Samples/Samples/Sample4_Arduino2_PIDControl/Container/4/ar/4_a.xhtml

   1 <?xml version="1.0" encoding="utf-8"?>
   2 <!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
   3 <html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
   4 <head><title>Dennco - test1</title>
   5 <link rel="stylesheet" type="text/css" href="dstyle.css" />
   6 </head>
   7
   8 <body>
   9 <h1>Outputs for Arduino motor shield</h1>
  10
  11 <a define="cell" name="M1controlValueController"><a parameter="cellcode" href="#ControlValueController"> </a>
  12 <a parameter="connection" href="4_z.xhtml#m1" receptor="controlValue"></a>
  13 <a parameter="connection" href="../ui/4_uiz.xhtml#m1controlValue" receptor="controlValue"></a>
  14 </a>
  15
  16
  17 <a define="cellcode"  name="ControlValueController" type="B">
  18 <pre parameter="script">
  19 <![CDATA[
  20 var prevPosition;
  21 var prevSamplingTime;
  22
  23 function doInit()
  24 {
  25         this.prevRawPosition = 0;
  26         this.prevSamplingTime = 0;
  27 }
  28
  29 function doTick(time)
  30 {
  31         var controlValue = this.cell.receptors.controlValue;
  32         var samplingTime = this.cell.receptors.samplingTime;
  33         var currentRawPosition = this.cell.receptors.currentRawPosition;
  34         var offset = this.cell.receptors.offset;
  35         var uiInitialized = this.cell.receptors.uiInitialized;
  36
  37         if (uiInitialized != 1)
  38         {
  39                 print("waiting for the initialization of UI..");
  40                 return;
  41         }
  42
  43         if (samplingTime != this.prevSamplingTime && controlValue != 0 && Math.abs(currentRawPosition - this.prevRawPosition) <= 1 && Math.abs(controlValue) < offset)
  44         {
  45                 if (controlValue > 0)
  46                 {
  47                         controlValue += offset;
  48                 }
  49                 else
  50                 {
  51                         controlValue -= offset;
  52                 }
  53         }
  54         this.prevRawPosition = currentRawPosition;
  55         this.prevSamplingTime = samplingTime
  56
  57         if (controlValue > 1)
  58         {
  59                 controlValue= 1;
  60         }
  61         else if (controlValue < -1)
  62         {
  63                 controlValue = -1;
  64         }
  65         controlValue = Math.floor(controlValue * 255);
  66
  67         var safetyBreak = this.cell.receptors.safetyBreak;
  68
  69         if (controlValue <= 0 && safetyBreak >= 0)
  70         {
  71                 this.cell.axonValue = controlValue;
  72         }
  73         else if (controlValue > 0 && safetyBreak <= 0)
  74         {
  75                 this.cell.axonValue = controlValue;
  76         }
  77         else
  78         {
  79                 this.cell.axonValue = 0;
  80         }
  81 }
  82 ]]>
  83 </pre>
  84 </a>
  85 </body>
  86 </html>