Robotic arm manipulator. Drag base along rail.
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August 29, 2015 14:13
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Robot arm
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<!DOCTYPE html> | |
<meta charset="utf-8"> | |
<html> | |
<head> | |
<style> | |
body { | |
margin: 0; | |
padding: 0; | |
} | |
#sketchpadDiv { | |
position: absolute; | |
width: 100%; | |
height: 100%; | |
border: 1px solid #000; | |
-webkit-box-sizing: border-box; | |
-moz-box-sizing: border-box; | |
box-sizing: border-box; | |
} | |
#sketchpadCanvas { | |
position: absolute; | |
} | |
</style> | |
</head> | |
<body> | |
<div id="sketchpadDiv"> | |
<canvas id="sketchpadCanvas"></canvas> | |
</div> | |
</body> | |
<script type="text/javascript" src="https://code.jquery.com/jquery-2.1.1.min.js"></script> | |
<script type="text/javascript" src="http://www.garciadelcastillo.es/sketchpad/sketchpad-0.0.2.js"></script> | |
<script> | |
// ROBOTIC ARM | |
// Initialize Sketchpad | |
var pad = new Sketchpad('sketchpadCanvas'); | |
// Define some styles | |
var linkStyle = new pad.Style({ | |
stroke: '#ED5C13', | |
strokeWidth: '3' | |
}), | |
jointStyle = new pad.Style({ | |
stroke: '#000000', | |
fill: '#ED5C13' | |
}); | |
// Create link length sliders | |
var L1 = Slider(pad, 25, 25, 150, 0, 300, 150, { }), | |
L2 = Slider(pad, 200, 25, 150, 0, 300, 100, { }), | |
L3 = Slider(pad, 375, 25, 150, 0, 300, 25, { }); | |
// Create joint angle knobs | |
var TAU = 2 * Math.PI; // Pi is wrong: http://www.tauday.com/tau-manifesto | |
var R1 = Knob(pad, 100, 60, 21, 0, TAU, 0.75 * TAU, { }), | |
R2 = Knob(pad, 275, 60, 21, 0, TAU, 0.25 * TAU, { }), | |
R3 = Knob(pad, 450, 60, 21, 0, TAU, 0.25 * TAU, { }); | |
// Concatenate rotations | |
var r1 = R1, | |
r2 = pad.Measure.compose(R1, R2, function() { return R1.value + R2.value }), | |
r3 = pad.Measure.compose(r2, R3, function() { return r2.value + R3.value }); | |
// Robot rail and draggable node | |
var rail = new pad.Line(100, 0.75 * pad.height.value, pad.width.value - 100, 0.75 * pad.height.value), | |
J1 = pad.Node.along(rail, 0.25, { clamp: true }); | |
// Concatenate other joints and links | |
var J2 = pad.Point.offsetPolar(J1, L1, r1), | |
link1 = pad.Line.between(J1, J2); | |
var J3 = pad.Point.offsetPolar(J2, L2, r2), | |
link2 = pad.Line.between(J2, J3); | |
var J4 = pad.Point.offsetPolar(J3, L3, r3), | |
link3 = pad.Line.between(J3, J4); | |
// Some visual flavor | |
var j1c = pad.Circle.centerRadius(J1, 7), | |
j2c = pad.Circle.centerRadius(J2, 5), | |
j3c = pad.Circle.centerRadius(J3, 5); | |
jointStyle.applyTo(j1c, j2c, j3c); | |
linkStyle.applyTo(link1, link2, link3); | |
pad.update = function() { | |
// do nothing | |
}; | |
/** | |
* A quick implementation of a Slider class based on Sketchpad's capabilities | |
* Returns a Measure object defined by the slider's state | |
*/ | |
function Slider(pad, x, y, width, minValue, maxValue, startValue, options) { | |
var axis = new pad.Line(x, y, x + width, y); | |
var t = (startValue - minValue) / (maxValue - minValue); | |
var handle = pad.Node.along(axis, t, {clamp: true}); | |
var measure = pad.Measure.compose(handle, function() { | |
return minValue + (maxValue - minValue) * (handle.x - x) / width; // handle gets scoped! serendipity! | |
}); | |
var label = pad.Label.from(measure, {round: true}), | |
tag = new pad.Tag.on(handle, label); | |
return measure; | |
}; | |
/** | |
* Quick prototype test for a Knob class | |
*/ | |
function Knob(pad, x, y, radius, minValue, maxValue, startValue, options) { | |
var TAU = 2 * Math.PI, | |
TO_DEG = 360 / TAU; | |
var center = new pad.Point(x, y), | |
base = pad.Point.offset(center, radius, 0), | |
marker = pad.Line.between(center, base), | |
circle = pad.Circle.centerRadius(center, radius); | |
var t = (startValue - minValue) / (maxValue - minValue), | |
handle = pad.Node.along(circle, t); | |
var measure = pad.Measure.compose(center, handle, function() { | |
var tangle = pad.U.angleBetween2Points(handle, center) / TAU + 0.5; | |
return minValue + tangle * (maxValue - minValue); | |
}); | |
var measureDeg = pad.Measure.compose(measure, function() { return measure.value * TO_DEG; }); | |
var label = pad.Label.from(measureDeg, {round: true}), | |
tagAnchor = pad.Point.offset(center, 0, 2.5 * radius), | |
tag = pad.Tag.on(tagAnchor, label); | |
return measure; | |
}; | |
</script> | |
</html> |
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