From 46519cfe19f36cddcca510a43e7daec42f11b735 Mon Sep 17 00:00:00 2001
From: jc4419 <60656643+jc4419@users.noreply.github.com>
Date: Mon, 14 Jun 2021 20:37:05 +0400
Subject: [PATCH] Alpha stage commit. Console done. Console Changes: changed
 the name of the tokens so that more helpful error messages. Added help text.
 Moved command.jison to src. Other Changes: Added more telemetry data about
 battery and rover status. Finished gui commands, replaced to sliders from
 buttons and linked them to command console.

---
 Control/data/command.js   |  95 ++++-----
 Control/data/index.html   | 393 +++++++++++++++++++++++++++-----------
 Control/lib/command.jison |  87 ---------
 Control/src/command.jison |  59 ++++++
 4 files changed, 372 insertions(+), 262 deletions(-)
 delete mode 100644 Control/lib/command.jison
 create mode 100644 Control/src/command.jison

diff --git a/Control/data/command.js b/Control/data/command.js
index 76df3fe..091ecc2 100644
--- a/Control/data/command.js
+++ b/Control/data/command.js
@@ -75,9 +75,9 @@ var command = (function(){
 var o=function(k,v,o,l){for(o=o||{},l=k.length;l--;o[k[l]]=v);return o};
 var parser = {trace: function trace () { },
 yy: {},
-symbols_: {"error":2,"command":3,"expr":4,"EOF":5,"MOVE":6,"WHITESPACE":7,"DIST":8,"HEADING":9,"PERCENTAGE":10,"STOP":11,"PSTOP":12,"CHARGETO":13,"TELERST":14,"$accept":0,"$end":1},
-terminals_: {2:"error",5:"EOF",6:"MOVE",7:"WHITESPACE",8:"DIST",9:"HEADING",10:"PERCENTAGE",11:"STOP",12:"PSTOP",13:"CHARGETO",14:"TELERST"},
-productions_: [0,[3,2],[4,7],[4,1],[4,1],[4,3],[4,1]],
+symbols_: {"error":2,"command":3,"expr":4,"EOF":5,"move":6,"whitespace":7,"distance":8,"heading_angle":9,"percentage":10,"stop":11,"pstop":12,"stop_duration":13,"charge_to":14,"telemetry_reset":15,"help":16,"$accept":0,"$end":1},
+terminals_: {2:"error",5:"EOF",6:"move",7:"whitespace",8:"distance",9:"heading_angle",10:"percentage",11:"stop",12:"pstop",13:"stop_duration",14:"charge_to",15:"telemetry_reset",16:"help"},
+productions_: [0,[3,2],[4,7],[4,1],[4,3],[4,3],[4,1],[4,1]],
 performAction: function anonymous(yytext, yyleng, yylineno, yy, yystate /* action[1] */, $$ /* vstack */, _$ /* lstack */) {
 /* this == yyval */
 
@@ -85,72 +85,43 @@ var $0 = $$.length - 1;
 switch (yystate) {
 case 2:
    
-            var inDist = String($$[$0-4]).substr(0, ((String($$[$0-4]).length) - 2));
-            var inHdg = String($$[$0-2]).substr(0, ((String($$[$0-2]).length) - 3));
-            var inSpd = String($$[$0]).substr(0, ((String($$[$0]).length) - 1));
-            mode = 1;
-            reqDistance = Number(inDist);
-            reqHeading = Number(inHdg);
-            reqSpeed = Number(inSpd);
-            reqCharge = 0;
-            send_data();
-            updateCommandBuffer();
-            command_id++;
+            var inDist = Number(String($$[$0-4]).substr(0, ((String($$[$0-4]).length) - 2)));
+            var inHdg = Number(String($$[$0-2]).substr(0, ((String($$[$0-2]).length) - 3)));
+            var inSpd = Number(String($$[$0]).substr(0, ((String($$[$0]).length) - 1)));
+            moveCmd(inDist,inHdg,inSpd);
         
 break;
 case 3:
 
-            mode = 0;
-            reqDistance = 0;
-            reqHeading = 0;
-            reqSpeed = 0;
-            reqCharge = 0;
-            send_data();
-            command_id = 0;
-            updateCommandBuffer()
+            stpCmd();
         
 break;
 case 4:
 
-            mode = 1;
-            reqDistance = 0;
-            reqHeading = 0;
-            reqSpeed = 0;
-            reqCharge = 0;
-            send_data();
-            updateCommandBuffer();
-            command_id++;
+            var inStpDur = Number(String($$[$0]).substr(0, ((String($$[$0]).length) - 1)));
+            pstpCmd(inStpDur);
         
 break;
 case 5:
 
-            mode = 1;
-            reqDistance = 0;
-            reqHeading = 0;
-            reqSpeed = 0;
-
-            var inChrg = String($$[$0]).substr(0, ((String($$[$0]).length) - 1));
-            reqCharge = Number(inChrg);
-
-            send_data();
-            updateCommandBuffer();
-            command_id++;
+            var inChrg = Number(String($$[$0]).substr(0, ((String($$[$0]).length) - 1)));
+            chrgCmd(inChrg);
         
 break;
 case 6:
-mode = 1;
-            reqDistance = 0;
-            reqHeading = 0;
-            reqSpeed = 0;
-            reqCharge = 0;
-            send_data();
-            updateCommandBuffer();
-            command_id++;
+   
+            telRst();
+        
+break;
+case 7:
+
+            printHelpDetails();
+        
 break;
 }
 },
-table: [{3:1,4:2,6:[1,3],11:[1,4],12:[1,5],13:[1,6],14:[1,7]},{1:[3]},{5:[1,8]},{7:[1,9]},{5:[2,3]},{5:[2,4]},{7:[1,10]},{5:[2,6]},{1:[2,1]},{8:[1,11]},{10:[1,12]},{7:[1,13]},{5:[2,5]},{9:[1,14]},{7:[1,15]},{10:[1,16]},{5:[2,2]}],
-defaultActions: {4:[2,3],5:[2,4],7:[2,6],8:[2,1],12:[2,5],16:[2,2]},
+table: [{3:1,4:2,6:[1,3],11:[1,4],12:[1,5],14:[1,6],15:[1,7],16:[1,8]},{1:[3]},{5:[1,9]},{7:[1,10]},{5:[2,3]},{7:[1,11]},{7:[1,12]},{5:[2,6]},{5:[2,7]},{1:[2,1]},{8:[1,13]},{13:[1,14]},{10:[1,15]},{7:[1,16]},{5:[2,4]},{5:[2,5]},{9:[1,17]},{7:[1,18]},{10:[1,19]},{5:[2,2]}],
+defaultActions: {4:[2,3],7:[2,6],8:[2,7],9:[2,1],14:[2,4],15:[2,5],19:[2,2]},
 parseError: function parseError (str, hash) {
     if (hash.recoverable) {
         this.trace(str);
@@ -633,24 +604,28 @@ case 2:return 9
 break;
 case 3:return 10
 break;
-case 4:return 6
+case 4:return 13
 break;
-case 5:return 12
+case 5:return 6
 break;
-case 6:return 11
+case 6:return 12
 break;
-case 7:return 13
+case 7:return 11
 break;
-case 8:return 14
+case 8:return 16
 break;
-case 9:return 5
+case 9:return 14
 break;
-case 10:return 'INVALID'
+case 10:return 15
+break;
+case 11:return 5
+break;
+case 12:return 'invalid_command'
 break;
 }
 },
-rules: [/^(?:\s)/,/^(?:\b[0-9]+mm\b)/,/^(?:\b([0-9]|[1-8][0-9]|9[0-9]|[12][0-9]{2}|3[0-4][0-9]|35[0-9])deg\b)/,/^(?:\b([0-9]|[1-8][0-9]|9[0-9]|100)%)/,/^(?:\bmove\b)/,/^(?:\bpstop\b)/,/^(?:\bstop\b)/,/^(?:\bcharge\sto\b)/,/^(?:\btelemetry\sreset\b)/,/^(?:$)/,/^(?:.)/],
-conditions: {"INITIAL":{"rules":[0,1,2,3,4,5,6,7,8,9,10],"inclusive":true}}
+rules: [/^(?:\s)/,/^(?:\b[0-9]+mm\b)/,/^(?:\b([0-9]|[1-8][0-9]|9[0-9]|[12][0-9]{2}|3[0-4][0-9]|35[0-9])deg\b)/,/^(?:\b([0-9]|[1-8][0-9]|9[0-9]|100)%)/,/^(?:\b[0-9]+s\b)/,/^(?:\bmove\b)/,/^(?:\bpstop\b)/,/^(?:\bstop\b)/,/^(?:\bhelp\b)/,/^(?:\bcharge\sto\b)/,/^(?:\btelemetry\sreset\b)/,/^(?:$)/,/^(?:.)/],
+conditions: {"INITIAL":{"rules":[0,1,2,3,4,5,6,7,8,9,10,11,12],"inclusive":true}}
 });
 return lexer;
 })();
diff --git a/Control/data/index.html b/Control/data/index.html
index 998e6f2..f83a83c 100644
--- a/Control/data/index.html
+++ b/Control/data/index.html
@@ -25,6 +25,30 @@
             margin: 0px;
         }
 
+        .slider {
+        -webkit-appearance: none;
+        width: 100%;
+        height: 25px;
+        background: #d3d3d3;
+        outline: none;
+        opacity: 0.7;
+        -webkit-transition: .2s;
+        transition: opacity .2s;
+        }
+
+        .slider:hover {
+        opacity: 1;
+        }
+
+        .slider::-webkit-slider-thumb {
+        -webkit-appearance: none;
+        appearance: none;
+        width: 25px;
+        height: 25px;
+        background: #000000;
+        cursor: pointer;
+        }
+
         #command_space {
             width:100%; 
             height: 200px; 
@@ -62,6 +86,8 @@
             border: none;
             border-radius: 5px;
             box-shadow: 0 3px rgb(161, 161, 161);
+            -webkit-transition: .2s;
+            transition: background-color .2s;
         }
 
         button:hover {
@@ -69,7 +95,6 @@
         }
 
         button:active {
-            background-color: #349134;
             box-shadow: 0 3px rgb(161, 161, 161);
             transform: translateY(1px);
         }
@@ -80,100 +105,18 @@
             display: table;
         }
     </style>
-    <script src="command.js"></script>
-    <script>
 
-        var connection = new WebSocket('ws://' + location.hostname + ':81/');
-
-        var command_id = 1;
-        var mode = 0;
-        var reqHeading = 0;
-        var reqDistance = 0;
-        var reqSpeed = 0;
-        var reqCharge = 0;
-
-        var state = 0;
-        var batteryVoltage = 0;
-        var batteryLevel = 0;
-        var totalTripDistance = 0;
-        var currentHeading = 0;
-        var current_pos = [,];
-        var current_x = 0;
-        var current_y = 0;
-        var signal_strength = 0;
-        var lastCompletedCommand_id = 0;
-        var ChargeStatus = 0;
-
-
-        connection.onmessage = function (event) {
-            var raw_data = event.data;
-            console.log(raw_data);
-            var data = JSON.parse(raw_data);
-            
-            state = data.st;
-            batteryLevel = data.bV;
-            batteryVoltage = data.bV;
-            totalTripDistance = data.tD;
-            currentHeading = data.cH;
-            current_pos = data.pos;
-            current_x = current_pos[0];
-            current_y = current_pos[1];
-            signal_strength = data.rssi;
-            lastCompletedCommand_id = data.LCCid;
-            ChargeStatus = data.cS;
-            
-            document.getElementById("SigStr").value = signal_strength;
-            document.getElementById("PosX").innerHTML = current_x;
-            document.getElementById("PosY").innerHTML = current_y;
-            document.getElementById("Hdg").innerHTML = currentHeading;
-            document.getElementById("TrpDist").innerHTML = totalTripDistance;
-            document.getElementById("btry_meter").value = batteryVoltage;
-            document.getElementById("ChgStat").innerHTML = (ChargeStatus ? "Charging" : "Discharging");
-            
-            
-        }
-
-        function send_data() {
-            var raw_data = '{"Cid":' + command_id + ',"mode":' + mode + ',"rH":' + reqHeading + ',"rD":' + reqDistance + ',"rS":' + reqSpeed + ',"rC":' + reqCharge + '}';
-            connection.send(raw_data);
-            console.log(raw_data);
-        }
-
-        function updateCommandBuffer(){
-            if((mode == 1) || (mode == -1) || (mode == 2)){
-                document.getElementById("command_buffer").innerHTML += '[' + command_id + '] ' + document.getElementById("commandInput").value + "<br>";
-            }else if(mode == 0){
-                document.getElementById("comand_buffer").innerHTML = "Rover Emergency Stop.\n Command buffer cleared. ";
-                document.getElementById("commandInput").value = "";
-            }
-        }
-        
-        function commandError(){
-
-        }
-
-        function RunParser(){
-            var commandstring = document.getElementById("commandInput").value;
-            try{
-                command.parse(commandstring);
-            } catch(err){
-                alert(err);
-            }
-        }
-
-    </script>
 </head>
 
 <body>
-
     <h1 style="text-align:center;">ROVER COMMAND CENTER</h1>
 
     <div class="clearfix">
-        <table style="width:1000px; border-spacing: 10px; margin-left: auto; margin-right: auto;">
+        <table style="width:1100px; border-spacing: 10px; margin-left: auto; margin-right: auto;">
             <tr>
                 <th style="width: 33%;"><h2>Control Panel</h2></th>
                 <th style="width: 33%;"><h2>Telemetry</h2></th>
-                <th style="width: 33%;"><h2>Command Buffer</h2></th>
+                <th style="width: 33%;"><h2>Command Console</h2></th>
             </tr>
             <tr><hr></tr>
 
@@ -193,28 +136,25 @@
                         </tr>
                         <tr><td colspan="6"><hr></td></tr>
                         <tr>
-                            <td style="text-align: center;" colspan="6"><strong >Rotation</strong></td>
-                        </tr>
-                        
-                        <tr>
-                            <td><button><i>-90&#176;</i></button></td>
-                            <td><button><i>-45&#176;</i></button></td>
-                            <td><button><i>-30&#176;</i></button></td>
-                            <td><button><i>30&#176;</i></button></td>
-                            <td><button><i>45&#176;</i></button></td>
-                            <td><button><i>90&#176;</i></button></td>
-                        </tr>
-                        <tr><td colspan="6"><hr></td></tr>
-                        <tr>
-                            <td style="text-align: center;" colspan="6"><strong>Translation</strong></td>
+                            <td style="text-align: center;" colspan="6"><strong> Set Heading to: </strong><strong id="SetHeading" style="font-size: 18px;">270</strong><strong>&#176;</strong></td>
                         </tr>
                         <tr>
-                            <td><button><i>-10000 mm</i></button></td>
-                            <td><button><i>-1000 mm</i></button></td>
-                            <td><button><i>-100 mm</i></button></td>
-                            <td><button><i>100 mm</i></button></td>
-                            <td><button><i>1000 mm</i></button></td>
-                            <td><button><i>10000 mm</i></button></td>
+                            <td colspan="6"><input type ="range" min="0" max="359" value="270" class="slider" id="HdgSlider"></td>
+                        </tr>
+                        <tr>
+                            <td style="text-align: center;" colspan="6"><strong>Set Translation to: </strong><strong id="SetTrans" style="font-size: 18px;">180</strong><strong>mm</strong></td>
+                        </tr>
+                        <tr>
+                            <td colspan="6"><input type ="range" min="0" max="1000" value="100" class="slider" id="TranSlider"></td>
+                        </tr>
+                        <tr>
+                            <td style="text-align: center;" colspan="6"><strong>Set Speed to: </strong><strong id="SetSpd" style="font-size: 18px;">50</strong><strong>%</strong></td>
+                        </tr>
+                        <tr>
+                            <td colspan="6"><input type ="range" min="0" max="100" value="50" class="slider" id="SpdSlider"></td>
+                        </tr>
+                        <tr>
+                            <td colspan="6"><button onclick="setCmdMode(1); moveCmd(setTransto, setHdgto, setSpdto);">Send<br>Command</button></td>
                         </tr>
                         <tr><td colspan="6"><hr></td></tr>
                     </table>
@@ -224,12 +164,18 @@
 
                 <td style="vertical-align: top;">
                 <table style="width:100%; border-spacing: 5px; ">
-                    <tr><td colspan="6"><hr></td></tr>
+                    <tr><td colspan="2"><hr></td></tr>
+                    <tr>
+                        <td style="width:50%;"><label>Rover Status</label></td>
+                        <td style="width:50%;"><strong id="Rov_status">X</strong>
+                    </tr>
+                    <tr><td colspan="2"><hr></td></tr>
                     <tr>
                         <td style="width:50%;"><label>Signal Strength</label></td>
                         <td style="width:50%;"><meter id="SigStr" min="-80" max="-30" low="-70" high="-50" optimum="-40"  value="-XX"
                             title="dB"></meter></td>
                     </tr>
+                    <tr><td colspan="2"><hr></td></tr>
                     <tr>
                         <td style="width:50%;"><label>Position</label></td>
                         <td style="width:50%;"><strong id="PosX">X</strong><strong>,</strong><strong id="PosY">Y</strong></td>
@@ -242,16 +188,20 @@
                         <td style="width:50%;"><label>Trip Distance</label></td>
                         <td style="width:50%;"><strong id="TrpDist">X</strong><strong> mm</strong></td>
                     </tr>
+                    <tr><td colspan="2"><hr></td></tr>
                     <tr>
                         <td style="width:50%;"><label>Battery Voltage</label></td>
-                        <td style="width:50%;"><meter id="btry_meter" min="4.0" max="6.0" low="4.5" high="4.8" optimum="5.0"  value="X.X"
-                            title="V"></meter></td>
+                        <td style="width:50%;"><strong id="btry_volt">X</strong><strong>V</strong></td>
                     </tr>
-                    
                     <tr>
-                        <td style="width:50%;"><label>Charge Status</label></td>
-                        <td style="width:50%;"><strong id="ChgStat">Disconnect</strong></td>
+                        <td style="width:50%;"><label>Battery Level</label></td>
+                        <td style="width:50%;"><strong id="btry_lvl">X</strong><strong>%</strong></td>
                     </tr>
+                    <tr>
+                        <td style="width:50%;"><label>Battery Cycles</label></td>
+                        <td style="width:50%;"><strong id="btry_cycls">X</strong></td>
+                    </tr>
+                    <tr><td colspan="2"><hr></td></tr>
                     
                 </table>
                 </td>
@@ -259,11 +209,11 @@
                 <!-- Command Buffer Section -->
                 <td style="vertical-align: top;">
                     <table style="width:100%; border-spacing: 5px; ">
-                        <tr><td><hr></td></tr>
-                        <tr><td colspan="2"><div id="command_space"><p id="command_buffer" style="padding-left: 5px; font-size: 14px; font-family: 'Courier New', Courier, monospace;"></p></div></td></tr>
+                        <tr><td colspan="2"><hr></td></tr>
+                        <tr><td colspan="2"><div id="command_space"><p id="command_buffer" style="padding-left: 5px; font-size: 12px; font-family: 'Courier New', Courier, monospace;"></p></div></td></tr>
                         <tr>
                             <td><input type="text" placeholder="Type a command or 'help'." id="commandInput" value="" onkeyup="if(event.keyCode == 13){document.getElementById('commandEnter').click();}" style="width: 100%; font-size: 14px; font-family: 'Courier New', Courier, monospace;"></td>
-                            <td style="width: 7%; "><button onclick="RunParser()" id="commandEnter" style="height: 20px; width: 20px; padding: 3px 2px;">&crarr;</button></td>
+                            <td style="width: 7%; "><button onclick="setCmdMode(0); RunParser();" id="commandEnter" style="height: 20px; width: 20px; padding: 3px 2px;">&crarr;</button></td>
                         </tr>
                     </table>
                     
@@ -272,7 +222,220 @@
         </table>
 
     </div>
-
+    
 </body>
+<script src="command.js"></script>
+<script>
+    var connection = new WebSocket('ws://' + location.hostname + ':81/');
+
+    var command_id = 1;
+    var mode = 0;
+    var reqHeading = 0;
+    var reqDistance = 0;
+    var reqSpeed = 0;
+    var reqCharge = 0;
+    var pstop_time = 0;
+
+    var state = 0;
+    var batteryVoltage = 0;
+    var batteryLevel = 0;
+    var totalTripDistance = 0;
+    var currentHeading = 0;
+    var current_pos = [,];
+    var current_x = 0;
+    var current_y = 0;
+    var signal_strength = 0;
+    var lastCompletedCommand_id = 0;
+    var batteryCycles = 0;
+
+
+    connection.onmessage = function (event) {
+        var raw_data = event.data;
+        console.log(raw_data);
+        var data = JSON.parse(raw_data);
+        
+        state = data.st;
+        batteryLevel = data.bV;
+        batteryVoltage = data.bV;
+        batteryCycles = data.bC;
+        totalTripDistance = data.tD;
+        currentHeading = data.cH;
+        current_pos = data.pos;
+        current_x = current_pos[0];
+        current_y = current_pos[1];
+        signal_strength = data.rssi;
+        lastCompletedCommand_id = data.LCCid;
+        
+        var rStatus = ""
+        if(state == -1){
+            rStatus = "Error";
+        }else if(state == 0){
+            rStatus = "Idle";
+        }else if(state == 1){
+            rStatus = "Moving";
+        }else if(state == 2){
+            rStatus = "Charging";
+        }else{
+            rStatus = "Undefined";
+        }
+
+        document.getElementById("Rov_status").innerHTML = rStatus;
+        document.getElementById("SigStr").value = signal_strength;
+        document.getElementById("PosX").innerHTML = current_x;
+        document.getElementById("PosY").innerHTML = current_y;
+        document.getElementById("Hdg").innerHTML = currentHeading;
+        document.getElementById("TrpDist").innerHTML = totalTripDistance;
+        document.getElementById("btry_volt").innerHTML = batteryVoltage;
+        document.getElementById("btry_lvl").innerHTML = batteryLevel;
+        document.getElementById("btry_cycls").innerHTML = batteryCycles; 
+    }
+
+    function send_data() {
+        var raw_data = '{"Cid":' + command_id + ',"mode":' + mode + ',"rH":' + reqHeading + ',"rD":' + reqDistance + ',"rS":' + reqSpeed + ',"rC":' + reqCharge + ',"pSt":' + pstop_time + '}';
+        connection.send(raw_data);
+        console.log(raw_data);
+    }
+
+    function setCmdMode(mode){
+        cmdMode = mode;
+    }
+
+    function updateCommandBuffer(){
+        var bufferOutput = "";
+        if(cmdMode == 0){
+            bufferOutput = document.getElementById("commandInput").value;
+        }else if(cmdMode == 1){
+            bufferOutput = "move " + reqDistance + "mm " + reqHeading + "deg " + reqSpeed + "%";
+        }
+        if((mode == 1) || (mode == -1) || (mode == 2) || (mode == 3)){
+            document.getElementById("command_buffer").innerHTML += '[' + command_id + '] ' + bufferOutput + "<br>";
+            document.getElementById("commandInput").value = ""
+        }else if(mode == 0){
+            document.getElementById("command_buffer").innerHTML = "Rover Emergency Stop." + "<br>" +"Command buffer cleared." + "<br>";
+            document.getElementById("commandInput").value = "";
+        }
+    }
+    
+    function printHelpDetails(){
+        document.getElementById("command_buffer").innerHTML = 
+        ("------------------------------------------" + "<br>" + "<br>" +
+        "Types of commands available:" + "<br>" + "<br>" +
+        "'move' moves rover along a given vector" + "<br>" +
+        "> move [distance]mm [heading]deg [speed]%" + "<br>" + "<br>" +
+        "'pstop' short for planned stop it stops the rover without reseting the command buffer" + "<br>" +
+        "> pstop" + "<br>" + "<br>" +
+        "'charge' stops the rover and recharges to a set battery level" + "<br>" +
+        "> charge to [percentage]%" + "<br>" + "<br>" +
+        "'telemetry reset' resets X,Y coordinates and Trip Distance" + "<br>" +
+        "> telemetry reset" + "<br>" + "<br>" +
+        "'stop' and emergency stop that stops the rover and resets the command buffer" + "<br>" +
+        "> stop" + "<br>" + "<br>" +
+        "------------------------------------------"
+        )
+        document.getElementById("commandInput").value = "";
+    }
+
+    function moveCmd(dist,hdg,spd){
+        mode = 1;
+        reqDistance = dist;
+        reqHeading = hdg;
+        reqSpeed = spd;
+        reqCharge = 0;
+        pstop_time = 0;
+        tel_rst = 0;
+        send_data();
+        updateCommandBuffer();
+        command_id++;
+    }
+
+    function stpCmd(){
+        mode = 0;
+        reqDistance = 0;
+        reqHeading = 0;
+        reqSpeed = 0;
+        reqCharge = 0;
+        pstop_time = 0;
+        tel_rst = 0;
+        send_data();
+        command_id = 1;
+        updateCommandBuffer();
+    }
+
+    function pstpCmd(pstp_tme){
+        mode = 3;
+        reqDistance = 0;
+        reqHeading = 0;
+        reqSpeed = 0;
+        reqCharge = 0;
+        pstop_time = pstp_tme;
+        tel_rst = 0;
+        send_data();
+        updateCommandBuffer();
+        command_id++;
+    }
+
+    function chrgCmd(chrglvl){
+        mode = 2;
+        reqDistance = 0;
+        reqHeading = 0;
+        reqSpeed = 0;
+        reqCharge = chrglvl;
+        pstop_time = 0;
+        tel_rst = 0;
+        send_data();
+        updateCommandBuffer();
+        command_id++;
+    }
+
+    function telRst(){
+        mode = -1;
+        reqDistance = 0;
+        reqHeading = 0;
+        reqSpeed = 0;
+        reqCharge = 0;
+        pstop_time = 0;
+        send_data();
+        updateCommandBuffer();
+        command_id++;
+    }
+
+
+    function RunParser(){
+        var commandstring = document.getElementById("commandInput").value;
+        try{
+            command.parse(commandstring);
+        } catch(err){
+            alert(err);
+        }
+    }
+
+    var setHdgto = 270;
+    var hdg_slider = document.getElementById("HdgSlider");
+    var hdg_output = document.getElementById("SetHeading");
+    hdg_output.innerHTML = hdg_slider.value;
+    hdg_slider.oninput = function() {
+        hdg_output.innerHTML = this.value;
+        setHdgto = this.value;
+    }
+
+    var setTransto = 100;
+    var tran_slider = document.getElementById("TranSlider");
+    var tran_output = document.getElementById("SetTrans");
+    tran_output.innerHTML = tran_slider.value;
+    tran_slider.oninput = function() {
+        tran_output.innerHTML = this.value;
+        setTransto = this.value;
+    }
+
+    var setSpdto = 50;
+    var spd_slider = document.getElementById("SpdSlider");
+    var spd_output = document.getElementById("SetSpd");
+    spd_output.innerHTML = spd_slider.value;
+    spd_slider.oninput = function() {
+        spd_output.innerHTML = this.value;
+        setSpdto = this.value;
+    }
+
+</script>
 
 </html>
\ No newline at end of file
diff --git a/Control/lib/command.jison b/Control/lib/command.jison
deleted file mode 100644
index 1278857..0000000
--- a/Control/lib/command.jison
+++ /dev/null
@@ -1,87 +0,0 @@
-%lex
-%%
-
-\s                      return 'WHITESPACE'
-\b[0-9]+"mm"\b                return 'DIST'
-\b([0-9]|[1-8][0-9]|9[0-9]|[12][0-9]{2}|3[0-4][0-9]|35[0-9])"deg"\b  return 'HEADING'
-\b([0-9]|[1-8][0-9]|9[0-9]|100)"%"   return 'PERCENTAGE'
-\bmove\b                  return 'MOVE'
-\bpstop\b                 return 'PSTOP'
-\bstop\b                  return 'STOP'
-\bcharge\sto\b                return 'CHARGETO'
-\btelemetry\sreset\b      return 'TELERST'
-<<EOF>>                 return 'EOF'
-.                       return 'INVALID'
-
-/lex
-
-%start command
-
-%%
-
-command
-    : expr EOF
-    ;
-
-expr
-    : MOVE WHITESPACE DIST WHITESPACE HEADING WHITESPACE PERCENTAGE
-        {   
-            var inDist = String($3).substr(0, ((String($3).length) - 2));
-            var inHdg = String($5).substr(0, ((String($5).length) - 3));
-            var inSpd = String($7).substr(0, ((String($7).length) - 1));
-            mode = 1;
-            reqDistance = Number(inDist);
-            reqHeading = Number(inHdg);
-            reqSpeed = Number(inSpd);
-            reqCharge = 0;
-            send_data();
-            updateCommandBuffer();
-            command_id++;
-        }
-    | STOP
-        {
-            mode = 0;
-            reqDistance = 0;
-            reqHeading = 0;
-            reqSpeed = 0;
-            reqCharge = 0;
-            send_data();
-            command_id = 0;
-            updateCommandBuffer()
-        }
-    | PSTOP
-        {
-            mode = 1;
-            reqDistance = 0;
-            reqHeading = 0;
-            reqSpeed = 0;
-            reqCharge = 0;
-            send_data();
-            updateCommandBuffer();
-            command_id++;
-        }
-    | CHARGETO WHITESPACE PERCENTAGE
-        {
-            mode = 1;
-            reqDistance = 0;
-            reqHeading = 0;
-            reqSpeed = 0;
-
-            var inChrg = String($3).substr(0, ((String($3).length) - 1));
-            reqCharge = Number(inChrg);
-
-            send_data();
-            updateCommandBuffer();
-            command_id++;
-        }
-    | TELERST
-        {mode = 1;
-            reqDistance = 0;
-            reqHeading = 0;
-            reqSpeed = 0;
-            reqCharge = 0;
-            send_data();
-            updateCommandBuffer();
-            command_id++;}
-    ;
-
diff --git a/Control/src/command.jison b/Control/src/command.jison
new file mode 100644
index 0000000..f36dfd9
--- /dev/null
+++ b/Control/src/command.jison
@@ -0,0 +1,59 @@
+%lex
+%%
+
+\s                      return 'whitespace'
+\b[0-9]+"mm"\b                return 'distance'
+\b([0-9]|[1-8][0-9]|9[0-9]|[12][0-9]{2}|3[0-4][0-9]|35[0-9])"deg"\b  return 'heading_angle'
+\b([0-9]|[1-8][0-9]|9[0-9]|100)"%"   return 'percentage'
+\b[0-9]+"s"\b           return 'stop_duration'
+\bmove\b                  return 'move'
+\bpstop\b                 return 'pstop'
+\bstop\b                  return 'stop'
+\bhelp\b                return 'help'
+\bcharge\sto\b                return 'charge_to'
+\btelemetry\sreset\b      return 'telemetry_reset'
+<<EOF>>                 return 'EOF'
+.                       return 'invalid_command'
+
+/lex
+
+%start command
+
+%%
+
+command
+    : expr EOF
+    ;
+
+expr
+    : move whitespace distance whitespace heading_angle whitespace percentage
+        {   
+            var inDist = Number(String($3).substr(0, ((String($3).length) - 2)));
+            var inHdg = Number(String($5).substr(0, ((String($5).length) - 3)));
+            var inSpd = Number(String($7).substr(0, ((String($7).length) - 1)));
+            moveCmd(inDist,inHdg,inSpd);
+        }
+    | stop
+        {
+            stpCmd();
+        }
+    | pstop whitespace stop_duration
+        {
+            var inStpDur = Number(String($3).substr(0, ((String($3).length) - 1)));
+            pstpCmd(inStpDur);
+        }
+    | charge_to whitespace percentage
+        {
+            var inChrg = Number(String($3).substr(0, ((String($3).length) - 1)));
+            chrgCmd(inChrg);
+        }
+    | telemetry_reset
+        {   
+            telRst();
+        }
+    | help
+        {
+            printHelpDetails();
+        }
+    ;
+