1,47 @@
+const fs = require('fs');
+
+const d2 = 12.9;
+const l1 = 85;
+const l2 = 110;
+
+function stepsToRad(steps) {
+  return (steps / 2048) * 2 * Math.PI;
+}
+
+function render(steps1, steps2) {
+  const t1 = stepsToRad(steps1);
+  const t2 = stepsToRad(steps2);
+
+  const e1x = -d2 + l1 * Math.cos(t1);
+  const e1y = l1 * Math.sin(t1);
+
+  const e2x = d2 + l1 * Math.cos(t2);
+  const e2y = l1 * Math.sin(t2);
+
+  const dx = e2x - e1x;
+  const dy = e2y - e1y;
+  const dist = Math.sqrt(dx*dx + dy*dy);
+
+  let endX = 0, endY = 0;
+  if (dist <= 2*l2 && dist >= 1e-6) {
+    const a = dist / 2;
+    const h = Math.sqrt(l2*l2 - a*a);
+    const mx = (e1x + e2x) / 2;
+    const my = (e1y + e2y) / 2;
+    const px1 = mx + h * (dy / dist);
+    const py1 = my + h * (-dx / dist);
+    const px2 = mx - h * (dy / dist);
+    const py2 = my - h * (-dx / dist);
+    if (py1 >= py2) { endX = px1; endY = py1; }
+    else { endX = px2; endY = py2; }
+  }
+
+  console.log(`steps1=${steps1}, steps2=${steps2}`);
+  console.log(`t1=${(t1*180/Math.PI).toFixed(1)}°, t2=${(t2*180/Math.PI).toFixed(1)}°`);
+  console.log(`e1=(${e1x.toFixed(1)}, ${e1y.toFixed(1)})`);
+  console.log(`e2=(${e2x.toFixed(1)}, ${e2y.toFixed(1)})`);
+  console.log(`end=(${endX.toFixed(1)}, ${endY.toFixed(1)})`);
+}
+
+render(854, 41);
+render(-41, 967);