From 6dbce0905765fca2c343beedc6cf42f269d9dc57 Mon Sep 17 00:00:00 2001
From: Jake Read <jake.read@cba.mit.edu>
Date: Sun, 3 Nov 2019 20:57:42 -0500
Subject: [PATCH] small deltas with a working step example
---
hunks/adhoc/saturn.js | 6 +-
save/systems/dbg-pipe-ghost.json | 447 +++++++++++++++++++++++++++++++
save/systems/dbg-pipe-nolog.json | 431 +++++++++++++++++++++++++++++
3 files changed, 880 insertions(+), 4 deletions(-)
create mode 100644 save/systems/dbg-pipe-ghost.json
create mode 100644 save/systems/dbg-pipe-nolog.json
diff --git a/hunks/adhoc/saturn.js b/hunks/adhoc/saturn.js
index 14ccdd2..6722de6 100644
--- a/hunks/adhoc/saturn.js
+++ b/hunks/adhoc/saturn.js
@@ -52,13 +52,11 @@ export default function Saturn() {
// settings,
let deviation = 0.1 // virtual radius to junction about
- let accel = 980 // units/s/s (9.8m/s/s, 9800mm/s/s is 1G)
+ let accel = 20 // (should be) units/s/s (9.8m/s/s, 9800mm/s/s is 1G)
let minSpeed = 1.0 // conspicuous, to debug for tails (indexing)
let period = 0.050 // his.state('number', 'period', 50) // in ms,
// current states,
- let cruise = 100 // target, (units/s) -> (200) is about our max speed ! due to stepper limits, so bee careful
- // the metal (do here, or elsewhere?)
- let spmm = 200
+ let cruise = 100 // target, (units/s) -> (100) is about our max speed ! due to stepper limits, so bee careful
// our positions (and num segs to plan over)
let positionsBufferSize = 32
diff --git a/save/systems/dbg-pipe-ghost.json b/save/systems/dbg-pipe-ghost.json
new file mode 100644
index 0000000..c56e02e
--- /dev/null
+++ b/save/systems/dbg-pipe-ghost.json
@@ -0,0 +1,447 @@
+{
+ "interpreterName": "cuttlefish",
+ "interpreterVersion": "v0.1",
+ "hunks": [
+ {
+ "type": "manager",
+ "name": "nrol",
+ "inputs": [
+ {
+ "name": "msgs",
+ "type": "byteArray"
+ }
+ ],
+ "outputs": [
+ {
+ "name": "msgs",
+ "type": "byteArray",
+ "connections": [
+ {
+ "inHunkIndex": "1",
+ "inHunkInput": "0"
+ }
+ ]
+ }
+ ]
+ },
+ {
+ "type": "view",
+ "name": "tlview",
+ "inputs": [
+ {
+ "name": "msgs",
+ "type": "byteArray"
+ }
+ ],
+ "outputs": [
+ {
+ "name": "msgs",
+ "type": "byteArray",
+ "connections": [
+ {
+ "inHunkIndex": "0",
+ "inHunkInput": "0"
+ }
+ ]
+ }
+ ]
+ },
+ {
+ "type": "link",
+ "name": "link_2",
+ "inputs": [
+ {
+ "name": "data",
+ "type": "byteArray"
+ },
+ {
+ "name": "mgrMsgs",
+ "type": "byteArray"
+ },
+ {
+ "name": "mseg",
+ "type": "MDmseg"
+ }
+ ],
+ "outputs": [
+ {
+ "name": "data",
+ "type": "byteArray",
+ "connections": [
+ {
+ "inHunkIndex": "3",
+ "inHunkInput": "0"
+ }
+ ]
+ },
+ {
+ "name": "mgrMsgs",
+ "type": "byteArray",
+ "connections": [
+ {
+ "inHunkIndex": "4",
+ "inHunkInput": "0"
+ }
+ ]
+ }
+ ],
+ "states": [
+ {
+ "name": "isActive",
+ "type": "boolean",
+ "value": "true"
+ },
+ {
+ "name": "otherLink",
+ "type": "uint16",
+ "value": "1"
+ },
+ {
+ "name": "inputList",
+ "type": "string",
+ "value": "mgrMsgs (byteArray), mseg (MDmseg)"
+ },
+ {
+ "name": "outputList",
+ "type": "string",
+ "value": "mgrMsgs (byteArray)"
+ }
+ ],
+ "contains": {
+ "interpreterName": "ponyo",
+ "interpreterVersion": "v0.1",
+ "hunks": [
+ {
+ "type": "manager",
+ "name": "ponyo_one",
+ "inputs": [
+ {
+ "name": "mgrMsgs_1024",
+ "type": "byteArray"
+ }
+ ],
+ "outputs": [
+ {
+ "name": "mgrMsgs_1024",
+ "type": "byteArray",
+ "connections": [
+ {
+ "inHunkIndex": "1",
+ "inHunkInput": "1"
+ }
+ ]
+ }
+ ]
+ },
+ {
+ "type": "link",
+ "name": "link_1",
+ "inputs": [
+ {
+ "name": "data_1024",
+ "type": "byteArray"
+ },
+ {
+ "name": "mgrMsgs_1024",
+ "type": "byteArray"
+ }
+ ],
+ "outputs": [
+ {
+ "name": "data_1024",
+ "type": "byteArray",
+ "connections": [
+ {
+ "inHunkIndex": "2",
+ "inHunkInput": "0"
+ }
+ ]
+ },
+ {
+ "name": "mgrMsgs_1024",
+ "type": "byteArray",
+ "connections": [
+ {
+ "inHunkIndex": "0",
+ "inHunkInput": "0"
+ }
+ ]
+ },
+ {
+ "name": "mdseg",
+ "type": "MDmseg",
+ "connections": [
+ {
+ "inHunkIndex": "4",
+ "inHunkInput": "0"
+ }
+ ]
+ }
+ ],
+ "states": [
+ {
+ "name": "isActive",
+ "type": "boolean",
+ "value": "true"
+ },
+ {
+ "name": "otherLink",
+ "type": "uint16",
+ "value": "2"
+ },
+ {
+ "name": "inputList",
+ "type": "string",
+ "value": "mgrMsgs (byteArray)"
+ },
+ {
+ "name": "outputList",
+ "type": "string",
+ "value": "mgrMsgs (byteArray), mdseg (MDmseg)"
+ }
+ ]
+ },
+ {
+ "type": "comm/COBS_USB",
+ "name": "comm/COBS_USB_2",
+ "inputs": [
+ {
+ "name": "data_1024",
+ "type": "byteArray"
+ }
+ ],
+ "outputs": [
+ {
+ "name": "data_1024",
+ "type": "byteArray",
+ "connections": [
+ {
+ "inHunkIndex": "1",
+ "inHunkInput": "0"
+ }
+ ]
+ }
+ ]
+ },
+ {
+ "type": "driver/stepper",
+ "name": "step_driver",
+ "inputs": [
+ {
+ "name": "increment",
+ "type": "mseg"
+ },
+ {
+ "name": "enable",
+ "type": "boolean"
+ }
+ ],
+ "outputs": [
+ {
+ "name": "increment",
+ "type": "int32"
+ },
+ {
+ "name": "stallGuard",
+ "type": "uint32"
+ }
+ ],
+ "states": [
+ {
+ "name": "current (6-24)",
+ "type": "uint16",
+ "value": "16"
+ },
+ {
+ "name": "enable",
+ "type": "boolean",
+ "value": "true"
+ }
+ ]
+ },
+ {
+ "type": "control/MDtoDmseg",
+ "name": "control/MDtoDmseg_4",
+ "inputs": [
+ {
+ "name": "motionSegment",
+ "type": "MDmseg"
+ }
+ ],
+ "outputs": [
+ {
+ "name": "dmSegX",
+ "type": "mseg",
+ "connections": [
+ {
+ "inHunkIndex": "3",
+ "inHunkInput": "0"
+ }
+ ]
+ },
+ {
+ "name": "dmSegY",
+ "type": "mseg"
+ },
+ {
+ "name": "dmSegZ",
+ "type": "mseg"
+ }
+ ]
+ }
+ ]
+ }
+ },
+ {
+ "type": "pipes/vfptc",
+ "name": "pipes/vfptc_3",
+ "inputs": [
+ {
+ "name": "data",
+ "type": "byteArray"
+ }
+ ],
+ "outputs": [
+ {
+ "name": "data",
+ "type": "byteArray",
+ "connections": [
+ {
+ "inHunkIndex": "2",
+ "inHunkInput": "0"
+ }
+ ]
+ }
+ ],
+ "states": [
+ {
+ "name": "pipe status",
+ "type": "string",
+ "value": "open"
+ },
+ {
+ "name": "websocket port",
+ "type": "string",
+ "value": "2042"
+ },
+ {
+ "name": "usb product id",
+ "type": "string",
+ "value": "8022"
+ },
+ {
+ "name": "pipe reset",
+ "type": "boolean",
+ "value": "false"
+ },
+ {
+ "name": "serialport status",
+ "type": "string",
+ "value": "open"
+ }
+ ]
+ },
+ {
+ "type": "view",
+ "name": "view_4",
+ "inputs": [
+ {
+ "name": "msgs",
+ "type": "byteArray"
+ }
+ ],
+ "outputs": [
+ {
+ "name": "msgs",
+ "type": "byteArray",
+ "connections": [
+ {
+ "inHunkIndex": "2",
+ "inHunkInput": "1"
+ }
+ ]
+ }
+ ]
+ },
+ {
+ "type": "adhoc/saturn",
+ "name": "adhoc/saturn_5",
+ "inputs": [
+ {
+ "name": "posn",
+ "type": "array"
+ }
+ ],
+ "outputs": [
+ {
+ "name": "posn",
+ "type": "array",
+ "connections": [
+ {
+ "inHunkIndex": "7",
+ "inHunkInput": "0"
+ }
+ ]
+ },
+ {
+ "name": "motionSegment",
+ "type": "MDmseg",
+ "connections": [
+ {
+ "inHunkIndex": "2",
+ "inHunkInput": "2"
+ }
+ ]
+ }
+ ]
+ },
+ {
+ "type": "adhoc/tpath",
+ "name": "adhoc/tpath_6",
+ "outputs": [
+ {
+ "name": "position",
+ "type": "array",
+ "connections": [
+ {
+ "inHunkIndex": "5",
+ "inHunkInput": "0"
+ }
+ ]
+ }
+ ],
+ "states": [
+ {
+ "name": "mm/pix",
+ "type": "number",
+ "value": "0.35277777777777775"
+ },
+ {
+ "name": "longpath",
+ "type": "boolean",
+ "value": "false"
+ },
+ {
+ "name": "shortpath",
+ "type": "boolean",
+ "value": "false"
+ },
+ {
+ "name": "sl2path",
+ "type": "boolean",
+ "value": "false"
+ }
+ ]
+ },
+ {
+ "type": "interface/threejs_ghost",
+ "name": "interface/threejs_ghost_7",
+ "inputs": [
+ {
+ "name": "point",
+ "type": "array"
+ }
+ ]
+ }
+ ]
+}
\ No newline at end of file
diff --git a/save/systems/dbg-pipe-nolog.json b/save/systems/dbg-pipe-nolog.json
new file mode 100644
index 0000000..f503a67
--- /dev/null
+++ b/save/systems/dbg-pipe-nolog.json
@@ -0,0 +1,431 @@
+{
+ "interpreterName": "cuttlefish",
+ "interpreterVersion": "v0.1",
+ "hunks": [
+ {
+ "type": "manager",
+ "name": "nrol",
+ "inputs": [
+ {
+ "name": "msgs",
+ "type": "byteArray"
+ }
+ ],
+ "outputs": [
+ {
+ "name": "msgs",
+ "type": "byteArray",
+ "connections": [
+ {
+ "inHunkIndex": "1",
+ "inHunkInput": "0"
+ }
+ ]
+ }
+ ]
+ },
+ {
+ "type": "view",
+ "name": "tlview",
+ "inputs": [
+ {
+ "name": "msgs",
+ "type": "byteArray"
+ }
+ ],
+ "outputs": [
+ {
+ "name": "msgs",
+ "type": "byteArray",
+ "connections": [
+ {
+ "inHunkIndex": "0",
+ "inHunkInput": "0"
+ }
+ ]
+ }
+ ]
+ },
+ {
+ "type": "link",
+ "name": "link_2",
+ "inputs": [
+ {
+ "name": "data",
+ "type": "byteArray"
+ },
+ {
+ "name": "mgrMsgs",
+ "type": "byteArray"
+ },
+ {
+ "name": "mseg",
+ "type": "MDmseg"
+ }
+ ],
+ "outputs": [
+ {
+ "name": "data",
+ "type": "byteArray",
+ "connections": [
+ {
+ "inHunkIndex": "3",
+ "inHunkInput": "0"
+ }
+ ]
+ },
+ {
+ "name": "mgrMsgs",
+ "type": "byteArray",
+ "connections": [
+ {
+ "inHunkIndex": "4",
+ "inHunkInput": "0"
+ }
+ ]
+ }
+ ],
+ "states": [
+ {
+ "name": "isActive",
+ "type": "boolean",
+ "value": "true"
+ },
+ {
+ "name": "otherLink",
+ "type": "uint16",
+ "value": "1"
+ },
+ {
+ "name": "inputList",
+ "type": "string",
+ "value": "mgrMsgs (byteArray), mseg (MDmseg)"
+ },
+ {
+ "name": "outputList",
+ "type": "string",
+ "value": "mgrMsgs (byteArray)"
+ }
+ ],
+ "contains": {
+ "interpreterName": "ponyo",
+ "interpreterVersion": "v0.1",
+ "hunks": [
+ {
+ "type": "manager",
+ "name": "ponyo_one",
+ "inputs": [
+ {
+ "name": "mgrMsgs_1024",
+ "type": "byteArray"
+ }
+ ],
+ "outputs": [
+ {
+ "name": "mgrMsgs_1024",
+ "type": "byteArray",
+ "connections": [
+ {
+ "inHunkIndex": "1",
+ "inHunkInput": "1"
+ }
+ ]
+ }
+ ]
+ },
+ {
+ "type": "link",
+ "name": "link_1",
+ "inputs": [
+ {
+ "name": "data_1024",
+ "type": "byteArray"
+ },
+ {
+ "name": "mgrMsgs_1024",
+ "type": "byteArray"
+ }
+ ],
+ "outputs": [
+ {
+ "name": "data_1024",
+ "type": "byteArray",
+ "connections": [
+ {
+ "inHunkIndex": "2",
+ "inHunkInput": "0"
+ }
+ ]
+ },
+ {
+ "name": "mgrMsgs_1024",
+ "type": "byteArray",
+ "connections": [
+ {
+ "inHunkIndex": "0",
+ "inHunkInput": "0"
+ }
+ ]
+ },
+ {
+ "name": "mdseg",
+ "type": "MDmseg",
+ "connections": [
+ {
+ "inHunkIndex": "4",
+ "inHunkInput": "0"
+ }
+ ]
+ }
+ ],
+ "states": [
+ {
+ "name": "isActive",
+ "type": "boolean",
+ "value": "true"
+ },
+ {
+ "name": "otherLink",
+ "type": "uint16",
+ "value": "2"
+ },
+ {
+ "name": "inputList",
+ "type": "string",
+ "value": "mgrMsgs (byteArray)"
+ },
+ {
+ "name": "outputList",
+ "type": "string",
+ "value": "mgrMsgs (byteArray), mdseg (MDmseg)"
+ }
+ ]
+ },
+ {
+ "type": "comm/COBS_USB",
+ "name": "comm/COBS_USB_2",
+ "inputs": [
+ {
+ "name": "data_1024",
+ "type": "byteArray"
+ }
+ ],
+ "outputs": [
+ {
+ "name": "data_1024",
+ "type": "byteArray",
+ "connections": [
+ {
+ "inHunkIndex": "1",
+ "inHunkInput": "0"
+ }
+ ]
+ }
+ ]
+ },
+ {
+ "type": "driver/stepper",
+ "name": "step_driver",
+ "inputs": [
+ {
+ "name": "increment",
+ "type": "mseg"
+ },
+ {
+ "name": "enable",
+ "type": "boolean"
+ }
+ ],
+ "outputs": [
+ {
+ "name": "increment",
+ "type": "int32"
+ },
+ {
+ "name": "stallGuard",
+ "type": "uint32"
+ }
+ ],
+ "states": [
+ {
+ "name": "current (6-24)",
+ "type": "uint16",
+ "value": "16"
+ },
+ {
+ "name": "enable",
+ "type": "boolean",
+ "value": "true"
+ }
+ ]
+ },
+ {
+ "type": "control/MDtoDmseg",
+ "name": "control/MDtoDmseg_4",
+ "inputs": [
+ {
+ "name": "motionSegment",
+ "type": "MDmseg"
+ }
+ ],
+ "outputs": [
+ {
+ "name": "dmSegX",
+ "type": "mseg",
+ "connections": [
+ {
+ "inHunkIndex": "3",
+ "inHunkInput": "0"
+ }
+ ]
+ },
+ {
+ "name": "dmSegY",
+ "type": "mseg"
+ },
+ {
+ "name": "dmSegZ",
+ "type": "mseg"
+ }
+ ]
+ }
+ ]
+ }
+ },
+ {
+ "type": "pipes/vfptc",
+ "name": "pipes/vfptc_3",
+ "inputs": [
+ {
+ "name": "data",
+ "type": "byteArray"
+ }
+ ],
+ "outputs": [
+ {
+ "name": "data",
+ "type": "byteArray",
+ "connections": [
+ {
+ "inHunkIndex": "2",
+ "inHunkInput": "0"
+ }
+ ]
+ }
+ ],
+ "states": [
+ {
+ "name": "pipe status",
+ "type": "string",
+ "value": "open"
+ },
+ {
+ "name": "websocket port",
+ "type": "string",
+ "value": "2042"
+ },
+ {
+ "name": "usb product id",
+ "type": "string",
+ "value": "8022"
+ },
+ {
+ "name": "pipe reset",
+ "type": "boolean",
+ "value": "false"
+ },
+ {
+ "name": "serialport status",
+ "type": "string",
+ "value": "open"
+ }
+ ]
+ },
+ {
+ "type": "view",
+ "name": "view_4",
+ "inputs": [
+ {
+ "name": "msgs",
+ "type": "byteArray"
+ }
+ ],
+ "outputs": [
+ {
+ "name": "msgs",
+ "type": "byteArray",
+ "connections": [
+ {
+ "inHunkIndex": "2",
+ "inHunkInput": "1"
+ }
+ ]
+ }
+ ]
+ },
+ {
+ "type": "adhoc/saturn",
+ "name": "adhoc/saturn_5",
+ "inputs": [
+ {
+ "name": "posn",
+ "type": "array"
+ }
+ ],
+ "outputs": [
+ {
+ "name": "posn",
+ "type": "array"
+ },
+ {
+ "name": "motionSegment",
+ "type": "MDmseg",
+ "connections": [
+ {
+ "inHunkIndex": "2",
+ "inHunkInput": "2"
+ }
+ ]
+ }
+ ]
+ },
+ {
+ "type": "adhoc/tpath",
+ "name": "adhoc/tpath_6",
+ "outputs": [
+ {
+ "name": "position",
+ "type": "array",
+ "connections": [
+ {
+ "inHunkIndex": "5",
+ "inHunkInput": "0"
+ }
+ ]
+ }
+ ],
+ "states": [
+ {
+ "name": "mm/pix",
+ "type": "number",
+ "value": "0.35277777777777775"
+ },
+ {
+ "name": "longpath",
+ "type": "boolean",
+ "value": "false"
+ },
+ {
+ "name": "shortpath",
+ "type": "boolean",
+ "value": "false"
+ },
+ {
+ "name": "sl2path",
+ "type": "boolean",
+ "value": "false"
+ }
+ ]
+ }
+ ]
+}
\ No newline at end of file
--
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