Update UI for Colour

Update for negative translation
Change default UI values

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},
+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:"telemetry_reset",16:"help"},
+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],[4,1],[4,1]],
+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 */
 
@@ -110,18 +110,24 @@ case 5:
 break;
 case 6:
 
-            telRst();
+            var inColour = String($$[$0]);
+            colourCmd(inColour);
         
 break;
 case 7:
    
+            telRst();
+        
+break;
+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]}],
+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],7:[2,6],8:[2,7],9:[2,1],14:[2,4],15:[2,5],19:[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)/,/^(?:$)/,/^(?:.)/],
+rules: [/^(?:\s)/,/^(?:(-[0-9]+mm|[0-9]+mm))/,/^(?:([0-9]|[1-8][0-9]|9[0-9]|[12][0-9]{2}|3[0-4][0-9]|35[0-9])deg\b)/,/^(?:([0-9]|[1-8][0-9]|9[0-9]|100)%)/,/^(?:[0-9]+s\b)/,/^(?:move\b)/,/^(?:pstop\b)/,/^(?:stop\b)/,/^(?:help\b)/,/^(?:charge\sto\b)/,/^(?:telemetry\sreset\b)/,/^(?:colour\b)/,/^(?:(red|blue|green|pink|orange))/,/^(?:$)/,/^(?:.)/],
-conditions: {"INITIAL":{"rules":[0,1,2,3,4,5,6,7,8,9,10,11,12],"inclusive":true}}
+conditions: {"INITIAL":{"rules":[0,1,2,3,4,5,6,7,8,9,10,11,12,13,14],"inclusive":true}}
 });
 return lexer;
 })();

Control/data/index.html

@@ -139,19 +139,19 @@
                             <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 colspan="6"><input type ="range" min="0" max="359" value="270" class="slider" id="HdgSlider"></td>
+                            <td colspan="6"><input type ="range" min="0" max="359" value="180" 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>
+                            <td colspan="6"><input type ="range" min="-200" max="100" value="0" 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>
+                            <td colspan="6"><input type ="range" min="0" max="100" value="100" class="slider" id="SpdSlider"></td>
                         </tr>
                         <tr>
                             <td colspan="6"><button onclick="setCmdMode(1); moveCmd(setTransto, setHdgto, setSpdto);">Send<br>Command</button></td>
@@ -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;

Control/src/command.jison

@@ -2,16 +2,18 @@
 %%
 
 \s                                                               return 'whitespace'
-\b[0-9]+"mm"\b                return 'distance'
+("-"[0-9]+"mm"|[0-9]+"mm")                                       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'
+([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'
-\b([0-9]|[1-8][0-9]|9[0-9]|100)"%"   return 'percentage'
+([0-9]|[1-8][0-9]|9[0-9]|100)"%"                                 return 'percentage'
-\b[0-9]+"s"\b           return 'stop_duration'
+[0-9]+"s"                                                        return 'stop_duration'
-\bmove\b                  return 'move'
+move                                                             return 'move'
-\bpstop\b                 return 'pstop'
+pstop                                                            return 'pstop'
-\bstop\b                  return 'stop'
+stop                                                             return 'stop'
-\bhelp\b                return 'help'
+help                                                             return 'help'
-\bcharge\sto\b                return 'charge_to'
+charge\sto                                                       return 'charge_to'
-\btelemetry\sreset\b      return 'telemetry_reset'
+telemetry\sreset                                                 return 'telemetry_reset'
+colour                                                           return 'colour'
+("red"|"blue"|"green"|"pink"|"orange")                           return 'colour_name'
 <<EOF>>                                                          return 'EOF'
 .                                                                return 'invalid_command'
 
@@ -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();