osiu97/ESP32-WijiBoard
1
0
Fork 0
Code Issues 10 Pull Requests Packages Projects Releases Wiki Activity

fix kinematics - maybe?

Browse Source
This commit is contained in:
PROFERIS - Mi³osz Stocki
2026-07-08 11:55:09 +02:00
parent 1fe1b9fd0b
commit f898883ff2
3 changed files with 85 additions and 86 deletions
Download Patch File Download Diff File Expand all files Collapse all files
web/js/sections/stepper-test.js
+18 -18
View File
@@ -4,8 +4,8 @@
*
* 5-bar parallel linkage visualiser + IK-based click-to-move.
*
* Mechanism geometry (from PositionControl.cpp):
* Motor 1 at (+12.9, 0) mm Motor 2 at (-12.9, 0) mm ← NOTE: M1 is on the RIGHT
* Mechanism geometry (corrected from PositionControl.cpp bug):
* Motor 1 at (-12.9, 0) mm Motor 2 at (+12.9, 0) mm ← NOTE: M1 is on the LEFT
* Proximal links: l1 = 85 mm Distal links: l2 = 110 mm
*
* IK flow: click XY → IK.solve(x,y) → {θ1, θ2} → steps → BLE
@@ -93,9 +93,9 @@ function setCircle(el, cx, cy) {
function renderArm(theta1, theta2, isGhost = false) {
const { elbow1: e1, elbow2: e2, endX, endY } = IK.forward(theta1, theta2);
// Motor base SVG positions — M1 at +d2, M2 at -d2 (PositionControl.cpp convention)
const motor1sx = SV.wx(+IK.ARM.d2); const motor1sy = SV.wy(0);
const motor2sx = SV.wx(-IK.ARM.d2); const motor2sy = SV.wy(0);
// Motor base SVG positions — M1 at -d2, M2 at +d2 (hardware convention)
const motor1sx = SV.wx(-IK.ARM.d2); const motor1sy = SV.wy(0);
const motor2sx = SV.wx(+IK.ARM.d2); const motor2sy = SV.wy(0);
const elbow1sx = SV.wx(e1.x); const elbow1sy = SV.wy(e1.y);
const elbow2sx = SV.wx(e2.x); const elbow2sy = SV.wy(e2.y);
const endsx = SV.wx(endX); const endsy = SV.wy(endY);
@@ -275,9 +275,9 @@ function buildZones() {
const ew = L.BOX_HALF_W * 2 * SV.SCALE;
const eh = (L.BOX_Y_MAX - L.BOX_Y_MIN) * SV.SCALE;
// Motor positions — M1 at +d2, M2 at -d2
const m1x = SV.wx(+IK.ARM.d2);
const m2x = SV.wx(-IK.ARM.d2);
// Motor positions — M1 at -d2, M2 at +d2
const m1x = SV.wx(-IK.ARM.d2);
const m2x = SV.wx(+IK.ARM.d2);
const my = SV.wy(0);
// Scale ruler
@@ -432,31 +432,31 @@ function buildHTML() {
font-family="monospace" style="display:none"/>
<!-- ── Real arm ──────────────────────────────────── -->
<!-- Arm 1: proximal + distal (M1 at +d2) -->
<!-- Arm 1: proximal + distal (M1 at -d2) -->
<line id="arm1-prox"
x1="${SV.wx(+IK.ARM.d2)}" y1="${SV.wy(0)}"
x2="${SV.wx(+IK.ARM.d2)}" y2="${SV.wy(IK.ARM.l1)}"
x1="${SV.wx(-IK.ARM.d2)}" y1="${SV.wy(0)}"
x2="${SV.wx(-IK.ARM.d2)}" y2="${SV.wy(IK.ARM.l1)}"
stroke="#448aff" stroke-width="5" stroke-linecap="round"/>
<line id="arm1-dist"
x1="${SV.wx(+IK.ARM.d2)}" y1="${SV.wy(IK.ARM.l1)}"
x1="${SV.wx(-IK.ARM.d2)}" y1="${SV.wy(IK.ARM.l1)}"
x2="${SV.wx(0)}" y2="${SV.wy(IK.ARM.l1 + IK.ARM.l2)}"
stroke="#7eb8f7" stroke-width="3.5" stroke-linecap="round" stroke-dasharray="6 3"/>
<!-- Arm 2: proximal + distal (M2 at -d2) -->
<!-- Arm 2: proximal + distal (M2 at +d2) -->
<line id="arm2-prox"
x1="${SV.wx(-IK.ARM.d2)}" y1="${SV.wy(0)}"
x2="${SV.wx(-IK.ARM.d2)}" y2="${SV.wy(IK.ARM.l1)}"
x1="${SV.wx(+IK.ARM.d2)}" y1="${SV.wy(0)}"
x2="${SV.wx(+IK.ARM.d2)}" y2="${SV.wy(IK.ARM.l1)}"
stroke="#f7a03c" stroke-width="5" stroke-linecap="round"/>
<line id="arm2-dist"
x1="${SV.wx(-IK.ARM.d2)}" y1="${SV.wy(IK.ARM.l1)}"
x1="${SV.wx(+IK.ARM.d2)}" y1="${SV.wy(IK.ARM.l1)}"
x2="${SV.wx(0)}" y2="${SV.wy(IK.ARM.l1 + IK.ARM.l2)}"
stroke="#ffd08a" stroke-width="3.5" stroke-linecap="round" stroke-dasharray="6 3"/>
<!-- Elbow joints -->
<circle id="elbow1" r="5" fill="#a0c4ff" stroke="#0a0e18" stroke-width="1.5"
cx="${SV.wx(+IK.ARM.d2)}" cy="${SV.wy(IK.ARM.l1)}"/>
<circle id="elbow2" r="5" fill="#ffd08a" stroke="#0a0e18" stroke-width="1.5"
cx="${SV.wx(-IK.ARM.d2)}" cy="${SV.wy(IK.ARM.l1)}"/>
<circle id="elbow2" r="5" fill="#ffd08a" stroke="#0a0e18" stroke-width="1.5"
cx="${SV.wx(+IK.ARM.d2)}" cy="${SV.wy(IK.ARM.l1)}"/>
<!-- End effector -->
<circle id="end-eff" r="7"