dunkirk.sh
a scrappy gimbal that insults you in shakespearean english
feat: use joystick
+2
-2
server/index.ts
+2
-2
server/index.ts
···
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app.post("/motor1", (req, res) => {
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const speed = req.body.speed;
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const command = `1 ${speed}\n`;
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const command = `1 ${speed}\r`;
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serialPort.write(command);
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res.send("OK");
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});
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app.post("/motor2", (req, res) => {
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const speed = req.body.speed;
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const command = `2 ${speed}\n`;
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const command = `2 ${speed}\r`;
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serialPort.write(command);
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res.send("OK");
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});
+67
-26
src/index.ts
+67
-26
src/index.ts
···
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5
let videoElement: HTMLVideoElement;
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let lastError = 0;
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let integral = 0;
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let isDragging = false;
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let joystickX = 0;
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let joystickY = 0;
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// PID constants
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const Kp = 0.5;
···
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<video id="webcam" width="640" height="480" autoplay muted></video>
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<canvas id="overlay" style="position: absolute;"></canvas>
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-
<div>
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<label>Left Motor (1) Rotations:</label>
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<input type="range" id="motor1" min="-10" max="10" step="0.1" value="0">
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<span id="motor1Value">0</span>
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<button id="send1">Send</button>
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<div id="joystick" style="width: 200px; height: 200px; border: 2px solid black; border-radius: 50%; position: relative; margin: 20px;">
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<div id="joystickHandle" style="width: 20px; height: 20px; background: red; border-radius: 50%; position: absolute; top: 90px; left: 90px; cursor: pointer;"></div>
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</div>
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-
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<div>
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<label>Right Motor (2) Rotations:</label>
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<input type="range" id="motor2" min="-10" max="10" step="0.1" value="0">
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<span id="motor2Value">0</span>
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<button id="send2">Send</button>
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<span>Motor Values - X: </span><span id="motor1Value">0</span>
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<span>, Y: </span><span id="motor2Value">0</span>
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<button id="sendJoystick">Send</button>
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</div>
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</div>
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<div style="width: 300px; padding: 20px; border-left: 1px solid #ccc; overflow-y: auto;">
···
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}
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}
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+
function updateJoystickPosition(x: number, y: number) {
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const joystick = document.getElementById("joystick");
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const handle = document.getElementById("joystickHandle");
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if (!joystick || !handle) return;
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const bounds = joystick.getBoundingClientRect();
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const radius = bounds.width / 2;
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// Calculate relative position from center
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const relX = x - bounds.left - radius;
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const relY = y - bounds.top - radius;
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// Calculate distance from center
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const distance = Math.sqrt(relX * relX + relY * relY);
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// Normalize to radius if outside circle
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const normalizedX = distance > radius ? (relX / distance) * radius : relX;
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const normalizedY = distance > radius ? (relY / distance) * radius : relY;
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// Update handle position
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handle.style.left = normalizedX + radius - 10 + "px";
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handle.style.top = normalizedY + radius - 10 + "px";
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// Update values (-0.5 to 0.5 range)
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joystickX = normalizedX / (radius * 2);
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joystickY = normalizedY / (radius * 2);
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document.getElementById("motor1Value")!.textContent = joystickX.toFixed(2);
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document.getElementById("motor2Value")!.textContent = joystickY.toFixed(2);
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}
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function defaultPageRender() {
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const app = document.querySelector<HTMLDivElement>("#app");
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if (!app) throw new Error("App element not found");
···
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videoElement = document.getElementById("webcam") as HTMLVideoElement;
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document.getElementById("motor1")?.addEventListener("input", (e) => {
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const value = (e.target as HTMLInputElement).value;
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const display = document.getElementById("motor1Value");
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if (display) display.textContent = value;
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});
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const joystick = document.getElementById("joystick");
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const handle = document.getElementById("joystickHandle");
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if (joystick && handle) {
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handle.addEventListener("mousedown", () => {
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isDragging = true;
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});
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document.addEventListener("mousemove", (e) => {
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if (isDragging) {
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updateJoystickPosition(e.clientX, e.clientY);
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}
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});
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document.getElementById("motor2")?.addEventListener("input", (e) => {
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const value = (e.target as HTMLInputElement).value;
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const display = document.getElementById("motor2Value");
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if (display) display.textContent = value;
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});
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document.addEventListener("mouseup", () => {
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if (isDragging) {
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isDragging = false;
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}
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});
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}
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document.getElementById("connect")?.addEventListener("click", connectSerial);
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document
···
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await startWebcam();
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trackFaces();
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});
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document.getElementById("send1")?.addEventListener("click", () => {
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const value = (document.getElementById("motor1") as HTMLInputElement).value;
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sendMotorCommand(1, parseFloat(value));
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document.getElementById("sendJoystick")?.addEventListener("click", () => {
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sendMotorCommand(1, joystickX);
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sendMotorCommand(2, joystickY);
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});
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document.getElementById("send2")?.addEventListener("click", () => {
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const value = (document.getElementById("motor2") as HTMLInputElement).value;
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sendMotorCommand(2, parseFloat(value));
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+
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document.addEventListener("keydown", (e) => {
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if (e.key === "Enter") {
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sendMotorCommand(1, joystickX);
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sendMotorCommand(2, joystickY);
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}
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});
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}
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