I tried a lot! But i don't know here i am going wrong. I am beginner with websockets and stuff. I would really appreciate some help. If my IP adress of the computer running the leapmotion is xxx.xxx.xxx.xx (server) , then how do I make changes to this client program, running Arduino application(on another laptop), to hence connect to the server.
I WOULD REALLY APPRECIATE SOME HELP! I know it's just simple stuff for those who are knowledged with Websockets, I could learn from you.
/*
* Variables
*/
var Leap = require('leapjs');
var five = require('johnny-five');
// Board and servos for Johnny-Five
var board, servoBase, servoShoulder, servoElbow, servoClaw;
// Position variables for the Leap
var handPosition;
var fingerDistance;
var angles;
// Movement variables
var moveBase, moveShoulder, moveElbow, moveClaw;
var frames = [];
/*
* Settings
*/
var normalize = 3;
var minimumClawDistance = 15;
var boardOptions = { port: '/dev/cu.usbmodemfa131' };
// Restricted input values (in Leap space).
// You can change these depending on how you build your robot arm.
var MAX_Y = 300;
var MIN_Y = 120;
var MAX_Z = 200;
/*
* Need to set up 4 servos: shoulder, elbow, claw, and base
* Use inverse kinematics equation on servoShoulder & servoElbow
* Use fingerDistance to rotate servoClaw to desired position
* Servos must be placed on the Arduino's PWM pins
*/
// Leap motion controller
var controller = new Leap.Controller();
// Main Leap frame loop
controller.on('frame', function(frame) {
// Hand position controls the robot arm position
if(frame.hands.length > 0) {
handPosition = frame.hands[0].palmPosition;
// Restrict certain inputs to prevent physical damage
// These values can be changed depending on
if(handPosition[1] < 120) handPosition[1] = 120;
if(handPosition[1] > 415) handPosition[1] = 415;
if(handPosition[2] > 200) handPosition[2] = 200;
console.log(handPosition[1]);
// Calculate all of the movement angles
angles = calculateInverseKinematics(0,-10+handPosition[1]/normalize,handPosition[2]/normalize);
moveBase = 180-calculateBaseAngle(handPosition[0]/1.5);
moveShoulder = toDegrees(angles.theta1);
moveElbow = 45+toDegrees(angles.theta2);
}
// Finger distance (of two fingers only) controls the end effector
if(frame.pointables.length > 1) {
f1 = frame.pointables[0];
f2 = frame.pointables[1];
fingerDistance = distance(f1.tipPosition[0],f1.tipPosition[1],f1.tipPosition[2],f2.tipPosition[0],f2.tipPosition[1],f2.tipPosition[2]);
moveClaw = (fingerDistance/1.2) - minimumClawDistance;
}
frames.push(frame);
});
// Leap Motion connected
controller.on('connect', function(frame) {
console.log("Leap Connected.");
setTimeout(function() {
var time = frames.length/2;
}, 200);
});
controller.connect();
// Johnny-Five controller
board = new five.Board();
board.on('ready', function() {
servoBase = new five.Servo(3);
servoShoulder = new five.Servo(9);
servoElbow = new five.Servo(10);
servoClaw = new five.Servo(6);
// Initial positions of the robot arm
servoBase.center();
servoShoulder.center();
servoElbow.move(45);
servoClaw.move(100);
// Move each component
this.loop(20, function() {
if(!isNaN(moveShoulder) && !isNaN(moveElbow)) {
servoShoulder.move(moveShoulder);
servoElbow.move(moveElbow);
} else {
console.log("Shoulder/Elbow NaN value detected.");
}
if(moveBase >= 0 && moveBase <= 180) {
servoBase.move(moveBase);
}
if(moveClaw >= 0 && moveClaw <= 100) {
servoClaw.move(moveClaw);
}
console.log("Base: " + Math.floor(moveBase) + "\tShoulder: " + Math.floor(moveShoulder) + "\tElbow: " + Math.floor(moveElbow) + "\tClaw: " + Math.floor(moveClaw));
});
});
/*
* Angle Calculation Functions
*/
function calculateBaseAngle(x) {
// Massage the input values a bit; salt to taste.
var n = 100*normalize;
x = 1.5+2*x/n;
// 90 Degrees is the center of the base servo, and we want the movement to be
// nonlinear due to the circular nature of the base.
var angle = 90+Math.cos(x)*90;
return angle;
}
function calculateInverseKinematics(x,y,z) {
// Adjust the input values
y = y*1.5 + 40;
z = -z*1.5;
// Normalize the values to mesh with your desired input range
var l1 = 40*normalize;
var l2 = 40*normalize;
// Inverse kinematics equations
var t1 = Math.acos((square(z)+square(y)-square(l1)-square(l2))/(2*l1*l2));
var t2 = Math.asin(((l1+l2*Math.cos(t1))y-l2Math.sin(t1)z)/(square(l1)+square(l2)+2l1*l2*Math.cos(t1)));
//console.log("[DEBUG] THETA1: " + toDegrees(t1) + "\tTHETA2: " + toDegrees(t2));
return {
theta1: t1,
theta2: t2
}
}
/*
* Utility Functions
*/
function distance(x1,y1,z1,x2,y2,z2) {
return Math.sqrt(square(x2-x1)+square(y2-y1)+square(z2-z1));
}
function square(x) {
return x*x;
}
function toDegrees(r) {
return r*57.2957795;
}
