DemoBotControl/EDAY.html at master · UKyKORA/DemoBotControl · GitHub

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<!DOCTYPE html>
<html>
<head>
<meta name="viewport" content="width=device-width, initial-scale=1.0, maximum-scale=1.0, user-scalable=no" />
<style>

h1 {
text-align:center;
padding-bottom: 2cm;
}

h2 {
text-align:center;
}

.slidecontainer {
  width: 100%;
}

.slider {
  -webkit-appearance: none;
  width: 95%;
  height: 15px;
  border-radius: 5px;
  background: #d3d3d3;
  outline: none;
  opacity: 0.7;
  -webkit-transition: .2s;
  transition: opacity .2s;
-ms-touch-action: none;
touch-action: none;
}

.slider:hover {
  opacity: 1;
}

.slider::-webkit-slider-thumb {
  -webkit-appearance: none;
  appearance: none;
  width: 25px;
  height: 25px;
  border-radius: 50%;
  background: #4CAF50;
  cursor: pointer;
}

.slider::-moz-range-thumb {
  width: 25px;
  height: 25px;
  border-radius: 50%;
  background: #4CAF50;
  cursor: pointer;
}

.button {
  background-color: #4CAF50;
  border: none;
  color: white;
  padding: 15px 32px;
  text-align: center;
  text-decoration: none;
  display: inline-block;
  font-size: 16px;
  margin: 0 auto;
  cursor: pointer;
}

.button2 {background-color: #f44336;} /* Red */
.button3 {background-color: #f4bf42;} /* Yellow */

</style>
</head>
<body>

<img src="KATS.png" alt="KATS Logo" style="float:left;width:100px;height:100px;">
<img src="NASAKY.png" alt="NASA KY Logo" style="float:right;height:100px;">


<h1>Kentucky AstroRobotics Terrain Systems (KATS)</h1>

<p></p>

<div align="center">
	<h2>Motor 1</h2>
		<div class="slidecontainer">
			<input type="range" min="-255" max="255" value="0" class="slider" id="PWM1">
			<p>Value: <span id="demo1"></span></p>
		</div>


	<h2>Motor 2</h2>

	<div class="slidecontainer">
		<input type="range" min="-255" max="255" value="0" class="slider" id="PWM2">
		<p>Value: <span id="demo2"></span></p>
	</div>

	<h2>Motor 3</h2>

	<div class="slidecontainer">
		<input type="range" min="-255" max="255" value="0" class="slider" id="PWM3">
		<p>Value: <span id="demo3"></span></p>
	</div>

	<h2>Motor 4</h2>

	<div class="slidecontainer">
		<input type="range" min="-255" max="255" value="0" class="slider" id="PWM4">
		<p>Value: <span id="demo4"></span></p>
	</div>
</div>


<button class="button" type="button" onclick="connect()">Connect</button>
<button class="button button2" type="button" onclick="disconnect()">Disconnect</button>
<button class="button button3" type="button" id="stopButton" onclick="stopMotors()">Stop Motors</button>


<script>
var slider1 = document.getElementById("PWM1");
var output1 = document.getElementById("demo1");
var slider2 = document.getElementById("PWM2");
var output2 = document.getElementById("demo2");
var slider3 = document.getElementById("PWM3");
var output3 = document.getElementById("demo3");
var slider4 = document.getElementById("PWM4");
var output4 = document.getElementById("demo4");
var stopBut = document.getElementById("stopButton");


var ws = null;
/* var url = "ws://localhost:1234"; */
/* var url = "wss://echo.websocket.org/"; /*this is an echo server, replace with real server later */
/* var ws = new WebSocket(url); */

output1.innerHTML = slider1.value;
output2.innerHTML = slider2.value;
output3.innerHTML = slider3.value;
output4.innerHTML = slider4.value;

/* ws.onmessage = function(evt) { onMessage(evt) }; */

// wait at least 200 ms between websocket sends per motor
var sendDelay = 1000;
var sendCount = 0;
// store last websocket send time per motor
var lastSend = Array(4).fill(0);

function sliderChange(i, e) {
	if( sendCount++ % 10 != 0 && i != -1){
		return;
	}

	if( i==-1 ) i=0;

	var mVals = Array(4);
	mVals[0] = output1.innerHTML;
	mVals[1] = output2.innerHTML;
	mVals[2] = output3.innerHTML;
	mVals[3] = output4.innerHTML;

	var sendString = "M";
	for( var j=0;j<4;j++ ){
		sendString += ((mVals[j] < 0) ? "0" : "1") + String(Math.abs(Number(mVals[j]))).padStart(3,'0');
	}
	sendString +='\n';

	console.log(sendString);

	if( ws ){
		ws.send(sendString);
	}
}

slider1.oninput = function(e) {
  output1.innerHTML = this.value;
  sliderChange(1,e);
}

slider2.oninput = function(e) {
  output2.innerHTML = this.value;
  sliderChange(2,e);
}

slider3.oninput = function(e) {
  output3.innerHTML = this.value;
  sliderChange(3,e);
}

slider4.oninput = function(e) {
  output4.innerHTML = this.value;
  sliderChange(4,e);
}

stopBut.onclick = function(e) {
	slider1.value = 0;
	slider2.value = 0;
	slider3.value = 0;
	slider4.value = 0;
	output1.innerHTML = 0;
	output2.innerHTML = 0;
	output3.innerHTML = 0;
	output4.innerHTML = 0;

	sliderChange(-1,e);
}

function onMessage(evt)
{
	alert(evt.data);
}

  function connect() {
  console.log("connecting");
  if ("WebSocket" in window) {
  var socketURL = location.origin.replace(/^http/, 'ws') + ':1234';

               // Let us open a web socket
               ws = new WebSocket(socketURL);
				//ws = new WebSocket(url);

               ws.onopen = function() {
				console.log("opened websocket");
                  // Web Socket is connected, send data using send()
                  ws.send("publish motors");
               };

               ws.onmessage = function (evt) {
                  var received_msg = evt.data;
                  console.log(received_msg);
               };

               ws.onclose = function() {

                  // websocket is closed.
                 console.log("websocket connection closed!!");
               };
            } else {

               // The browser doesn't support WebSocket
               alert("WebSocket NOT supported by your Browser!");
            }
  }


  function disconnect() {
    ws.close();
    console.log("user inititated disconnection");
  }
</script>

</body>
</html>