diff --git a/hunks/adhoc/saturn.js b/hunks/adhoc/saturn.js
index c5cc8b766ae76d327a0d19bbcaf5b2e76e29844a..b3ca26135cc3fcc3d91262f52d379d161362d90e 100644
--- a/hunks/adhoc/saturn.js
+++ b/hunks/adhoc/saturn.js
@@ -16,7 +16,7 @@ import {
vSum
} from '../../libs/smallvectors.js'
-export default function Saturn(){
+export default function Saturn() {
Hunkify(this)
let inpts = this.input('array', 'posn')
@@ -37,75 +37,59 @@ export default function Saturn(){
// current states,
let feed = 10 // (units/s)
let lt = [] // last transform (since we know time, this is our speed data)
- let position = [0,0,0] // we track position...
+ let position = [0, 0, 0] // we track position...
let posUpdated = false
let calculateNextIncrement = () => {
// for now, straightforward: current position w/r/t path,
// increment is this posn -> next target, at rate ...
// for simplicity, we can assume that we're always going from where we're at to the [1]th point in the path,
- let vect = [0,0,0]
+ let vect = [0, 0, 0]
let dist = vDist(position, path[0])
vect.forEach((axis, i) => {
vect[i] = (path[0][i] - position[i]) / dist
})
// easy increment is just this vector * rate / period
- let timeSeg = [0,0,0]
+ let timeSeg = [0, 0, 0]
timeSeg.forEach((axis, i) => {
timeSeg[i] = vect[i] * (feed / period)
})
// now, is this a step-over ? some fast-slow-math for this:
let np = vSum(position, timeSeg)
- if(vDist(np, position) > vDist(position, path[0])){
+ if (vDist(np, position) > vDist(position, path[0])) {
// ts is just to get us exactly to it ..
timeSeg.forEach((axis, i) => {
timeSeg[i] = path[0][i] - position[i]
})
- console.log('passing')
path.shift()
}
return timeSeg
}
this.loop = () => {
- if(path.length < pathBufferSize && inpts.io()){
- path.push(inpts.get())
+ if (path.length < pathBufferSize && inpts.io()) {
+ let np = inpts.get()
+ console.log('new pt\t', path.length, np)
+ path.push(np)
}
- if(allclear()){
+ if (allclear() && path.length > 0) {
// this is our major timestep, and should happen only once-every-segment
- if(path.length > 0){
- // we have items in the path,
- // we should calculate an ideal trajectory from our current position and speed
- // probably recalculating the whole thing, and then send that out...
- let ts = calculateNextIncrement()
- console.log('time seg', ts)
- position = vSum(position, ts)
- posUpdated = true
- /*
- console.log('nt', nt)
- // update internal state,
- position.forEach((axis, i) => {
- position[i] += nt[i]
- })
- console.log('position', position)
- */
- // have to do this so that flowcontrol happens, gating us
- outx.put(0)
- outy.put(0)
- outz.put(0)
- /*
- let np = op.shift() // actually, calc next transform based on last posn' and the increment we want now
- cp = np
- posUpdated = true
- */
- // actually like:
- /*
- lt = np
- cp += lt
- */
- }
+ // path length reads @ 26, but NaN ??
+ // do check ... if anything is NaN, print all path, OK. maybe reference problem?
+ console.log(path.length)
+ // we have items in the path,
+ // we should calculate an ideal trajectory from our current position and speed
+ // probably recalculating the whole thing, and then send that out...
+ let ts = calculateNextIncrement()
+ console.log('time seg\t', ts)
+ position = vSum(position, ts)
+ posUpdated = true
+ // send 'em
+ outx.put(ts[0])
+ outy.put(ts[1])
+ outz.put(ts[2])
}
- if(!outp.io() && posUpdated){
+ if (!outp.io() && posUpdated) {
outp.put(position)
posUpdated = false
}
diff --git a/hunks/adhoc/tpath.js b/hunks/adhoc/tpath.js
index 21614da51e36c933f5de5545ed2857746f46a371..7ee984701ce1a74fba385a8bfcf3380ebdf7dd21 100644
--- a/hunks/adhoc/tpath.js
+++ b/hunks/adhoc/tpath.js
@@ -11,7 +11,8 @@ import {
State
} from '../hunks.js'
-import * as expath from '../../test_files/example-path.js'
+// example-path-long.js also exists...
+import * as expath from '../../test_files/example-path-small.js'
export default function TPFCOUT(){
Hunkify(this)
@@ -19,7 +20,7 @@ export default function TPFCOUT(){
// copy this in au manuel
let ogpath = expath.default.arr
let path = []
- let go = true
+ let go = true
let outPosn = this.output('array', 'position')
let outReset = this.state('boolean', 'reset', false)
@@ -35,7 +36,7 @@ export default function TPFCOUT(){
// copies out, one at a time, fc pressure
this.loop = () => {
- if(path.length && go){
+ if(path.length > 0 && go){
if(!outPosn.io()){
outPosn.put(path.shift())
}
diff --git a/test_files/example-path.js b/test_files/example-path-long.js
similarity index 100%
rename from test_files/example-path.js
rename to test_files/example-path-long.js
diff --git a/test_files/example-path-small.js b/test_files/example-path-small.js
new file mode 100644
index 0000000000000000000000000000000000000000..8e6ce802b608497ab0e4ebe98552d950997743fa
--- /dev/null
+++ b/test_files/example-path-small.js
@@ -0,0 +1,1149 @@
+export default {
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+}