diff --git a/Control/data/command.js b/Control/data/command.js
index 091ecc2..e17fb44 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,"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]],
+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,"colour":15,"colour_name":16,"telemetry_reset":17,"help":18,"$accept":0,"$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:"colour",16:"colour_name",17:"telemetry_reset",18:"help"},
+productions_: [0,[3,2],[4,7],[4,1],[4,3],[4,3],[4,3],[4,1],[4,1]],
performAction: function anonymous(yytext, yyleng, yylineno, yy, yystate /* action[1] */, $$ /* vstack */, _$ /* lstack */) {
/* this == yyval */
@@ -109,19 +109,25 @@ case 5:
break;
case 6:
+
+ var inColour = String($$[$0]);
+ colourCmd(inColour);
+
+break;
+case 7:
telRst();
break;
-case 7:
+case 8:
printHelpDetails();
break;
}
},
-table: [{3:1,4:2,6:[1,3],11:[1,4],12:[1,5],14:[1,6],15:[1,7],16:[1,8]},{1:[3]},{5:[1,9]},{7:[1,10]},{5:[2,3]},{7:[1,11]},{7:[1,12]},{5:[2,6]},{5:[2,7]},{1:[2,1]},{8:[1,13]},{13:[1,14]},{10:[1,15]},{7:[1,16]},{5:[2,4]},{5:[2,5]},{9:[1,17]},{7:[1,18]},{10:[1,19]},{5:[2,2]}],
-defaultActions: {4:[2,3],7:[2,6],8:[2,7],9:[2,1],14:[2,4],15:[2,5],19:[2,2]},
+table: [{3:1,4:2,6:[1,3],11:[1,4],12:[1,5],14:[1,6],15:[1,7],17:[1,8],18:[1,9]},{1:[3]},{5:[1,10]},{7:[1,11]},{5:[2,3]},{7:[1,12]},{7:[1,13]},{7:[1,14]},{5:[2,7]},{5:[2,8]},{1:[2,1]},{8:[1,15]},{13:[1,16]},{10:[1,17]},{16:[1,18]},{7:[1,19]},{5:[2,4]},{5:[2,5]},{5:[2,6]},{9:[1,20]},{7:[1,21]},{10:[1,22]},{5:[2,2]}],
+defaultActions: {4:[2,3],8:[2,7],9:[2,8],10:[2,1],16:[2,4],17:[2,5],18:[2,6],22:[2,2]},
parseError: function parseError (str, hash) {
if (hash.recoverable) {
this.trace(str);
@@ -612,20 +618,24 @@ case 6:return 12
break;
case 7:return 11
break;
-case 8:return 16
+case 8:return 18
break;
case 9:return 14
break;
-case 10:return 15
+case 10:return 17
break;
-case 11:return 5
+case 11:return 15
break;
-case 12:return 'invalid_command'
+case 12:return 16
+break;
+case 13:return 5
+break;
+case 14:return 'invalid_command'
break;
}
},
-rules: [/^(?:\s)/,/^(?:\b[0-9]+mm\b)/,/^(?:\b([0-9]|[1-8][0-9]|9[0-9]|[12][0-9]{2}|3[0-4][0-9]|35[0-9])deg\b)/,/^(?:\b([0-9]|[1-8][0-9]|9[0-9]|100)%)/,/^(?:\b[0-9]+s\b)/,/^(?:\bmove\b)/,/^(?:\bpstop\b)/,/^(?:\bstop\b)/,/^(?:\bhelp\b)/,/^(?:\bcharge\sto\b)/,/^(?:\btelemetry\sreset\b)/,/^(?:$)/,/^(?:.)/],
-conditions: {"INITIAL":{"rules":[0,1,2,3,4,5,6,7,8,9,10,11,12],"inclusive":true}}
+rules: [/^(?:\s)/,/^(?:(-[0-9]+mm|[0-9]+mm))/,/^(?:([0-9]|[1-8][0-9]|9[0-9]|[12][0-9]{2}|3[0-4][0-9]|35[0-9])deg\b)/,/^(?:([0-9]|[1-8][0-9]|9[0-9]|100)%)/,/^(?:[0-9]+s\b)/,/^(?:move\b)/,/^(?:pstop\b)/,/^(?:stop\b)/,/^(?:help\b)/,/^(?:charge\sto\b)/,/^(?:telemetry\sreset\b)/,/^(?:colour\b)/,/^(?:(red|blue|green|pink|orange))/,/^(?:$)/,/^(?:.)/],
+conditions: {"INITIAL":{"rules":[0,1,2,3,4,5,6,7,8,9,10,11,12,13,14],"inclusive":true}}
});
return lexer;
})();
diff --git a/Control/data/index.html b/Control/data/index.html
index 21c0fff..73775ff 100644
--- a/Control/data/index.html
+++ b/Control/data/index.html
@@ -139,19 +139,19 @@
| Set Heading to: 270° |
- |
+ |
| Set Translation to: 180mm |
- |
+ |
| Set Speed to: 50% |
- |
+ |
|
@@ -235,6 +235,7 @@
var reqSpeed = 0;
var reqCharge = 0;
var pstop_time = 0;
+ var hunt_colour = "";
var state = 0;
var batteryVoltage = 0;
@@ -293,7 +294,7 @@
}
function send_data() {
- var raw_data = '{"Cid":' + command_id + ',"mode":' + mode + ',"rH":' + reqHeading + ',"rD":' + reqDistance + ',"rS":' + reqSpeed + ',"rC":' + reqCharge + ',"pSt":' + pstop_time + '}';
+ var raw_data = '{"Cid":' + command_id + ',"mode":' + mode + ',"rH":' + reqHeading + ',"rD":' + reqDistance + ',"rS":' + reqSpeed + ',"rC":' + reqCharge + ',"pSt":' + pstop_time + ',"col":' + hunt_colour + '}';
connection.send(raw_data);
console.log(raw_data);
}
@@ -351,6 +352,7 @@
reqCharge = 0;
pstop_time = 0;
tel_rst = 0;
+ hunt_colour = "";
send_data();
updateCommandBuffer();
command_id++;
@@ -364,6 +366,7 @@
reqCharge = 0;
pstop_time = 0;
tel_rst = 0;
+ hunt_colour = "";
send_data();
command_id = 1;
updateCommandBuffer();
@@ -377,6 +380,7 @@
reqCharge = 0;
pstop_time = pstp_tme;
tel_rst = 0;
+ hunt_colour = "";
send_data();
updateCommandBuffer();
command_id++;
@@ -390,6 +394,7 @@
reqCharge = chrglvl;
pstop_time = 0;
tel_rst = 0;
+ hunt_colour = "";
send_data();
updateCommandBuffer();
command_id++;
@@ -402,6 +407,20 @@
reqSpeed = 0;
reqCharge = 0;
pstop_time = 0;
+ hunt_colour = "";
+ send_data();
+ updateCommandBuffer();
+ command_id++;
+ }
+
+ function colourCmd(clrName){
+ mode = 4;
+ reqDistance = 0;
+ reqHeading = 0;
+ reqSpeed = 0;
+ reqCharge = 0;
+ pstop_time = 0;
+ hunt_colour = clrName;
send_data();
updateCommandBuffer();
command_id++;
@@ -417,7 +436,7 @@
}
}
- var setHdgto = 270;
+ var setHdgto = 180;
var hdg_slider = document.getElementById("HdgSlider");
var hdg_output = document.getElementById("SetHeading");
hdg_output.innerHTML = hdg_slider.value;
@@ -426,7 +445,7 @@
setHdgto = this.value;
}
- var setTransto = 100;
+ var setTransto = 0;
var tran_slider = document.getElementById("TranSlider");
var tran_output = document.getElementById("SetTrans");
tran_output.innerHTML = tran_slider.value;
@@ -435,7 +454,7 @@
setTransto = this.value;
}
- var setSpdto = 50;
+ var setSpdto = 100;
var spd_slider = document.getElementById("SpdSlider");
var spd_output = document.getElementById("SetSpd");
spd_output.innerHTML = spd_slider.value;
diff --git a/Control/src/command.jison b/Control/src/command.jison
index f36dfd9..7a0a911 100644
--- a/Control/src/command.jison
+++ b/Control/src/command.jison
@@ -1,19 +1,21 @@
%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'
-<> return 'EOF'
-. return 'invalid_command'
+\s return 'whitespace'
+("-"[0-9]+"mm"|[0-9]+"mm") return 'distance'
+([0-9]|[1-8][0-9]|9[0-9]|[12][0-9]{2}|3[0-4][0-9]|35[0-9])"deg" return 'heading_angle'
+([0-9]|[1-8][0-9]|9[0-9]|100)"%" return 'percentage'
+[0-9]+"s" return 'stop_duration'
+move return 'move'
+pstop return 'pstop'
+stop return 'stop'
+help return 'help'
+charge\sto return 'charge_to'
+telemetry\sreset return 'telemetry_reset'
+colour return 'colour'
+("red"|"blue"|"green"|"pink"|"orange") return 'colour_name'
+<> return 'EOF'
+. return 'invalid_command'
/lex
@@ -47,6 +49,11 @@ expr
var inChrg = Number(String($3).substr(0, ((String($3).length) - 1)));
chrgCmd(inChrg);
}
+ | colour whitespace colour_name
+ {
+ var inColour = String($3);
+ colourCmd(inColour);
+ }
| telemetry_reset
{
telRst();