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penguinhopenguinho
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Adding robot server
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9 files changed

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-2
lines changed

9 files changed

+340
-2
lines changed

‎.gitignore

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.DS_Store
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node_modules
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.idea
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npm-debug.log

‎software/package.json

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"node":"0.x.x"
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},
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"dependencies":{
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"johnny-five":"0.7.x"
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"johnny-five":"0.7.x",
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"hapi": "8.4.0",
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"argparse": "~0.1.10",
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"path": "~0.4.9",
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"temp": "~0.5.0",
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"request": "~2.12.0",
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"johnny-five": "git://github.com/rwaldron/johnny-five.git",
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"xmlhttprequest" : "~1.5.0"
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}
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}

‎software/src/bot.js

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five = require("johnny-five");
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ik = require("./ik");
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ik = require("./lib/kinematics");
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board = new five.Board({
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debug: false
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});

‎software/src/ik.js renamed to ‎software/src/lib/kinematics.js

File renamed without changes.

‎software/src/server/calibration.js

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var fs = require("fs");
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module.exports.loadDataFromFilePath = function(filePath) {
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// Default Calibration
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module.exports.data = {
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restPoint : {
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x : 0,
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y : 0,
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z : -120
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},
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servo1 : {
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minimumAngle : 20,
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maximumAngle : 90
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},
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servo2 : {
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minimumAngle : 20,
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maximumAngle : 90
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},
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servo3 : {
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minimumAngle : 20,
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maximumAngle : 90
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}
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};
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// Load Calibration Data
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if (fs.existsSync(filePath)) {
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module.exports.data = eval(fs.readFileSync(filePath, "utf8"));
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}
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};

‎software/src/server/dancer.js

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var method = Dancer.prototype;
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function Dancer(robot) {
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var dancer = this;
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this._robot = robot;
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this._minAngle = 10;
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this._maxAngle = 20;
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this._range = this._maxAngle - this._minAngle;
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this._interval = null;
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}
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method.startDancing = function() {
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var _dance = function() {
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var t1 = parseInt((Math.random() * this._range) + this._minAngle, 10);
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var t2 = parseInt((Math.random() * this._range) + this._minAngle, 10);
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var t3 = parseInt((Math.random() * this._range) + this._minAngle, 10);
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this._robot.setAngles(t1,t2,t3);
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}.bind(this);
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if (!this._interval) {
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this._interval = setInterval(_dance, 250);
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}
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};
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method.stopDancing = function() {
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if (this._interval) {
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clearInterval(this._interval);
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this._interval = null;
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}
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};
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module.exports = {};
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module.exports.Dancer = Dancer;

‎software/src/server/parser.js

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var ArgumentParser = require('argparse').ArgumentParser;
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// parse arguments
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var parser = new ArgumentParser({
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version: '0.0.1',
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addHelp:true,
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description: 'Tapster Server'
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});
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parser.addArgument(
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[ '-c', '--calibration'], {
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help: 'file to load calibration data from'
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});
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parser.addArgument(
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['-p', '--port'] , {
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defaultValue: 4242
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, required: false
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, type: 'int'
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, example: "4242"
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, help: 'port to listen on'
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});
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parser.addArgument(
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['-a', '--address'], {
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defaultValue: '127.0.0.1'
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, required: false
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, example: "127.0.0.1"
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, help: 'IP Address to listen on'
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});
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module.exports = parser;

‎software/src/server/robot.js

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var kinematics = require("./../lib/kinematics");
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var method = Robot.prototype;
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function Robot(servo1, servo2, servo3, calibration) {
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this._servo1 = servo1;
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this._servo2 = servo2;
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this._servo3 = servo3;
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this._calibration = calibration;
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}
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var sin = function(degree) {
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return Math.sin(Math.PI * (degree/180));
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};
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var cos = function(degree) {
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return Math.cos(Math.PI * (degree/180));
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};
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var mapNumber = function (num, in_min , in_max , out_min , out_max ) {
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return ( num - in_min ) * ( out_max - out_min ) / ( in_max - in_min ) + out_min;
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};
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var rotate = function(x,y) {
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var theta = -60;
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var x1 = x * cos(theta) - y * sin(theta);
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var y1 = y * cos(theta) + x * sin(theta);
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return [x1,y1]
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};
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var reflect = function(x,y) {
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var theta = 0;
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var x1 = x;
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var y1 = x * sin(2*theta) - y * cos(2*theta);
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return [x1,y1]
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};
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method.getAngles = function() {
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return [this._servo1.last.degrees, this._servo2.last.degrees, this._servo3.last.degrees];
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};
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method.setAngles = function(t1,t2,t3) {
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console.log("Setting Angles:" + [t1,t2,t3]);
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t1 = isNaN(t1) ? this._calibration.servo1.minimumAngle : t1;
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t2 = isNaN(t2) ? this._calibration.servo1.minimumAngle : t2;
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t3 = isNaN(t3) ? this._calibration.servo1.minimumAngle : t3;
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this._servo1.to(t1);
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this._servo2.to(t2);
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this._servo3.to(t3);
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};
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method.getPosition = function() {
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var angles = this.getAngles();
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return kinematics.forward(angles[0], angles[1], angles[2]);
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};
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method.setPosition = function(x, y, z) {
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var reflected = reflect(x,y);
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var rotated = rotate(reflected[0],reflected[1]);
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var angles = kinematics.inverse(rotated[0], rotated[1], z);
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var t1 = mapNumber(angles[1], 0 , 90 , this._calibration.servo1.minimumAngle , this._calibration.servo1.maximumAngle);
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var t2 = mapNumber(angles[2], 0 , 90 , this._calibration.servo2.minimumAngle , this._calibration.servo2.maximumAngle);
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var t3 = mapNumber(angles[3], 0 , 90 , this._calibration.servo3.minimumAngle , this._calibration.servo3.maximumAngle);
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this.setAngles(t1,t2,t3);
65+
};
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67+
method.reset = function() {
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this.setPosition(calibration.restPoint.x, calibration.restPoint, calibration.restPoint.z);
69+
};
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71+
method.getPositionForAngles = function(t1,t2,t3) {
72+
var points = kinematics.forward(t1,t2,t3);
73+
return [points[1], points[2], points[3]];
74+
};
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method.getAnglesForPosition = function(x,y,z) {
77+
var angles = kinematics.inverse(x,y,z);
78+
return [angles[1], angles[2], angles[3]];
79+
};
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module.exports = {};
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module.exports.Robot = Robot;

‎software/src/server/server.js

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#! /usr/local/bin/node
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var application_root = __dirname
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, parser = require("./parser")
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, Hapi = require("hapi")
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, path = require("path")
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, five = require("johnny-five")
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, calibration = require("./calibration")
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, Robot = require("./robot").Robot
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, Dancer = require("./dancer").Dancer;
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args = parser.parseArgs();
12+
calibration.loadDataFromFilePath(args.calibration);
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14+
var board = new five.Board({ debug: false});
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board.on("ready", function() {
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var servo1 = five.Servo({
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pin: 9,
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range: [0,90]
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});
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var servo2 = five.Servo({
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pin: 10,
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range: [0,90]
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});
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var servo3 = five.Servo({
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pin: 11,
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range: [0,90]
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});
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servo1.on("error", function() {
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console.log(arguments);
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});
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servo2.on("error", function() {
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console.log(arguments);
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});
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servo3.on("error", function() {
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console.log(arguments);
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});
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// Initialize Objects
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var robot = new Robot(servo1,servo2,servo3,calibration.data);
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var dancer = new Dancer(robot);
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// Move to starting point
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robot.setPosition(calibration.data.restPoint.x, calibration.data.restPoint.y, calibration.data.restPoint.z);
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// create a server with a host and port
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var server = new Hapi.Server();
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server.connection({
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host: args.address,
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port: args.port
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});
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server.route({
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method: 'GET',
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path:'/status',
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handler: function (request, reply) {
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console.log("GET " + request.path + ": ");
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reply('\"OK\"');
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}
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});
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server.route({
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method: 'POST',
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path:'/reset',
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handler: function (request, reply) {
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console.log("GET " + request.path + ": ");
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robot.reset();
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reply(robot.getAngles());
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}
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});
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server.route({
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method: 'POST',
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path:'/dance',
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handler: function (request, reply) {
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console.log("GET " + request.path + ": ");
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dancer.startDancing();
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reply('\"Dancing!\"');
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}
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});
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server.route({
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method: 'POST',
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path:'/stopDancing',
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handler: function (request, reply) {
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console.log("GET " + request.path + ": ");
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dancer.stopDancing();
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reply('\"No more dancing.\"');
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}
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});
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server.route({
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method: 'POST',
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path:'/setAngles',
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handler: function (request, reply) {
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console.log("POST " + request.path + ": ");
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var theta1 = parseFloat(request.payload.theta1);
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var theta2 = parseFloat(request.payload.theta2);
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var theta3 = parseFloat(request.payload.theta3);
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robot.setAngles(theta1, theta2, theta3);
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return reply("\"OK\"");
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}
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});
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server.route({
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method: 'POST',
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path:'/setPosition',
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handler: function (request, reply) {
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console.log("POST " + request.path + ": ");
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var x = parseFloat(request.payload.x);
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var y = parseFloat(request.payload.y);
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var z = parseFloat(request.payload.z);
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robot.setPosition(x, y, z);
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return reply("\"OK\"");
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}
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});
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server.route({
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method: 'GET',
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path:'/angles',
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handler: function (request, reply) {
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console.log("GET " + request.path + ": ");
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return reply(robot.getAngles());
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}
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});
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server.route({
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method: 'GET',
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path:'/position',
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handler: function (request, reply) {
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console.log("GET " + request.path + ": ");
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return reply(robot.getPosition());
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}
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});
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server.route({
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method: 'GET',
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path:'/anglesForPosition/x/{x}/y/{y}/z/{z}',
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handler: function (request, reply) {
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console.log("GET " + req.path + ": ");
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var x = parseFloat(request.params.x);
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var y = parseFloat(request.params.y);
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var z = parseFloat(request.params.z);
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return reply(robot.getAnglesForPosition(x,y,z));
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}
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});
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server.start();
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console.log("Robot listening on port " + args.port);
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});

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