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Eskimue
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.gitignore
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ssh-zugang-raspberry-pi.txt
ExoMy_Software-master/.gitignore
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*.pyc
config/exomy.yaml
ExoMy_Software-master/CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
project(exomy)
## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
rospy
std_msgs
sensor_msgs
message_generation
)
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
# find_package(python-rpi.gpio REQUIRED)
## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()
################################################
## Declare ROS messages, services and actions ##
################################################
## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
## * add a build_depend tag for "message_generation"
## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
## but can be declared for certainty nonetheless:
## * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
## * add "message_generation" and every package in MSG_DEP_SET to
## find_package(catkin REQUIRED COMPONENTS ...)
## * add "message_runtime" and every package in MSG_DEP_SET to
## catkin_package(CATKIN_DEPENDS ...)
## * uncomment the add_*_files sections below as needed
## and list every .msg/.srv/.action file to be processed
## * uncomment the generate_messages entry below
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
## Generate messages in the 'msg' folder
add_message_files(
FILES
RoverCommand.msg
MotorCommands.msg
Screen.msg
)
## Generate services in the 'srv' folder
# add_service_files(
# FILES
# Service1.srv
# Service2.srv
# )
## Generate actions in the 'action' folder
# add_action_files(
# FILES
# Action1.action
# Action2.action
# )
## Generate added messages and services with any dependencies listed here
generate_messages(
DEPENDENCIES
sensor_msgs
std_msgs
)
################################################
## Declare ROS dynamic reconfigure parameters ##
################################################
## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
## * add "dynamic_reconfigure" to
## find_package(catkin REQUIRED COMPONENTS ...)
## * uncomment the "generate_dynamic_reconfigure_options" section below
## and list every .cfg file to be processed
## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
# cfg/DynReconf1.cfg
# cfg/DynReconf2.cfg
# )
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES exomy
CATKIN_DEPENDS rospy std_msgs sensor_msgs message_runtime
# DEPENDS python-rpi.gpio
)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
# include
${catkin_INCLUDE_DIRS}
)
## Declare a C++ library
# add_library(${PROJECT_NAME}
# src/${PROJECT_NAME}/exomy.cpp
# )
## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
# add_executable(${PROJECT_NAME}_node src/exomy_node.cpp)
## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Specify libraries to link a library or executable target against
# target_link_libraries(${PROJECT_NAME}_node
# ${catkin_LIBRARIES}
# ${python-rpi.gpio_LIBRARIES}
# )
#############
## Install ##
#############
# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# install(PROGRAMS
# scripts/my_python_script
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark executables and/or libraries for installation
# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
# FILES_MATCHING PATTERN "*.h"
# PATTERN ".svn" EXCLUDE
# )
## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
# # myfile1
# # myfile2
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )
#############
## Testing ##
#############
## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_exomy.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
## Add folders to be run by python nosetests
# catkin_add_nosetests(test)
ExoMy_Software-master/LICENSE
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GNU GENERAL PUBLIC LICENSE
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Nothing in this License shall be construed as excluding or limiting
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12. No Surrender of Others' Freedom.
If conditions are imposed on you (whether by court order, agreement or
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License would be to refrain entirely from conveying the Program.
13. Use with the GNU Affero General Public License.
Notwithstanding any other provision of this License, you have
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under version 3 of the GNU Affero General Public License into a single
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14. Revised Versions of this License.
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If the Program specifies that a proxy can decide which future
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APPLICABLE LAW. EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT
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IS WITH YOU. SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF
ALL NECESSARY SERVICING, REPAIR OR CORRECTION.
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PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS),
EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF
SUCH DAMAGES.
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If the disclaimer of warranty and limitation of liability provided
above cannot be given local legal effect according to their terms,
reviewing courts shall apply local law that most closely approximates
an absolute waiver of all civil liability in connection with the
Program, unless a warranty or assumption of liability accompanies a
copy of the Program in return for a fee.
END OF TERMS AND CONDITIONS
How to Apply These Terms to Your New Programs
If you develop a new program, and you want it to be of the greatest
possible use to the public, the best way to achieve this is to make it
free software which everyone can redistribute and change under these terms.
To do so, attach the following notices to the program. It is safest
to attach them to the start of each source file to most effectively
state the exclusion of warranty; and each file should have at least
the "copyright" line and a pointer to where the full notice is found.
<one line to give the program's name and a brief idea of what it does.>
Copyright (C) <year> <name of author>
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <https://www.gnu.org/licenses/>.
Also add information on how to contact you by electronic and paper mail.
If the program does terminal interaction, make it output a short
notice like this when it starts in an interactive mode:
<program> Copyright (C) <year> <name of author>
This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
This is free software, and you are welcome to redistribute it
under certain conditions; type `show c' for details.
The hypothetical commands `show w' and `show c' should show the appropriate
parts of the General Public License. Of course, your program's commands
might be different; for a GUI interface, you would use an "about box".
You should also get your employer (if you work as a programmer) or school,
if any, to sign a "copyright disclaimer" for the program, if necessary.
For more information on this, and how to apply and follow the GNU GPL, see
<https://www.gnu.org/licenses/>.
The GNU General Public License does not permit incorporating your program
into proprietary programs. If your program is a subroutine library, you
may consider it more useful to permit linking proprietary applications with
the library. If this is what you want to do, use the GNU Lesser General
Public License instead of this License. But first, please read
<https://www.gnu.org/licenses/why-not-lgpl.html>.
ExoMy_Software-master/README.md
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# ExoMy - Software Repository
This repository contains the software to run Exomy. The [wiki](https://github.com/esa-prl/ExoMy/wiki) explains you how to use it.
![ExoMy image](https://github.com/esa-prl/ExoMy/wiki/images/renderings/2020_02_25.JPG)
# ExoMy Project Structure
### [Website](https://esa-prl.github.io/ExoMy/)
There is a website about ExoMy. It does not help you build it, but is still nice to look at.
### [Wiki](https://github.com/esa-prl/ExoMy/wiki)
The [wiki](https://github.com/esa-prl/ExoMy/wiki) contains step by step instructions on how the 3D-printed rover ExoMy can be built, controlled and customized.
### [Documentation Repository](https://github.com/esa-prl/ExoMy)
This repository contains all the files of the documentation of ExoMy. Just click on [*Releases*](https://github.com/esa-prl/ExoMy/releases) and download the files of the latest release. They are explained further in the [wiki](https://github.com/esa-prl/ExoMy/wiki).
### Social Media
<!-- Add icon library -->
<link rel="stylesheet" href="https://use.fontawesome.com/releases/v5.13.1/css/all.css">
<!-- Add font awesome icons -->
<p>
<img src="https://github.com/esa-prl/ExoMy/wiki/images/social_media_icons/discord-brands.svg" width="20px">
<a href="https://discord.gg/gZk62gg"> Join the Community!</a>
</p>
<p>
<img src="https://github.com/esa-prl/ExoMy/wiki/images/social_media_icons/twitter-square-brands.svg" width="20px">
<a href="https://twitter.com/exomy_rover"> @ExoMy_Rover</a>
</p>
<p>
<img src="https://github.com/esa-prl/ExoMy/wiki/images/social_media_icons/instagram-square-brands.svg" width="20px">
<a href="https://www.instagram.com/exomy_rover/"> @ExoMy_Rover</a>
</p>
ExoMy_Software-master/config/exomy.yaml.template
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# Naming conventions:
#
# fl - front left | fr - front right
# cl - center left | cr - center right
# rl - rear left | rr - rear right
# Pin numbers for motors on PWM board
pin_drive_fl: 14
pin_steer_fl: 12
pin_drive_fr: 2
pin_steer_fr: 0
pin_drive_cl: 6
pin_steer_cl: 7
pin_drive_cr: 4
pin_steer_cr: 5
pin_drive_rl: 15
pin_steer_rl: 13
pin_drive_rr: 3
pin_steer_rr: 1
## PWM values
# Those values highly depend on the motors and pwm board used
# Check out the wiki for further explanation
# PWM values for the neutral steering position
steer_pwm_neutral_fl: 300
steer_pwm_neutral_fr: 300
steer_pwm_neutral_cl: 300
steer_pwm_neutral_cr: 300
steer_pwm_neutral_rl: 300
steer_pwm_neutral_rr: 300
# PWW range around steering neutral position
steer_pwm_range: 250
# PWM value for the stop position of driving motors
drive_pwm_neutral: 307
# PWW range around driving neutral position
drive_pwm_range: 100
ExoMy_Software-master/docker/Dockerfile
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# Base image
FROM ros:melodic
ENV TZ=Europe/Amsterdam
RUN ln -snf /usr/share/zoneinfo/$TZ /etc/localtime && echo $TZ > /etc/timezone
# Basic tools
RUN apt-get update && \
apt-get install vim nano git tmux wget curl python-pip net-tools iputils-ping -y
# Install additional ros packages
RUN apt-get update && apt-get install ros-melodic-rosbridge-server ros-melodic-joy -y
RUN pip install adafruit-pca9685
# Install packages for web application
RUN curl -sL https://deb.nodesource.com/setup_12.x | bash -
RUN apt-get update && \
apt-get install nodejs -y
RUN npm install http-server -g
# Install packages for camera use
RUN apt-get update && \
apt-get install ros-melodic-web-video-server ros-melodic-usb-cam -y
# Add ros sourcing to bashrc
RUN echo ". /opt/ros/melodic/setup.bash" >> ~/.bashrc
# Create Ros workspace
ENV EXOMY_WS=/root/exomy_ws
RUN mkdir -p $EXOMY_WS/src
WORKDIR /root
COPY ./entrypoint.sh /
ENTRYPOINT ["/entrypoint.sh"]
ExoMy_Software-master/docker/entrypoint.sh
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#!/bin/bash
if [[ $1 == "config" ]]
then
cd /root/exomy_ws/src/exomy/scripts
bash
elif [[ $1 == "autostart" ]]
then
source /opt/ros/melodic/setup.bash
cd /root/exomy_ws
catkin_make
http-server src/exomy/gui -p 8000 &
source devel/setup.bash
roslaunch exomy exomy.launch
bash
elif [[ $1 == "devel" ]]
then
cd /root/exomy_ws
source /opt/ros/melodic/setup.bash
# catkin_make
# source devel/setup.bash
bash
else
bash
fi
ExoMy_Software-master/docker/run_exomy.sh
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#!/bin/bash
# run_exomy- A script to run containers for dedicated functions of exomy
help_text="Usage: "$0" [MODE] [OPTIONS]
A script to run ExoMy in different configurations
Options:
-a, --autostart Toggles autostart mode on or off
-c, --config Runs the motor configuration of ExoMy
-d, --devel Runs the development mode to change some code of ExoMy
-h, --help Shows this text
"
### Main
# Initialize parameters
container_name="exomy"
image_name="exomy"
# Process parameters
if [ "$1" != "" ]; then
case $1 in
-a | --autostart)
container_name="${container_name}_autostart"
start_command="autostart"
options="--restart always"
;;
-s | --stop_autostart)
docker container stop "${container_name}_autostart"
exit
;;
-c | --config)
container_name="${container_name}_config"
start_command="config"
options="--rm"
;;
-d | --devel)
container_name="${container_name}_devel"
start_command="devel"
options="--restart always"
;;
-h | --help ) echo "$help_text"
exit
;;
* ) echo "ERROR: Not a valid mode!"
echo "$help_text"
exit 1
esac
else
echo "ERROR: You need to specify a mode!"
echo "$help_text"
exit
fi
# Build docker image from Dockerfile in directory
directory=$( dirname "$0" )
docker build -t $image_name $directory
# Stop any of the 3 containers if running
RUNNING_CONTAINERS=$( docker container ls -a -q --filter ancestor=exomy )
if [ -n "$RUNNING_CONTAINERS" ]; then
docker rm -f "$RUNNING_CONTAINERS"
fi
# Run docker container
docker run \
-it \
-v ~/ExoMy_Software:/root/exomy_ws/src/exomy \
-p 8000:8000 \
-p 8080:8080 \
-p 9090:9090 \
--privileged \
${options} \
--name "${container_name}" \
"${image_name}" \
"${start_command}"
ExoMy_Software-master/gui/index.html
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<!DOCTYPE html>
<html>
<head>
<meta charset="utf-8" />
<script type="text/javascript" src="http://static.robotwebtools.org/roslibjs/current/roslib.min.js"></script>
<script src="./node_modules/nipplejs/dist/nipplejs.js"></script>
<script type="text/javascript" type="text/javascript">
var publishImmidiately = true;
var host_url = window.location.hostname;
console.log(host_url);
var watchdog_handle;
var ros = new ROSLIB.Ros({
url: 'ws://' + host_url + ':9090'
});
// Initialize Axes and Buttons arrays
var axes = [0, 0, 0, 0, 0, 0];
var buttons = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0];
ros.on('connection', function () {
document.getElementById("status").innerHTML = "Connected";
});
ros.on('error', function (error) {
document.getElementById("status").innerHTML = "Error";
});
ros.on('close', function () {
document.getElementById("status").innerHTML = "Closed";
});
createJoystick = function () {
var options = {
zone: document.getElementById('joy_container'),
threshold: 0.1,
position: { left: '50%', top: '50%' },
mode: 'static',
size: 150,
color: 'black'
};
manager = nipplejs.create(options);
self.manager.on('start', function (event, nipple) {
});
self.manager.on('move', function (event, nipple) {
var max_distance = 75;
var x = -Math.cos(nipple.angle.radian) * nipple.distance / max_distance;
var y = Math.sin(nipple.angle.radian) * nipple.distance / max_distance;
axes = [x, y, 0, 0, 0, 0]
// nipplejs is triggering events when joystick moves each pixel
// we need delay between consecutive messege publications to
// prevent system from being flooded by messages
// events triggered earlier than 50ms after last publication will be dropped
if (publishImmidiately) {
publishImmidiately = false;
joy_event()
window.clearInterval(watchdog_handle)
watchdog_handle = window.setInterval(joy_event, 50)
setTimeout(function () {
publishImmidiately = true;
}, 50);
}
//joy_event()
//window.clearInterval()
//window.setInterval(joy_event, 500)
});
self.manager.on('end', function () {
window.clearInterval(watchdog_handle)
axes = [0, 0, 0, 0, 0, 0]
joy_event()
console.log('End function called')
});
}
window.onload = function () {
createJoystick();
// Video output
stream_url = '//' + host_url + ':8080/stream?topic=/pi_cam/image_raw';
console.log(stream_url);
document.getElementById("video_output").src = stream_url;
}
joy_listener = new ROSLIB.Topic({
ros: ros,
name: "/joy",
messageType: 'sensor_msgs/Joy'
});
joy_event = function () {
var joy = new ROSLIB.Message({
axes: axes,
buttons: buttons
});
joy_listener.publish(joy);
console.log(axes)
console.log(buttons)
}
button_clicked = function (button_index) {
// The desired button index can be found by listening to the /joy ros message
// or by checking in the wiki for the gamepad mapping.
// Set axes to 0 to prevent driving during mode change.
axes = [0, 0, 0, 0, 0, 0];
buttons[button_index] = 1;
joy_event();
// After the command is sent set the index back to 0
buttons[button_index] = 0;
}
</script>
<link rel="stylesheet" type="text/css" href="style.css">
</head>
<body>
<main>
<div class="wrapper">
<div class="left" id="left">
<div class="joy_container" id="joy_container"></div>
</div>
<div class="middle" id="middle">
<div class="image_container">
<img id="video_output" style="object-fit:cover; width:100%;"></img>
</div>
</div>
<div class="right" id="right">
<div class="button_container">
<button class="button buttonY" onclick="button_clicked(3)">CRABBING</button>
<button class="button buttonX" onclick="button_clicked(0)">SPOT TURN</button>
<button class="button buttonA" onclick="button_clicked(1)">ACKERMANN</button>
<button class="button buttonStart" onclick="button_clicked(9)">MOTORS</button>
</div>
</div>
</div>
</main>
</html>
ExoMy_Software-master/gui/node_modules/nipplejs/CHANGELOG.md
Generated Vendored
+386
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<a name="0.8.5"></a>
## [0.8.5](https://github.com/yoannmoinet/nipplejs/compare/v0.8.4...v0.8.5) (2020-01-27)
<a name="0.8.4"></a>
## [0.8.4](https://github.com/yoannmoinet/nipplejs/compare/v0.7.3...v0.8.4) (2019-11-28)
### Bug Fixes
* allow older typescript ([c164597](https://github.com/yoannmoinet/nipplejs/commit/c164597))
* better lockX and lockY mecanism ([8355fb8](https://github.com/yoannmoinet/nipplejs/commit/8355fb8)), closes [#111](https://github.com/yoannmoinet/nipplejs/issues/111)
* joystick in 'dynamic' mode gets stuck on iOS ([94bb784](https://github.com/yoannmoinet/nipplejs/commit/94bb784)), closes [#94](https://github.com/yoannmoinet/nipplejs/issues/94)
* released outside will be considered inside ([9a8a7b4](https://github.com/yoannmoinet/nipplejs/commit/9a8a7b4)), closes [#109](https://github.com/yoannmoinet/nipplejs/issues/109)
* reset direction when below the threshold ([6f41b38](https://github.com/yoannmoinet/nipplejs/commit/6f41b38)), closes [#110](https://github.com/yoannmoinet/nipplejs/issues/110)
### Features
* add an options to use with dynamic pages ([8258501](https://github.com/yoannmoinet/nipplejs/commit/8258501))
* add raw data on move for data-only usage ([c818fb2](https://github.com/yoannmoinet/nipplejs/commit/c818fb2)), closes [#54](https://github.com/yoannmoinet/nipplejs/issues/54)
* add unit vector representation to move event output ([a4496fe](https://github.com/yoannmoinet/nipplejs/commit/a4496fe))
* upgrade dev experience with webpack and es6 ([cc1e824](https://github.com/yoannmoinet/nipplejs/commit/cc1e824))
<a name="0.7.3"></a>
## [0.7.3](https://github.com/yoannmoinet/nipplejs/compare/v0.7.2...v0.7.3) (2018-12-11)
<a name="0.7.2"></a>
## [0.7.2](https://github.com/yoannmoinet/nipplejs/compare/v0.7.1...v0.7.2) (2018-12-11)
### Features
* Add TypeScript Definitions ([#85](https://github.com/yoannmoinet/nipplejs/issues/85)) ([0b1f4ae](https://github.com/yoannmoinet/nipplejs/commit/0b1f4ae)), closes [#21](https://github.com/yoannmoinet/nipplejs/issues/21)
<a name="0.7.1"></a>
## [0.7.1](https://github.com/yoannmoinet/nipplejs/compare/v0.7.0...v0.7.1) (2018-06-06)
<a name="0.7.0"></a>
# [0.7.0](https://github.com/yoannmoinet/nipplejs/compare/v0.6.8...v0.7.0) (2018-06-06)
### Bug Fixes
* register touchcancel and pointercancel events ([2c541a6](https://github.com/yoannmoinet/nipplejs/commit/2c541a6))
### Features
* **joystick:** add lockX and lockY options ([6baba97](https://github.com/yoannmoinet/nipplejs/commit/6baba97))
<a name="0.6.8"></a>
## [0.6.8](https://github.com/yoannmoinet/nipplejs/compare/v0.6.7...v0.6.8) (2017-12-19)
### Bug Fixes
* add touchcancel handling as touchend for events coming from outside ([ebc501e](https://github.com/yoannmoinet/nipplejs/commit/ebc501e)), closes [#61](https://github.com/yoannmoinet/nipplejs/issues/61) [#57](https://github.com/yoannmoinet/nipplejs/issues/57) [#33](https://github.com/yoannmoinet/nipplejs/issues/33) [#31](https://github.com/yoannmoinet/nipplejs/issues/31) [#30](https://github.com/yoannmoinet/nipplejs/issues/30)
* update manager with changing identifier ([45ec1d7](https://github.com/yoannmoinet/nipplejs/commit/45ec1d7)), closes [#64](https://github.com/yoannmoinet/nipplejs/issues/64)
### Features
* add restJoystick option ([55b6482](https://github.com/yoannmoinet/nipplejs/commit/55b6482))
<a name="0.6.7"></a>
## [0.6.7](https://github.com/yoannmoinet/nipplejs/compare/v0.6.6...v0.6.7) (2016-10-27)
### Bug Fixes
* **events:** trigger events with the correct id and not identifier ([17f0fe6](https://github.com/yoannmoinet/nipplejs/commit/17f0fe6))
* **identifier:** better identifier management ([ff44916](https://github.com/yoannmoinet/nipplejs/commit/ff44916))
* update dependencies ([73bcda9](https://github.com/yoannmoinet/nipplejs/commit/73bcda9))
<a name="0.6.6"></a>
## [0.6.6](https://github.com/yoannmoinet/nipplejs/compare/v0.6.5...v0.6.6) (2016-08-23)
### Bug Fixes
* **bin:** adapt slashes to windows if needed ([7dffd7c](https://github.com/yoannmoinet/nipplejs/commit/7dffd7c))
* **bin:** add missing space ([48f6a1f](https://github.com/yoannmoinet/nipplejs/commit/48f6a1f))
* **bin:** make the copyToGhPages script windows compatible ([11da89a](https://github.com/yoannmoinet/nipplejs/commit/11da89a))
* **dataOnly:** conserve chainability even with dataOnly ([d1eddd0](https://github.com/yoannmoinet/nipplejs/commit/d1eddd0))
<a name="0.6.5"></a>
## [0.6.5](https://github.com/yoannmoinet/nipplejs/compare/v0.6.4...v0.6.5) (2016-08-15)
### Bug Fixes
* **collection:** avoid any native touch action on the `options.zone` ([bea2c42](https://github.com/yoannmoinet/nipplejs/commit/bea2c42))
<a name="0.6.4"></a>
## [0.6.4](https://github.com/yoannmoinet/nipplejs/compare/v0.6.3...v0.6.4) (2016-07-20)
### Bug Fixes
* **nipple:** remove size of container and apply on children only ([0033342](https://github.com/yoannmoinet/nipplejs/commit/0033342)), closes [#32](https://github.com/yoannmoinet/nipplejs/issues/32)
<a name="0.6.3"></a>
## [0.6.3](https://github.com/yoannmoinet/nipplejs/compare/v0.6.2...v0.6.3) (2016-05-29)
### Bug Fixes
* **manager:** add missing closing bracket ([9b99637](https://github.com/yoannmoinet/nipplejs/commit/9b99637))
* **resize:** listen to resize via event instead of global handler ([14c28f1](https://github.com/yoannmoinet/nipplejs/commit/14c28f1))
<a name="0.6.2"></a>
## [0.6.2](https://github.com/yoannmoinet/nipplejs/compare/v0.6.1...v0.6.2) (2015-12-31)
<a name="0.6.1"></a>
## [0.6.1](https://github.com/yoannmoinet/nipplejs/compare/v0.6.0...v0.6.1) (2015-12-26)
### Bug Fixes
* **collection:** trigger `start` event before any potential direction ([c5441fd](https://github.com/yoannmoinet/nipplejs/commit/c5441fd))
* **nipple:** fragment control of previous directions ([790fa26](https://github.com/yoannmoinet/nipplejs/commit/790fa26)), closes [#25](https://github.com/yoannmoinet/nipplejs/issues/25)
### Features
* **nipple:** add `resetDirection()` to cancel previous directions ([66f6e3b](https://github.com/yoannmoinet/nipplejs/commit/66f6e3b))
<a name="0.6.0"></a>
# [0.6.0](https://github.com/yoannmoinet/nipplejs/compare/v0.5.6...v0.6.0) (2015-11-29)
### Bug Fixes
* clean identifier if not found in any collection ([3496395](https://github.com/yoannmoinet/nipplejs/commit/3496395))
* handle scrolling offset by resetting zone's box ([6ccd0b5](https://github.com/yoannmoinet/nipplejs/commit/6ccd0b5))
* remove useless injections ([a0b1d7e](https://github.com/yoannmoinet/nipplejs/commit/a0b1d7e))
* return the found nipple in `get()` ([439aa69](https://github.com/yoannmoinet/nipplejs/commit/439aa69))
* unbind document when collection is manually destroyed ([6e66b62](https://github.com/yoannmoinet/nipplejs/commit/6e66b62))
* **nipple:** call off() after triggering ([bf8e5c3](https://github.com/yoannmoinet/nipplejs/commit/bf8e5c3))
* **nipple:** only trigger itself, not its manager ([6b39786](https://github.com/yoannmoinet/nipplejs/commit/6b39786))
* **super:** move internal declarations where needed ([a4c79c2](https://github.com/yoannmoinet/nipplejs/commit/a4c79c2))
* **utils:** return object on u.extend ([9197c00](https://github.com/yoannmoinet/nipplejs/commit/9197c00))
### Features
* **nipple:** add an incremental id to absolutely differentiate each ([598a5eb](https://github.com/yoannmoinet/nipplejs/commit/598a5eb))
* **utils:** add u.map to execute fn in array or single element ([515aa5d](https://github.com/yoannmoinet/nipplejs/commit/515aa5d))
* **utils:** add u.safeExtend to only replace existent attributes ([5212ffe](https://github.com/yoannmoinet/nipplejs/commit/5212ffe))
### Performance Improvements
* safety clean if nipple isn't found in collection ([ca20985](https://github.com/yoannmoinet/nipplejs/commit/ca20985))
<a name="0.5.6"></a>
## [0.5.6](https://github.com/yoannmoinet/nipplejs/compare/v0.5.5...v0.5.6) (2015-11-09)
<a name="0.5.5"></a>
## [0.5.5](https://github.com/yoannmoinet/nipplejs/compare/v0.5.4...v0.5.5) (2015-11-09)
### Bug Fixes
* **manager:** allow multitouch to be more than 1 ([7569536](https://github.com/yoannmoinet/nipplejs/commit/7569536))
* **manager:** clean the start process, no duplicate ([7e30551](https://github.com/yoannmoinet/nipplejs/commit/7e30551))
* **manager:** remove handler only if last touch ([1f03064](https://github.com/yoannmoinet/nipplejs/commit/1f03064))
<a name="0.5.4"></a>
## [0.5.4](https://github.com/yoannmoinet/nipplejs/compare/v0.5.3...v0.5.4) (2015-11-08)
### Bug Fixes
* **manager:** better handle identifiers ([54b3cff](https://github.com/yoannmoinet/nipplejs/commit/54b3cff)), closes [#16](https://github.com/yoannmoinet/nipplejs/issues/16)
* **nipple:** use `document.body.contains` for IE11 doesn't shortcut ([6e5b80a](https://github.com/yoannmoinet/nipplejs/commit/6e5b80a)), closes [#17](https://github.com/yoannmoinet/nipplejs/issues/17)
<a name="0.5.3"></a>
## [0.5.3](https://github.com/yoannmoinet/nipplejs/compare/v0.5.2...v0.5.3) (2015-10-04)
### Bug Fixes
* **manager:** add back pressure variable... oups ([a46982f](https://github.com/yoannmoinet/nipplejs/commit/a46982f))
<a name="0.5.2"></a>
## [0.5.2](https://github.com/yoannmoinet/nipplejs/compare/v0.5.1...v0.5.2) (2015-10-04)
### Bug Fixes
* **manager:** correctly unbind all events when destroying manager ([e3f96ef](https://github.com/yoannmoinet/nipplejs/commit/e3f96ef))
* **utils:** handle touch based on their event's type ([406a7b2](https://github.com/yoannmoinet/nipplejs/commit/406a7b2))
### Features
* **manager:** better pressure management cross-plateform ([d867812](https://github.com/yoannmoinet/nipplejs/commit/d867812))
<a name="0.5.1"></a>
## [0.5.1](https://github.com/yoannmoinet/nipplejs/compare/v0.5.0...v0.5.1) (2015-10-03)
### Bug Fixes
* **nipple:** remove useless backPosition ([4c76adc](https://github.com/yoannmoinet/nipplejs/commit/4c76adc))
* **super:** better inheritance ([4a3a8dc](https://github.com/yoannmoinet/nipplejs/commit/4a3a8dc))
<a name="0.5.0"></a>
# [0.5.0](https://github.com/yoannmoinet/nipplejs/compare/v0.4.2...v0.5.0) (2015-09-29)
### Bug Fixes
* **manager:** add default pressure at 0 ([1cb31d0](https://github.com/yoannmoinet/nipplejs/commit/1cb31d0))
* **nipple:** control dom presence before add or remove ([7cc1d8c](https://github.com/yoannmoinet/nipplejs/commit/7cc1d8c))
* **nipple:** return the manager's known object in event triggers ([2deb42c](https://github.com/yoannmoinet/nipplejs/commit/2deb42c))
* remove useless rimraf ([26db70f](https://github.com/yoannmoinet/nipplejs/commit/26db70f))
* **npm:** add rimraf as a dev dependency ([deb7acc](https://github.com/yoannmoinet/nipplejs/commit/deb7acc)), closes [#12](https://github.com/yoannmoinet/nipplejs/issues/12)
### Features
* **manager:** handle resize and reinit positions ([261fb59](https://github.com/yoannmoinet/nipplejs/commit/261fb59))
* **nipple:** remove position offset ([be59bc4](https://github.com/yoannmoinet/nipplejs/commit/be59bc4))
* add dataOnly option ([2f527b1](https://github.com/yoannmoinet/nipplejs/commit/2f527b1))
* add two modes, static and semi ([347feaa](https://github.com/yoannmoinet/nipplejs/commit/347feaa))
* **manager:** add destroy method ([295654f](https://github.com/yoannmoinet/nipplejs/commit/295654f))
* **manager:** expose nippleOptions ([968103c](https://github.com/yoannmoinet/nipplejs/commit/968103c))
* **nipple:** add destroy method ([713e505](https://github.com/yoannmoinet/nipplejs/commit/713e505))
* **off:** allow unsubscribing on all events at once ([c30bfad](https://github.com/yoannmoinet/nipplejs/commit/c30bfad))
<a name="0.4.2"></a>
## [0.4.2](https://github.com/yoannmoinet/nipplejs/compare/v0.4.1...v0.4.2) (2015-09-15)
### Bug Fixes
* correctly return directions ([871d782](https://github.com/yoannmoinet/nipplejs/commit/871d782))
<a name="0.4.1"></a>
## [0.4.1](https://github.com/yoannmoinet/nipplejs/compare/v0.4.0...v0.4.1) (2015-09-15)
### Bug Fixes
* return the computed direction ([b3d80b3](https://github.com/yoannmoinet/nipplejs/commit/b3d80b3))
<a name="0.4.0"></a>
# [0.4.0](https://github.com/yoannmoinet/nipplejs/compare/v0.3.1...v0.4.0) (2015-09-15)
### Bug Fixes
* **manager:** streamline events triggered ([76941ec](https://github.com/yoannmoinet/nipplejs/commit/76941ec))
### Features
* **nipple:** add a callback after show and hide ([5b24124](https://github.com/yoannmoinet/nipplejs/commit/5b24124))
* **nipple:** add the positions to the instance ([fac981b](https://github.com/yoannmoinet/nipplejs/commit/fac981b))
* **off:** allow unsubscribing of a type at once ([cbbefca](https://github.com/yoannmoinet/nipplejs/commit/cbbefca))
* **on:** pass the target in the event ([bc0630d](https://github.com/yoannmoinet/nipplejs/commit/bc0630d))
* add more events for both nipple and manager ([f7966b9](https://github.com/yoannmoinet/nipplejs/commit/f7966b9))
* add support for both mouse and touch at the same time ([e8fcba2](https://github.com/yoannmoinet/nipplejs/commit/e8fcba2))
* add support for pressure ([80e7770](https://github.com/yoannmoinet/nipplejs/commit/80e7770)), closes [#10](https://github.com/yoannmoinet/nipplejs/issues/10)
* attach values to each instance of nipple ([c5bf9ab](https://github.com/yoannmoinet/nipplejs/commit/c5bf9ab))
* limit the number of simultaneous nipples ([801e91d](https://github.com/yoannmoinet/nipplejs/commit/801e91d))
* support multitouch correctly ([33bbe23](https://github.com/yoannmoinet/nipplejs/commit/33bbe23)), closes [#2](https://github.com/yoannmoinet/nipplejs/issues/2) [#6](https://github.com/yoannmoinet/nipplejs/issues/6)
<a name="0.3.1"></a>
## [0.3.1](https://github.com/yoannmoinet/nipplejs/compare/v0.3.0...v0.3.1) (2015-09-07)
### Bug Fixes
* **on:** allows multiple spaces in event string ([b89bd0e](https://github.com/yoannmoinet/nipplejs/commit/b89bd0e))
* **on:** removes variable name clash. ([3d70a3c](https://github.com/yoannmoinet/nipplejs/commit/3d70a3c))
<a name="0.3.0"></a>
# [0.3.0](https://github.com/yoannmoinet/nipplejs/compare/v0.2.1...v0.3.0) (2015-09-06)
### Features
* offset angle by 180 for units circle ([3002014](https://github.com/yoannmoinet/nipplejs/commit/3002014))
* support IE PointerEvents ([ed65d1e](https://github.com/yoannmoinet/nipplejs/commit/ed65d1e)), closes [#1](https://github.com/yoannmoinet/nipplejs/issues/1)
<a name="0.2.1"></a>
## [0.2.1](https://github.com/yoannmoinet/nipplejs/compare/v0.2.0...v0.2.1) (2015-09-06)
### Bug Fixes
* correct chrome's clientBoundingBox ([b94bc43](https://github.com/yoannmoinet/nipplejs/commit/b94bc43))
<a name="0.2.0"></a>
# [0.2.0](https://github.com/yoannmoinet/nipplejs/compare/v0.1.1...v0.2.0) (2015-09-06)
### Bug Fixes
* **on:** return self to allow chain ([f068cc9](https://github.com/yoannmoinet/nipplejs/commit/f068cc9))
### Features
* **on:** let listen to multiple events ([d19ad97](https://github.com/yoannmoinet/nipplejs/commit/d19ad97))
* **on, off:** allow to chain calls ([c82c580](https://github.com/yoannmoinet/nipplejs/commit/c82c580))
* **trigger:** trigger only if different direction ([9e334ba](https://github.com/yoannmoinet/nipplejs/commit/9e334ba))
<a name="0.1.1"></a>
## [0.1.1](https://github.com/yoannmoinet/nipplejs/compare/v0.1.0...v0.1.1) (2015-09-06)
### Bug Fixes
* add scroll offset ([7b36fb6](https://github.com/yoannmoinet/nipplejs/commit/7b36fb6))
* remove useless log ([b958cbf](https://github.com/yoannmoinet/nipplejs/commit/b958cbf))
* send data to start event ([c1f1688](https://github.com/yoannmoinet/nipplejs/commit/c1f1688))
<a name="0.1.0"></a>
# 0.1.0 (2015-09-05)
ExoMy_Software-master/gui/node_modules/nipplejs/LICENSE
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The MIT License (MIT)
Copyright (c) 2014 Yoann Moinet <yoann.moinet@gmail.com>
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
ExoMy_Software-master/gui/node_modules/nipplejs/README.md
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![alt tag](./assets/nipplejs.png)
> A vanilla virtual joystick for touch capable interfaces
[![npm](https://img.shields.io/npm/v/nipplejs.svg)](https://npmjs.org/package/nipplejs)
[![npm](https://img.shields.io/npm/dm/nipplejs.svg)](https://npmjs.org/package/nipplejs)
# Table Of Contents
<details>
<!-- toc -->
- [Install](#install)
- [Demo](#demo)
- [Usage](#usage)
- [Options](#options)
* [`options.zone` defaults to 'body'](#optionszone-defaults-to-body)
* [`options.color` defaults to 'white'](#optionscolor-defaults-to-white)
* [`options.size` defaults to 100](#optionssize-defaults-to-100)
* [`options.threshold` defaults to 0.1](#optionsthreshold-defaults-to-01)
* [`options.fadeTime` defaults to 250](#optionsfadetime-defaults-to-250)
* [`options.multitouch` defaults to false](#optionsmultitouch-defaults-to-false)
* [`options.maxNumberOfNipples` defaults to 1](#optionsmaxnumberofnipples-defaults-to-1)
* [`options.dataOnly` defaults to false](#optionsdataonly-defaults-to-false)
* [`options.position` defaults to `{top: 0, left: 0}`](#optionsposition-defaults-to-top-0-left-0)
* [`options.mode` defaults to 'dynamic'.](#optionsmode-defaults-to-dynamic)
+ [`'dynamic'`](#dynamic)
+ [`'semi'`](#semi)
+ [`'static'`](#static)
* [`options.restJoystick` defaults to true](#optionsrestjoystick-defaults-to-true)
* [`options.restOpacity` defaults to 0.5](#optionsrestopacity-defaults-to-05)
* [`options.catchDistance` defaults to 200](#optionscatchdistance-defaults-to-200)
- [API](#api)
* [NippleJS instance (manager)](#nipplejs-instance-manager)
+ [`manager.on(type, handler)`](#managerontype-handler)
+ [`manager.off([type, handler])`](#managerofftype-handler)
+ [`manager.get(identifier)`](#managergetidentifier)
+ [`manager.destroy()`](#managerdestroy)
+ [`manager.ids`](#managerids)
+ [`manager.id`](#managerid)
* [nipple instance (joystick)](#nipple-instance-joystick)
* [`joystick.on`, `joystick.off`](#joystickon-joystickoff)
* [`joystick.el`](#joystickel)
* [`joystick.show([cb])`](#joystickshowcb)
* [`joystick.hide([cb])`](#joystickhidecb)
* [`joystick.add()`](#joystickadd)
* [`joystick.remove()`](#joystickremove)
* [`joystick.destroy()`](#joystickdestroy)
* [`joystick.setPosition(cb, { x, y })`](#joysticksetpositioncb--x-y-)
* [`joystick.identifier`](#joystickidentifier)
* [`joystick.trigger(type [, data])`](#joysticktriggertype--data)
* [`joystick.position`](#joystickposition)
* [`joystick.frontPosition`](#joystickfrontposition)
* [`joystick.ui`](#joystickui)
- [Events](#events)
* [manager only](#manager-only)
+ [`added`](#added)
+ [`removed`](#removed)
* [manager and joysticks](#manager-and-joysticks)
+ [`start`](#start)
+ [`end`](#end)
+ [`move`](#move)
+ [`dir`](#dir)
+ [`plain`](#plain)
+ [`shown`](#shown)
+ [`hidden`](#hidden)
+ [`destroyed`](#destroyed)
+ [`pressure`](#pressure)
- [Contributing](#contributing)
+ [Commits](#commits)
+ [Style](#style)
+ [Workflow](#workflow)
+ [Build](#build)
<!-- tocstop -->
</details>
## Install
```bash
npm install nipplejs --save
```
----
## Demo
Check out the [demo here](http://yoannmoinet.github.io/nipplejs/#demo).
----
## Usage
Import it the way you want into your project :
```javascript
// CommonJS
var manager = require('nipplejs').create(options);
```
```javascript
// AMD
define(['nipplejs'], function (nipplejs) {
var manager = nipplejs.create(options);
});
```
```javascript
// Module
import nipplejs from 'nipplejs';
```
```html
<!-- Global -->
<script src="./nipplejs.js"></script>
<script>
var manager = nipplejs.create(options);
</script>
```
**:warning: NB :warning:** Your joystick's container **has** to have its CSS `position` property set, either `absolute`, `relative`, `static`, ....
----
## Options
You can configure your joystick in different ways :
```javascript
var options = {
zone: Element, // active zone
color: String,
size: Integer,
threshold: Float, // before triggering a directional event
fadeTime: Integer, // transition time
multitouch: Boolean,
maxNumberOfNipples: Number, // when multitouch, what is too many?
dataOnly: Boolean, // no dom element whatsoever
position: Object, // preset position for 'static' mode
mode: String, // 'dynamic', 'static' or 'semi'
restJoystick: Boolean,
restOpacity: Number, // opacity when not 'dynamic' and rested
lockX: Boolean, // only move on the X axis
lockY: Boolean, // only move on the Y axis
catchDistance: Number, // distance to recycle previous joystick in
// 'semi' mode
dynamicPage: Boolean, // Enable if the page has dynamically visible elements
};
```
All options are optional :sunglasses:.
### `options.zone` defaults to 'body'
The dom element in which all your joysticks will be injected.
```html
<div id="zone_joystick"></div>
<script type="text/javascript" src="./nipplejs.js"></script>
<script type="text/javascript">
var options = {
zone: document.getElementById('zone_joystick'),
};
var manager = nipplejs.create(options);
</script>
```
This zone also serve as the mouse/touch events handler.
It represents the zone where all your joysticks will be active.
### `options.color` defaults to 'white'
The background color of your joystick's elements.
Can be any valid CSS color.
### `options.size` defaults to 100
The size in pixel of the outer circle.
The inner circle is 50% of this size.
### `options.threshold` defaults to 0.1
This is the strength needed to trigger a directional event.
Basically, the center is 0 and the outer is 1.
You need to at least go to 0.1 to trigger a directional event.
### `options.fadeTime` defaults to 250
The time it takes for joystick to fade-out and fade-in when activated or de-activated.
### `options.multitouch` defaults to false
Enable the multitouch capabilities.
If, for reasons, you need to have multiple nipples in the same zone.
Otherwise, it will only get one, and all new touches won't do a thing.
Please note that multitouch is off when in `static` or `semi` modes.
### `options.maxNumberOfNipples` defaults to 1
If you need to, you can also control the maximum number of instances that could be created.
Obviously in a multitouch configuration.
### `options.dataOnly` defaults to false
The library won't draw anything in the DOM and will only trigger events with data.
### `options.position` defaults to `{top: 0, left: 0}`
An object that will determine the position of a `static` mode.
You can pass any of the four `top`, `right`, `bottom` and `left`.
They will be applied as any css property.
Ex :
- `{top: '50px', left: '50px'}`
- `{left: '10%', bottom: '10%'}`
### `options.mode` defaults to 'dynamic'.
Three modes are possible :
#### `'dynamic'`
- a new joystick is created at each new touch.
- the joystick gets destroyed when released.
- **can** be multitouch.
#### `'semi'`
- new joystick is created at each new touch farther than `options.catchDistance` of any previously created joystick.
- the joystick is faded-out when released but not destroyed.
- when touch is made **inside** the `options.catchDistance` a new direction is triggered immediately.
- when touch is made **outside** the `options.catchDistance` the previous joystick is destroyed and a new one is created.
- **cannot** be multitouch.
#### `'static'`
- a joystick is positioned immediately at `options.position`.
- one joystick per zone.
- each new touch triggers a new direction.
- **cannot** be multitouch.
### `options.restJoystick` defaults to true
Reset the joystick's position when it enters the rest state.
### `options.restOpacity` defaults to 0.5
The opacity to apply when the joystick is in a rest position.
### `options.catchDistance` defaults to 200
This is only useful in the `semi` mode, and determine at which distance we recycle the previous joystick.
At 200 (px), if you press the zone into a rayon of 200px around the previously displayed joystick,
it will act as a `static` one.
### `options.lockX` defaults to false
Locks joystick's movement to the x (horizontal) axis
### `options.lockY` defaults to false
Locks joystick's movement to the y (vertical) axis
### `options.dynamicPage` defaults to true
Enable if the page has dynamically visible elements such as for Vue, React, Angular or simply some CSS hiding or showing some DOM.
----
## API
### NippleJS instance (manager)
Your manager has the following signature :
```javascript
{
on: Function, // handle internal event
off: Function, // un-handle internal event
get: Function, // get a specific joystick
destroy: Function, // destroy everything
ids: Array // array of assigned ids
id: Number // id of the manager
options: {
zone: Element, // reactive zone
multitouch: Boolean,
maxNumberOfNipples: Number,
mode: String,
position: Object,
catchDistance: Number,
size: Number,
threshold: Number,
color: String,
fadeTime: Number,
dataOnly: Boolean,
restJoystick: Boolean,
restOpacity: Number
}
}
```
#### `manager.on(type, handler)`
If you wish to listen to internal events like :
```javascript
manager.on('event#1 event#2', function (evt, data) {
// Do something.
});
```
Note that you can listen to multiple events at once by separating
them either with a space or a comma (or both, I don't care).
#### `manager.off([type, handler])`
To remove an event handler :
```javascript
manager.off('event', handler);
```
If you call off without arguments, all handlers will be removed.
If you don't specify the handler but just a type, all handlers for that type will be removed.
#### `manager.get(identifier)`
A helper to get an instance via its identifier.
```javascript
// Will return the nipple instantiated by the touch identified by 0
manager.get(0);
```
#### `manager.destroy()`
Gently remove all nipples from the DOM and unbind all events.
```javascript
manager.destroy();
```
#### `manager.ids`
The array of nipples' ids under this manager.
#### `manager.id`
The incremented id of this manager.
### nipple instance (joystick)
Each joystick has the following signature :
```javascript
{
on: Function,
off: Function,
el: Element,
show: Function, // fade-in
hide: Function, // fade-out
add: Function, // inject into dom
remove: Function, // remove from dom
destroy: Function,
setPosition: Function,
identifier: Number,
trigger: Function,
position: { // position of the center
x: Number,
y: Number
},
frontPosition: { // position of the front part
x: Number,
y: Number
},
ui: {
el: Element,
front: Element,
back: Element
},
options: {
color: String,
size: Number,
threshold: Number,
fadeTime: Number
}
}
```
### `joystick.on`, `joystick.off`
The same as the manager.
### `joystick.el`
Dom element in which the joystick gets created.
```html
<div class="nipple">
<div class="front"></div>
<div class="back"></div>
</div>
```
### `joystick.show([cb])`
Will show the joystick at the last known place.
You can pass a callback that will be executed at the end of the fade-in animation.
### `joystick.hide([cb])`
Will fade-out the joystick.
You can pass a callback that will be executed at the end of the fade-out animation.
### `joystick.add()`
Add the joystick's element to the dom.
### `joystick.remove()`
Remove the joystick's element from the dom.
### `joystick.destroy()`
Gently remove this nipple from the DOM and unbind all related events.
### `joystick.setPosition(cb, { x, y })`
Set the joystick to the specified position, where x and y are distances away from the center in pixels. This does not trigger joystick events.
### `joystick.identifier`
Returns the unique identifier of the joystick.
Tied to its touch's identifier.
### `joystick.trigger(type [, data])`
Trigger an internal event from the joystick.
The same as `on` you can trigger multiple events at the same time.
### `joystick.position`
The absolute position of the center of the joystick.
### `joystick.frontPosition`
The absolute position of the back part of the joystick's ui.
### `joystick.ui`
The object that store its ui elements
```html
{
el: <div class="nipple"></div>
back: <div class="back"></div>
front: <div class="front"></div>
}
```
----
## Events
You can listen events both on the manager and all the joysticks.
But some of them are specific to its instance.
If you need to listen to each joystick, for example, you can :
```javascript
manager.on('added', function (evt, nipple) {
nipple.on('start move end dir plain', function (evt) {
// DO EVERYTHING
});
}).on('removed', function (evt, nipple) {
nipple.off('start move end dir plain');
});
```
### manager only
#### `added`
A joystick just got added.
Will pass the instance alongside the event.
#### `removed`
A joystick just got removed.
Fired at the end of the fade-out animation.
Will pass the instance alongside the event.
Won't be trigger in a `dataOnly` configuration.
### manager and joysticks
Other events are available on both the manager and joysticks.
When listening on the manager,
you can also target **a joystick in particular** by prefixing
the event with its identifier, **`0:start`** for example.
Else you'll get all events from all the joysticks.
#### `start`
A joystick is activated. (the user pressed on the active zone)
Will pass the instance alongside the event.
#### `end`
A joystick is de-activated. (the user released the active zone)
Will pass the instance alongside the event.
#### `move`
A joystick is moved.
Comes with data :
```javascript
{
identifier: 0, // the identifier of the touch/mouse that triggered it
position: { // absolute position of the center in pixels
x: 125,
y: 95
},
force: 0.2, // strength in %
distance: 25.4, // distance from center in pixels
pressure: 0.1, // the pressure applied by the touch
angle: {
radian: 1.5707963268, // angle in radian
degree: 90
},
vector: { // force unit vector
x: 0.508,
y: 3.110602869834277e-17
},
raw: { // note: angle is the same, beyond the 50 pixel limit
distance: 25.4, // distance which continues beyond the 50 pixel limit
position: { // position of the finger/mouse in pixels, beyond joystick limits
x: 125,
y: 95
}
},
instance: Nipple // the nipple instance that triggered the event
}
```
#### `dir`
When a direction is reached after the threshold.
Direction are split with a 45° angle.
```javascript
// \ UP /
// \ /
// LEFT RIGHT
// / \
// /DOWN \
```
You can also listen to specific direction like :
- `dir:up`
- `dir:down`
- `dir:right`
- `dir:left`
In this configuration only one direction is triggered at a time.
#### `plain`
When a plain direction is reached after the threshold.
Plain directions are split with a 90° angle.
```javascript
// UP |
// ------ LEFT | RIGHT
// DOWN |
```
You can also listen to specific plain direction like :
- `plain:up`
- `plain:down`
- `plain:right`
- `plain:left`
In this configuration two directions can be triggered at a time,
because the user could be both `up` and `left` for example.
#### `shown`
Is triggered at the end of the fade-in animation.
Will pass the instance alongside the event.
Won't be trigger in a `dataOnly` configuration.
#### `hidden`
Is triggered at the end of the fade-out animation.
Will pass the instance alongside the event.
Won't be trigger in a `dataOnly` configuration.
#### `destroyed`
Is triggered at the end of destroy.
Will pass the instance alongside the event.
#### `pressure`
> MBP's [**Force Touch**](http://www.apple.com/macbook-pro/features-retina/#interact), iOS's [**3D Touch**](http://www.apple.com/iphone-6s/3d-touch/), Microsoft's [**pressure**](https://msdn.microsoft.com/en-us/library/hh772360%28v=vs.85%29.aspx) or MDN's [**force**](https://developer.mozilla.org/en-US/docs/Web/API/Touch/force)
Is triggered when the pressure on the joystick is changed.
The value, between 0 and 1, is sent back alongside the event.
----
## Contributing
You can follow [this document](./CONTRIBUTING.md) to help you get started.
ExoMy_Software-master/gui/node_modules/nipplejs/dist/nipplejs.js
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ExoMy_Software-master/gui/node_modules/nipplejs/package.json
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{
"_from": "nipplejs",
"_id": "nipplejs@0.8.5",
"_inBundle": false,
"_integrity": "sha512-2G7warzUh4jIdmzSIDRCeXJUl/QrZyJ0QwFgI0V1lM34HLNsIqEX6uY0NY4V3wBDHNsub3me1cbFb/FJpWE/5g==",
"_location": "/nipplejs",
"_phantomChildren": {},
"_requested": {
"type": "tag",
"registry": true,
"raw": "nipplejs",
"name": "nipplejs",
"escapedName": "nipplejs",
"rawSpec": "",
"saveSpec": null,
"fetchSpec": "latest"
},
"_requiredBy": [
"#USER",
"/"
],
"_resolved": "https://registry.npmjs.org/nipplejs/-/nipplejs-0.8.5.tgz",
"_shasum": "9b16bd1fc70afadc35b09355b86dad65d863bafa",
"_spec": "nipplejs",
"_where": "/root/catkin_ws/src/robot_gui_bridge/gui",
"author": {
"name": "Yoann Moinet",
"email": "yo@nnmoi.net",
"url": "https://yoannmoi.net"
},
"browser": "./dist/nipplejs.js",
"bugs": {
"url": "https://github.com/yoannmoinet/nipplejs/issues"
},
"bundleDependencies": false,
"dependencies": {},
"deprecated": false,
"description": "A virtual joystick for touch capable interfaces",
"devDependencies": {
"@babel/core": "7.5.5",
"@babel/preset-env": "7.5.5",
"babel-loader": "8.0.6",
"babel-plugin-add-module-exports": "1.0.2",
"casperjs": "1.1.4",
"concat-cli": "4.0.0",
"conventional-changelog": "1.1.0",
"eslint": "5.10.0",
"eslint-loader": "2.2.1",
"expect.js": "0.3.1",
"markdown-toc": "1.2.0",
"mocha": "5.2.0",
"phantomjs-prebuilt": "2.1.16",
"webpack": "4.39.2",
"webpack-cli": "3.3.7",
"webpack-dev-server": "3.8.0"
},
"directories": {
"lib": "src",
"test": "test",
"example": "example"
},
"files": [
"dist/*",
"src/*",
"types/*"
],
"homepage": "https://github.com/yoannmoinet/nipplejs",
"license": "MIT",
"main": "./dist/nipplejs.js",
"module": "./src/index.js",
"name": "nipplejs",
"repository": {
"type": "git",
"url": "git+https://github.com/yoannmoinet/nipplejs.git"
},
"scripts": {
"build": "webpack --config webpack.config.js",
"build:dev": "webpack-dev-server --config webpack.config.js",
"changelog": "node ./bin/changelog.js",
"copyGh": "node ./bin/copyToGhPages.js",
"postversion": "npm run changelog",
"prepare": "NODE_ENV=production npm run build",
"start": "npm run build:dev -- --progress --watch",
"test": "casperjs test ./test/nipplejs.casper.js",
"toc": "markdown-toc -i README.md"
},
"types": "./types/index.d.ts",
"version": "0.8.5"
}
ExoMy_Software-master/gui/node_modules/nipplejs/src/collection.js
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import Nipple from './nipple';
import Super from './super';
import * as u from './utils';
///////////////////////////
/// THE COLLECTION ///
///////////////////////////
function Collection (manager, options) {
var self = this;
self.nipples = [];
self.idles = [];
self.actives = [];
self.ids = [];
self.pressureIntervals = {};
self.manager = manager;
self.id = Collection.id;
Collection.id += 1;
// Defaults
self.defaults = {
zone: document.body,
multitouch: false,
maxNumberOfNipples: 10,
mode: 'dynamic',
position: {top: 0, left: 0},
catchDistance: 200,
size: 100,
threshold: 0.1,
color: 'white',
fadeTime: 250,
dataOnly: false,
restJoystick: true,
restOpacity: 0.5,
lockX: false,
lockY: false,
dynamicPage: false
};
self.config(options);
// Overwrites
if (self.options.mode === 'static' || self.options.mode === 'semi') {
self.options.multitouch = false;
}
if (!self.options.multitouch) {
self.options.maxNumberOfNipples = 1;
}
self.updateBox();
self.prepareNipples();
self.bindings();
self.begin();
return self.nipples;
}
Collection.prototype = new Super();
Collection.constructor = Collection;
Collection.id = 0;
Collection.prototype.prepareNipples = function () {
var self = this;
var nips = self.nipples;
// Public API Preparation.
nips.on = self.on.bind(self);
nips.off = self.off.bind(self);
nips.options = self.options;
nips.destroy = self.destroy.bind(self);
nips.ids = self.ids;
nips.id = self.id;
nips.processOnMove = self.processOnMove.bind(self);
nips.processOnEnd = self.processOnEnd.bind(self);
nips.get = function (id) {
if (id === undefined) {
return nips[0];
}
for (var i = 0, max = nips.length; i < max; i += 1) {
if (nips[i].identifier === id) {
return nips[i];
}
}
return false;
};
};
Collection.prototype.bindings = function () {
var self = this;
// Touch start event.
self.bindEvt(self.options.zone, 'start');
// Avoid native touch actions (scroll, zoom etc...) on the zone.
self.options.zone.style.touchAction = 'none';
self.options.zone.style.msTouchAction = 'none';
};
Collection.prototype.begin = function () {
var self = this;
var opts = self.options;
// We place our static nipple
// if needed.
if (opts.mode === 'static') {
var nipple = self.createNipple(
opts.position,
self.manager.getIdentifier()
);
// Add it to the dom.
nipple.add();
// Store it in idles.
self.idles.push(nipple);
}
};
// Nipple Factory
Collection.prototype.createNipple = function (position, identifier) {
var self = this;
var scroll = u.getScroll();
var toPutOn = {};
var opts = self.options;
if (position.x && position.y) {
toPutOn = {
x: position.x -
(scroll.x + self.box.left),
y: position.y -
(scroll.y + self.box.top)
};
} else if (
position.top ||
position.right ||
position.bottom ||
position.left
) {
// We need to compute the position X / Y of the joystick.
var dumb = document.createElement('DIV');
dumb.style.display = 'hidden';
dumb.style.top = position.top;
dumb.style.right = position.right;
dumb.style.bottom = position.bottom;
dumb.style.left = position.left;
dumb.style.position = 'absolute';
opts.zone.appendChild(dumb);
var dumbBox = dumb.getBoundingClientRect();
opts.zone.removeChild(dumb);
toPutOn = position;
position = {
x: dumbBox.left + scroll.x,
y: dumbBox.top + scroll.y
};
}
var nipple = new Nipple(self, {
color: opts.color,
size: opts.size,
threshold: opts.threshold,
fadeTime: opts.fadeTime,
dataOnly: opts.dataOnly,
restJoystick: opts.restJoystick,
restOpacity: opts.restOpacity,
mode: opts.mode,
identifier: identifier,
position: position,
zone: opts.zone,
frontPosition: {
x: 0,
y: 0
}
});
if (!opts.dataOnly) {
u.applyPosition(nipple.ui.el, toPutOn);
u.applyPosition(nipple.ui.front, nipple.frontPosition);
}
self.nipples.push(nipple);
self.trigger('added ' + nipple.identifier + ':added', nipple);
self.manager.trigger('added ' + nipple.identifier + ':added', nipple);
self.bindNipple(nipple);
return nipple;
};
Collection.prototype.updateBox = function () {
var self = this;
self.box = self.options.zone.getBoundingClientRect();
};
Collection.prototype.bindNipple = function (nipple) {
var self = this;
var type;
// Bubble up identified events.
var handler = function (evt, data) {
// Identify the event type with the nipple's id.
type = evt.type + ' ' + data.id + ':' + evt.type;
self.trigger(type, data);
};
// When it gets destroyed.
nipple.on('destroyed', self.onDestroyed.bind(self));
// Other events that will get bubbled up.
nipple.on('shown hidden rested dir plain', handler);
nipple.on('dir:up dir:right dir:down dir:left', handler);
nipple.on('plain:up plain:right plain:down plain:left', handler);
};
Collection.prototype.pressureFn = function (touch, nipple, identifier) {
var self = this;
var previousPressure = 0;
clearInterval(self.pressureIntervals[identifier]);
// Create an interval that will read the pressure every 100ms
self.pressureIntervals[identifier] = setInterval(function () {
var pressure = touch.force || touch.pressure ||
touch.webkitForce || 0;
if (pressure !== previousPressure) {
nipple.trigger('pressure', pressure);
self.trigger('pressure ' +
nipple.identifier + ':pressure', pressure);
previousPressure = pressure;
}
}.bind(self), 100);
};
Collection.prototype.onstart = function (evt) {
var self = this;
var opts = self.options;
var origEvt = evt;
evt = u.prepareEvent(evt);
// Update the box position
self.updateBox();
var process = function (touch) {
// If we can create new nipples
// meaning we don't have more active nipples than we should.
if (self.actives.length < opts.maxNumberOfNipples) {
self.processOnStart(touch);
}
else if(origEvt.type.match(/^touch/)){
// zombies occur when end event is not received on Safari
// first touch removed before second touch, we need to catch up...
// so remove where touches in manager that no longer exist
Object.keys(self.manager.ids).forEach(function(k){
if(Object.values(origEvt.touches).findIndex(function(t){return t.identifier===k;}) < 0){
// manager has id that doesn't exist in touches
var e = [evt[0]];
e.identifier = k;
self.processOnEnd(e);
}
});
if(self.actives.length < opts.maxNumberOfNipples){
self.processOnStart(touch);
}
}
};
u.map(evt, process);
// We ask upstream to bind the document
// on 'move' and 'end'
self.manager.bindDocument();
return false;
};
Collection.prototype.processOnStart = function (evt) {
var self = this;
var opts = self.options;
var indexInIdles;
var identifier = self.manager.getIdentifier(evt);
var pressure = evt.force || evt.pressure || evt.webkitForce || 0;
var position = {
x: evt.pageX,
y: evt.pageY
};
var nipple = self.getOrCreate(identifier, position);
// Update its touch identifier
if (nipple.identifier !== identifier) {
self.manager.removeIdentifier(nipple.identifier);
}
nipple.identifier = identifier;
var process = function (nip) {
// Trigger the start.
nip.trigger('start', nip);
self.trigger('start ' + nip.id + ':start', nip);
nip.show();
if (pressure > 0) {
self.pressureFn(evt, nip, nip.identifier);
}
// Trigger the first move event.
self.processOnMove(evt);
};
// Transfer it from idles to actives.
if ((indexInIdles = self.idles.indexOf(nipple)) >= 0) {
self.idles.splice(indexInIdles, 1);
}
// Store the nipple in the actives array
self.actives.push(nipple);
self.ids.push(nipple.identifier);
if (opts.mode !== 'semi') {
process(nipple);
} else {
// In semi we check the distance of the touch
// to decide if we have to reset the nipple
var distance = u.distance(position, nipple.position);
if (distance <= opts.catchDistance) {
process(nipple);
} else {
nipple.destroy();
self.processOnStart(evt);
return;
}
}
return nipple;
};
Collection.prototype.getOrCreate = function (identifier, position) {
var self = this;
var opts = self.options;
var nipple;
// If we're in static or semi, we might already have an active.
if (/(semi|static)/.test(opts.mode)) {
// Get the active one.
// TODO: Multi-touche for semi and static will start here.
// Return the nearest one.
nipple = self.idles[0];
if (nipple) {
self.idles.splice(0, 1);
return nipple;
}
if (opts.mode === 'semi') {
// If we're in semi mode, we need to create one.
return self.createNipple(position, identifier);
}
// eslint-disable-next-line no-console
console.warn('Coudln\'t find the needed nipple.');
return false;
}
// In dynamic, we create a new one.
nipple = self.createNipple(position, identifier);
return nipple;
};
Collection.prototype.processOnMove = function (evt) {
var self = this;
var opts = self.options;
var identifier = self.manager.getIdentifier(evt);
var nipple = self.nipples.get(identifier);
// If we're moving without pressing
// it's that we went out the active zone
if (!u.isPressed(evt)) {
this.processOnEnd(evt);
return;
}
if (!nipple) {
// This is here just for safety.
// It shouldn't happen.
// eslint-disable-next-line no-console
console.error('Found zombie joystick with ID ' + identifier);
self.manager.removeIdentifier(identifier);
return;
}
if (opts.dynamicPage) {
var scroll = u.getScroll();
pos = nipple.el.getBoundingClientRect();
nipple.position = {
x: scroll.x + pos.left,
y: scroll.y + pos.top
};
}
nipple.identifier = identifier;
var size = nipple.options.size / 2;
var pos = {
x: evt.pageX,
y: evt.pageY
};
if (opts.lockX){
pos.y = nipple.position.y;
}
if (opts.lockY) {
pos.x = nipple.position.x;
}
var dist = u.distance(pos, nipple.position);
var angle = u.angle(pos, nipple.position);
var rAngle = u.radians(angle);
var force = dist / size;
var raw = {
distance: dist,
position: pos
};
// If distance is bigger than nipple's size
// we clamp the position.
if (dist > size) {
dist = size;
pos = u.findCoord(nipple.position, dist, angle);
}
var xPosition = pos.x - nipple.position.x;
var yPosition = pos.y - nipple.position.y;
nipple.frontPosition = {
x: xPosition,
y: yPosition
};
if (!opts.dataOnly) {
u.applyPosition(nipple.ui.front, nipple.frontPosition);
}
// Prepare event's datas.
var toSend = {
identifier: nipple.identifier,
position: pos,
force: force,
pressure: evt.force || evt.pressure || evt.webkitForce || 0,
distance: dist,
angle: {
radian: rAngle,
degree: angle
},
vector: {
x: xPosition / size,
y: - yPosition / size
},
raw: raw,
instance: nipple,
lockX: opts.lockX,
lockY: opts.lockY
};
// Compute the direction's datas.
toSend = nipple.computeDirection(toSend);
// Offset angles to follow units circle.
toSend.angle = {
radian: u.radians(180 - angle),
degree: 180 - angle
};
// Send everything to everyone.
nipple.trigger('move', toSend);
self.trigger('move ' + nipple.id + ':move', toSend);
};
Collection.prototype.processOnEnd = function (evt) {
var self = this;
var opts = self.options;
var identifier = self.manager.getIdentifier(evt);
var nipple = self.nipples.get(identifier);
var removedIdentifier = self.manager.removeIdentifier(nipple.identifier);
if (!nipple) {
return;
}
if (!opts.dataOnly) {
nipple.hide(function () {
if (opts.mode === 'dynamic') {
nipple.trigger('removed', nipple);
self.trigger('removed ' + nipple.id + ':removed', nipple);
self.manager
.trigger('removed ' + nipple.id + ':removed', nipple);
nipple.destroy();
}
});
}
// Clear the pressure interval reader
clearInterval(self.pressureIntervals[nipple.identifier]);
// Reset the direciton of the nipple, to be able to trigger a new direction
// on start.
nipple.resetDirection();
nipple.trigger('end', nipple);
self.trigger('end ' + nipple.id + ':end', nipple);
// Remove identifier from our bank.
if (self.ids.indexOf(nipple.identifier) >= 0) {
self.ids.splice(self.ids.indexOf(nipple.identifier), 1);
}
// Clean our actives array.
if (self.actives.indexOf(nipple) >= 0) {
self.actives.splice(self.actives.indexOf(nipple), 1);
}
if (/(semi|static)/.test(opts.mode)) {
// Transfer nipple from actives to idles
// if we're in semi or static mode.
self.idles.push(nipple);
} else if (self.nipples.indexOf(nipple) >= 0) {
// Only if we're not in semi or static mode
// we can remove the instance.
self.nipples.splice(self.nipples.indexOf(nipple), 1);
}
// We unbind move and end.
self.manager.unbindDocument();
// We add back the identifier of the idle nipple;
if (/(semi|static)/.test(opts.mode)) {
self.manager.ids[removedIdentifier.id] = removedIdentifier.identifier;
}
};
// Remove destroyed nipple from the lists
Collection.prototype.onDestroyed = function(evt, nipple) {
var self = this;
if (self.nipples.indexOf(nipple) >= 0) {
self.nipples.splice(self.nipples.indexOf(nipple), 1);
}
if (self.actives.indexOf(nipple) >= 0) {
self.actives.splice(self.actives.indexOf(nipple), 1);
}
if (self.idles.indexOf(nipple) >= 0) {
self.idles.splice(self.idles.indexOf(nipple), 1);
}
if (self.ids.indexOf(nipple.identifier) >= 0) {
self.ids.splice(self.ids.indexOf(nipple.identifier), 1);
}
// Remove the identifier from our bank
self.manager.removeIdentifier(nipple.identifier);
// We unbind move and end.
self.manager.unbindDocument();
};
// Cleanly destroy the manager
Collection.prototype.destroy = function () {
var self = this;
self.unbindEvt(self.options.zone, 'start');
// Destroy nipples.
self.nipples.forEach(function(nipple) {
nipple.destroy();
});
// Clean 3DTouch intervals.
for (var i in self.pressureIntervals) {
if (self.pressureIntervals.hasOwnProperty(i)) {
clearInterval(self.pressureIntervals[i]);
}
}
// Notify the manager passing the instance
self.trigger('destroyed', self.nipples);
// We unbind move and end.
self.manager.unbindDocument();
// Unbind everything.
self.off();
};
export default Collection;
ExoMy_Software-master/gui/node_modules/nipplejs/src/index.js
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import Manager from './manager';
const factory = new Manager();
export default {
create: function (options) {
return factory.create(options);
},
factory: factory
};
ExoMy_Software-master/gui/node_modules/nipplejs/src/manager.js
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import Collection from './collection';
import Super from './super';
import * as u from './utils';
///////////////////////
/// MANAGER ///
///////////////////////
function Manager (options) {
var self = this;
self.ids = {};
self.index = 0;
self.collections = [];
self.config(options);
self.prepareCollections();
// Listen for resize, to reposition every joysticks
var resizeTimer;
u.bindEvt(window, 'resize', function (evt) {
clearTimeout(resizeTimer);
resizeTimer = setTimeout(function () {
var pos;
var scroll = u.getScroll();
self.collections.forEach(function (collection) {
collection.forEach(function (nipple) {
pos = nipple.el.getBoundingClientRect();
nipple.position = {
x: scroll.x + pos.left,
y: scroll.y + pos.top
};
});
});
}, 100);
});
return self.collections;
}
Manager.prototype = new Super();
Manager.constructor = Manager;
Manager.prototype.prepareCollections = function () {
var self = this;
// Public API Preparation.
self.collections.create = self.create.bind(self);
// Listen to anything
self.collections.on = self.on.bind(self);
// Unbind general events
self.collections.off = self.off.bind(self);
// Destroy everything
self.collections.destroy = self.destroy.bind(self);
// Get any nipple
self.collections.get = function (id) {
var nipple;
// Use .every() to break the loop as soon as found.
self.collections.every(function (collection) {
nipple = collection.get(id);
return nipple ? false : true;
});
return nipple;
};
};
Manager.prototype.create = function (options) {
return this.createCollection(options);
};
// Collection Factory
Manager.prototype.createCollection = function (options) {
var self = this;
var collection = new Collection(self, options);
self.bindCollection(collection);
self.collections.push(collection);
return collection;
};
Manager.prototype.bindCollection = function (collection) {
var self = this;
var type;
// Bubble up identified events.
var handler = function (evt, data) {
// Identify the event type with the nipple's identifier.
type = evt.type + ' ' + data.id + ':' + evt.type;
self.trigger(type, data);
};
// When it gets destroyed we clean.
collection.on('destroyed', self.onDestroyed.bind(self));
// Other events that will get bubbled up.
collection.on('shown hidden rested dir plain', handler);
collection.on('dir:up dir:right dir:down dir:left', handler);
collection.on('plain:up plain:right plain:down plain:left', handler);
};
Manager.prototype.bindDocument = function () {
var self = this;
// Bind only if not already binded
if (!self.binded) {
self.bindEvt(document, 'move')
.bindEvt(document, 'end');
self.binded = true;
}
};
Manager.prototype.unbindDocument = function (force) {
var self = this;
// If there are no touch left
// unbind the document.
if (!Object.keys(self.ids).length || force === true) {
self.unbindEvt(document, 'move')
.unbindEvt(document, 'end');
self.binded = false;
}
};
Manager.prototype.getIdentifier = function (evt) {
var id;
// If no event, simple increment
if (!evt) {
id = this.index;
} else {
// Extract identifier from event object.
// Unavailable in mouse events so replaced by latest increment.
id = evt.identifier === undefined ? evt.pointerId : evt.identifier;
if (id === undefined) {
id = this.latest || 0;
}
}
if (this.ids[id] === undefined) {
this.ids[id] = this.index;
this.index += 1;
}
// Keep the latest id used in case we're using an unidentified mouseEvent
this.latest = id;
return this.ids[id];
};
Manager.prototype.removeIdentifier = function (identifier) {
var removed = {};
for (var id in this.ids) {
if (this.ids[id] === identifier) {
removed.id = id;
removed.identifier = this.ids[id];
delete this.ids[id];
break;
}
}
return removed;
};
Manager.prototype.onmove = function (evt) {
var self = this;
self.onAny('move', evt);
return false;
};
Manager.prototype.onend = function (evt) {
var self = this;
self.onAny('end', evt);
return false;
};
Manager.prototype.oncancel = function (evt) {
var self = this;
self.onAny('end', evt);
return false;
};
Manager.prototype.onAny = function (which, evt) {
var self = this;
var id;
var processFn = 'processOn' + which.charAt(0).toUpperCase() +
which.slice(1);
evt = u.prepareEvent(evt);
var processColl = function (e, id, coll) {
if (coll.ids.indexOf(id) >= 0) {
coll[processFn](e);
// Mark the event to avoid cleaning it later.
e._found_ = true;
}
};
var processEvt = function (e) {
id = self.getIdentifier(e);
u.map(self.collections, processColl.bind(null, e, id));
// If the event isn't handled by any collection,
// we need to clean its identifier.
if (!e._found_) {
self.removeIdentifier(id);
}
};
u.map(evt, processEvt);
return false;
};
// Cleanly destroy the manager
Manager.prototype.destroy = function () {
var self = this;
self.unbindDocument(true);
self.ids = {};
self.index = 0;
self.collections.forEach(function(collection) {
collection.destroy();
});
self.off();
};
// When a collection gets destroyed
// we clean behind.
Manager.prototype.onDestroyed = function (evt, coll) {
var self = this;
if (self.collections.indexOf(coll) < 0) {
return false;
}
self.collections.splice(self.collections.indexOf(coll), 1);
};
export default Manager;
ExoMy_Software-master/gui/node_modules/nipplejs/src/nipple.js
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import Super from './super';
import * as u from './utils';
///////////////////////
/// THE NIPPLE ///
///////////////////////
function Nipple (collection, options) {
this.identifier = options.identifier;
this.position = options.position;
this.frontPosition = options.frontPosition;
this.collection = collection;
// Defaults
this.defaults = {
size: 100,
threshold: 0.1,
color: 'white',
fadeTime: 250,
dataOnly: false,
restJoystick: true,
restOpacity: 0.5,
mode: 'dynamic',
zone: document.body,
lockX: false,
lockY: false
};
this.config(options);
// Overwrites
if (this.options.mode === 'dynamic') {
this.options.restOpacity = 0;
}
this.id = Nipple.id;
Nipple.id += 1;
this.buildEl()
.stylize();
// Nipple's API.
this.instance = {
el: this.ui.el,
on: this.on.bind(this),
off: this.off.bind(this),
show: this.show.bind(this),
hide: this.hide.bind(this),
add: this.addToDom.bind(this),
remove: this.removeFromDom.bind(this),
destroy: this.destroy.bind(this),
setPosition:this.setPosition.bind(this),
resetDirection: this.resetDirection.bind(this),
computeDirection: this.computeDirection.bind(this),
trigger: this.trigger.bind(this),
position: this.position,
frontPosition: this.frontPosition,
ui: this.ui,
identifier: this.identifier,
id: this.id,
options: this.options
};
return this.instance;
}
Nipple.prototype = new Super();
Nipple.constructor = Nipple;
Nipple.id = 0;
// Build the dom element of the Nipple instance.
Nipple.prototype.buildEl = function (options) {
this.ui = {};
if (this.options.dataOnly) {
return this;
}
this.ui.el = document.createElement('div');
this.ui.back = document.createElement('div');
this.ui.front = document.createElement('div');
this.ui.el.className = 'nipple collection_' + this.collection.id;
this.ui.back.className = 'back';
this.ui.front.className = 'front';
this.ui.el.setAttribute('id', 'nipple_' + this.collection.id +
'_' + this.id);
this.ui.el.appendChild(this.ui.back);
this.ui.el.appendChild(this.ui.front);
return this;
};
// Apply CSS to the Nipple instance.
Nipple.prototype.stylize = function () {
if (this.options.dataOnly) {
return this;
}
var animTime = this.options.fadeTime + 'ms';
var borderStyle = u.getVendorStyle('borderRadius', '50%');
var transitStyle = u.getTransitionStyle('transition', 'opacity', animTime);
var styles = {};
styles.el = {
position: 'absolute',
opacity: this.options.restOpacity,
display: 'block',
'zIndex': 999
};
styles.back = {
position: 'absolute',
display: 'block',
width: this.options.size + 'px',
height: this.options.size + 'px',
marginLeft: -this.options.size / 2 + 'px',
marginTop: -this.options.size / 2 + 'px',
background: this.options.color,
'opacity': '.5'
};
styles.front = {
width: this.options.size / 2 + 'px',
height: this.options.size / 2 + 'px',
position: 'absolute',
display: 'block',
marginLeft: -this.options.size / 4 + 'px',
marginTop: -this.options.size / 4 + 'px',
background: this.options.color,
'opacity': '.5'
};
u.extend(styles.el, transitStyle);
u.extend(styles.back, borderStyle);
u.extend(styles.front, borderStyle);
this.applyStyles(styles);
return this;
};
Nipple.prototype.applyStyles = function (styles) {
// Apply styles
for (var i in this.ui) {
if (this.ui.hasOwnProperty(i)) {
for (var j in styles[i]) {
this.ui[i].style[j] = styles[i][j];
}
}
}
return this;
};
// Inject the Nipple instance into DOM.
Nipple.prototype.addToDom = function () {
// We're not adding it if we're dataOnly or already in dom.
if (this.options.dataOnly || document.body.contains(this.ui.el)) {
return this;
}
this.options.zone.appendChild(this.ui.el);
return this;
};
// Remove the Nipple instance from DOM.
Nipple.prototype.removeFromDom = function () {
if (this.options.dataOnly || !document.body.contains(this.ui.el)) {
return this;
}
this.options.zone.removeChild(this.ui.el);
return this;
};
// Entirely destroy this nipple
Nipple.prototype.destroy = function () {
clearTimeout(this.removeTimeout);
clearTimeout(this.showTimeout);
clearTimeout(this.restTimeout);
this.trigger('destroyed', this.instance);
this.removeFromDom();
this.off();
};
// Fade in the Nipple instance.
Nipple.prototype.show = function (cb) {
var self = this;
if (self.options.dataOnly) {
return self;
}
clearTimeout(self.removeTimeout);
clearTimeout(self.showTimeout);
clearTimeout(self.restTimeout);
self.addToDom();
self.restCallback();
setTimeout(function () {
self.ui.el.style.opacity = 1;
}, 0);
self.showTimeout = setTimeout(function () {
self.trigger('shown', self.instance);
if (typeof cb === 'function') {
cb.call(this);
}
}, self.options.fadeTime);
return self;
};
// Fade out the Nipple instance.
Nipple.prototype.hide = function (cb) {
var self = this;
if (self.options.dataOnly) {
return self;
}
self.ui.el.style.opacity = self.options.restOpacity;
clearTimeout(self.removeTimeout);
clearTimeout(self.showTimeout);
clearTimeout(self.restTimeout);
self.removeTimeout = setTimeout(
function () {
var display = self.options.mode === 'dynamic' ? 'none' : 'block';
self.ui.el.style.display = display;
if (typeof cb === 'function') {
cb.call(self);
}
self.trigger('hidden', self.instance);
},
self.options.fadeTime
);
if (self.options.restJoystick) {
self.setPosition(cb, { x: 0, y: 0 });
}
return self;
};
// Set the nipple to the specified position
Nipple.prototype.setPosition = function (cb, position) {
var self = this;
self.frontPosition = {
x: position.x,
y: position.y
};
var animTime = self.options.fadeTime + 'ms';
var transitStyle = {};
transitStyle.front = u.getTransitionStyle('transition',
['top', 'left'], animTime);
var styles = {front: {}};
styles.front = {
left: self.frontPosition.x + 'px',
top: self.frontPosition.y + 'px'
};
self.applyStyles(transitStyle);
self.applyStyles(styles);
self.restTimeout = setTimeout(
function () {
if (typeof cb === 'function') {
cb.call(self);
}
self.restCallback();
},
self.options.fadeTime
);
};
Nipple.prototype.restCallback = function () {
var self = this;
var transitStyle = {};
transitStyle.front = u.getTransitionStyle('transition', 'none', '');
self.applyStyles(transitStyle);
self.trigger('rested', self.instance);
};
Nipple.prototype.resetDirection = function () {
// Fully rebuild the object to let the iteration possible.
this.direction = {
x: false,
y: false,
angle: false
};
};
Nipple.prototype.computeDirection = function (obj) {
var rAngle = obj.angle.radian;
var angle45 = Math.PI / 4;
var angle90 = Math.PI / 2;
var direction, directionX, directionY;
// Angular direction
// \ UP /
// \ /
// LEFT RIGHT
// / \
// /DOWN \
//
if (
rAngle > angle45 &&
rAngle < (angle45 * 3) &&
!obj.lockX
) {
direction = 'up';
} else if (
rAngle > -angle45 &&
rAngle <= angle45 &&
!obj.lockY
) {
direction = 'left';
} else if (
rAngle > (-angle45 * 3) &&
rAngle <= -angle45 &&
!obj.lockX
) {
direction = 'down';
} else if (!obj.lockY) {
direction = 'right';
}
// Plain direction
// UP |
// _______ | RIGHT
// LEFT |
// DOWN |
if (!obj.lockY) {
if (rAngle > -angle90 && rAngle < angle90) {
directionX = 'left';
} else {
directionX = 'right';
}
}
if (!obj.lockX) {
if (rAngle > 0) {
directionY = 'up';
} else {
directionY = 'down';
}
}
if (obj.force > this.options.threshold) {
var oldDirection = {};
var i;
for (i in this.direction) {
if (this.direction.hasOwnProperty(i)) {
oldDirection[i] = this.direction[i];
}
}
var same = {};
this.direction = {
x: directionX,
y: directionY,
angle: direction
};
obj.direction = this.direction;
for (i in oldDirection) {
if (oldDirection[i] === this.direction[i]) {
same[i] = true;
}
}
// If all 3 directions are the same, we don't trigger anything.
if (same.x && same.y && same.angle) {
return obj;
}
if (!same.x || !same.y) {
this.trigger('plain', obj);
}
if (!same.x) {
this.trigger('plain:' + directionX, obj);
}
if (!same.y) {
this.trigger('plain:' + directionY, obj);
}
if (!same.angle) {
this.trigger('dir dir:' + direction, obj);
}
} else {
this.resetDirection();
}
return obj;
};
export default Nipple;
ExoMy_Software-master/gui/node_modules/nipplejs/src/super.js
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///////////////////////
/// SUPER CLASS ///
///////////////////////
import * as u from './utils';
// Constants
var isTouch = !!('ontouchstart' in window);
var isPointer = window.PointerEvent ? true : false;
var isMSPointer = window.MSPointerEvent ? true : false;
var events = {
touch: {
start: 'touchstart',
move: 'touchmove',
end: 'touchend, touchcancel'
},
mouse: {
start: 'mousedown',
move: 'mousemove',
end: 'mouseup'
},
pointer: {
start: 'pointerdown',
move: 'pointermove',
end: 'pointerup, pointercancel'
},
MSPointer: {
start: 'MSPointerDown',
move: 'MSPointerMove',
end: 'MSPointerUp'
}
};
var toBind;
var secondBind = {};
if (isPointer) {
toBind = events.pointer;
} else if (isMSPointer) {
toBind = events.MSPointer;
} else if (isTouch) {
toBind = events.touch;
secondBind = events.mouse;
} else {
toBind = events.mouse;
}
function Super () {}
// Basic event system.
Super.prototype.on = function (arg, cb) {
var self = this;
var types = arg.split(/[ ,]+/g);
var type;
self._handlers_ = self._handlers_ || {};
for (var i = 0; i < types.length; i += 1) {
type = types[i];
self._handlers_[type] = self._handlers_[type] || [];
self._handlers_[type].push(cb);
}
return self;
};
Super.prototype.off = function (type, cb) {
var self = this;
self._handlers_ = self._handlers_ || {};
if (type === undefined) {
self._handlers_ = {};
} else if (cb === undefined) {
self._handlers_[type] = null;
} else if (self._handlers_[type] &&
self._handlers_[type].indexOf(cb) >= 0) {
self._handlers_[type].splice(self._handlers_[type].indexOf(cb), 1);
}
return self;
};
Super.prototype.trigger = function (arg, data) {
var self = this;
var types = arg.split(/[ ,]+/g);
var type;
self._handlers_ = self._handlers_ || {};
for (var i = 0; i < types.length; i += 1) {
type = types[i];
if (self._handlers_[type] && self._handlers_[type].length) {
self._handlers_[type].forEach(function (handler) {
handler.call(self, {
type: type,
target: self
}, data);
});
}
}
};
// Configuration
Super.prototype.config = function (options) {
var self = this;
self.options = self.defaults || {};
if (options) {
self.options = u.safeExtend(self.options, options);
}
};
// Bind internal events.
Super.prototype.bindEvt = function (el, type) {
var self = this;
self._domHandlers_ = self._domHandlers_ || {};
self._domHandlers_[type] = function () {
if (typeof self['on' + type] === 'function') {
self['on' + type].apply(self, arguments);
} else {
// eslint-disable-next-line no-console
console.warn('[WARNING] : Missing "on' + type + '" handler.');
}
};
u.bindEvt(el, toBind[type], self._domHandlers_[type]);
if (secondBind[type]) {
// Support for both touch and mouse at the same time.
u.bindEvt(el, secondBind[type], self._domHandlers_[type]);
}
return self;
};
// Unbind dom events.
Super.prototype.unbindEvt = function (el, type) {
var self = this;
self._domHandlers_ = self._domHandlers_ || {};
u.unbindEvt(el, toBind[type], self._domHandlers_[type]);
if (secondBind[type]) {
// Support for both touch and mouse at the same time.
u.unbindEvt(el, secondBind[type], self._domHandlers_[type]);
}
delete self._domHandlers_[type];
return this;
};
export default Super;
ExoMy_Software-master/gui/node_modules/nipplejs/src/utils.js
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///////////////////////
/// UTILS ///
///////////////////////
export const distance = (p1, p2) => {
const dx = p2.x - p1.x;
const dy = p2.y - p1.y;
return Math.sqrt((dx * dx) + (dy * dy));
};
export const angle = (p1, p2) => {
const dx = p2.x - p1.x;
const dy = p2.y - p1.y;
return degrees(Math.atan2(dy, dx));
};
export const findCoord = (p, d, a) => {
const b = {x: 0, y: 0};
a = radians(a);
b.x = p.x - d * Math.cos(a);
b.y = p.y - d * Math.sin(a);
return b;
};
export const radians = (a) => {
return a * (Math.PI / 180);
};
export const degrees = (a) => {
return a * (180 / Math.PI);
};
export const isPressed = (evt) => {
if (isNaN(evt.buttons)) {
return evt.pressure !== 0;
}
return evt.buttons !== 0;
};
export const bindEvt = (el, arg, handler) => {
const types = arg.split(/[ ,]+/g);
let type;
for (let i = 0; i < types.length; i += 1) {
type = types[i];
if (el.addEventListener) {
el.addEventListener(type, handler, false);
} else if (el.attachEvent) {
el.attachEvent(type, handler);
}
}
};
export const unbindEvt = (el, arg, handler) => {
const types = arg.split(/[ ,]+/g);
let type;
for (let i = 0; i < types.length; i += 1) {
type = types[i];
if (el.removeEventListener) {
el.removeEventListener(type, handler);
} else if (el.detachEvent) {
el.detachEvent(type, handler);
}
}
};
export const trigger = (el, type, data) => {
const evt = new CustomEvent(type, data);
el.dispatchEvent(evt);
};
export const prepareEvent = (evt) => {
evt.preventDefault();
return evt.type.match(/^touch/) ? evt.changedTouches : evt;
};
export const getScroll = () => {
const x = (window.pageXOffset !== undefined) ?
window.pageXOffset :
(document.documentElement || document.body.parentNode || document.body)
.scrollLeft;
const y = (window.pageYOffset !== undefined) ?
window.pageYOffset :
(document.documentElement || document.body.parentNode || document.body)
.scrollTop;
return {
x: x,
y: y
};
};
export const applyPosition = (el, pos) => {
if (pos.top || pos.right || pos.bottom || pos.left) {
el.style.top = pos.top;
el.style.right = pos.right;
el.style.bottom = pos.bottom;
el.style.left = pos.left;
} else {
el.style.left = pos.x + 'px';
el.style.top = pos.y + 'px';
}
};
export const getTransitionStyle = (property, values, time) => {
const obj = configStylePropertyObject(property);
for (let i in obj) {
if (obj.hasOwnProperty(i)) {
if (typeof values === 'string') {
obj[i] = values + ' ' + time;
} else {
let st = '';
for (let j = 0, max = values.length; j < max; j += 1) {
st += values[j] + ' ' + time + ', ';
}
obj[i] = st.slice(0, -2);
}
}
}
return obj;
};
export const getVendorStyle = (property, value) => {
const obj = configStylePropertyObject(property);
for (let i in obj) {
if (obj.hasOwnProperty(i)) {
obj[i] = value;
}
}
return obj;
};
export const configStylePropertyObject = (prop) => {
const obj = {};
obj[prop] = '';
const vendors = ['webkit', 'Moz', 'o'];
vendors.forEach(function (vendor) {
obj[vendor + prop.charAt(0).toUpperCase() + prop.slice(1)] = '';
});
return obj;
};
export const extend = (objA, objB) => {
for (let i in objB) {
if (objB.hasOwnProperty(i)) {
objA[i] = objB[i];
}
}
return objA;
};
// Overwrite only what's already present
export const safeExtend = (objA, objB) => {
const obj = {};
for (let i in objA) {
if (objA.hasOwnProperty(i) && objB.hasOwnProperty(i)) {
obj[i] = objB[i];
} else if (objA.hasOwnProperty(i)) {
obj[i] = objA[i];
}
}
return obj;
};
// Map for array or unique item.
export const map = (ar, fn) => {
if (ar.length) {
for (let i = 0, max = ar.length; i < max; i += 1) {
fn(ar[i]);
}
} else {
fn(ar);
}
};
ExoMy_Software-master/gui/node_modules/nipplejs/types/index.d.ts
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export interface JoystickManagerOptions {
/**
* Defaults to `'body'`
* The dom element in which all your joysticks will be injected.
*
* This zone also serve as the mouse/touch events handler.
*
* It represents the zone where all your joysticks will be active.
*/
zone?: HTMLElement;
/**
* Defaults to `'white'`
* The background color of your joystick’s elements.
*
* Can be any valid CSS color.
*/
color?: string;
/**
* Defaults to `100`
* The size in pixel of the outer circle.
*
* The inner circle is 50% of this size.
*/
size?: number;
/**
* This is the strength needed to trigger a directional event.
*
* Basically, the center is 0 and the outer is 1.
*
* You need to at least go to 0.1 to trigger a directional event.
*/
threshold?: number;
/**
* Defaults to `250`
*
* The time it takes for joystick to fade-out and fade-in when activated or de-activated.
*/
fadeTime?: number;
/**
* Defaults to `false`
*
* Enable the multitouch capabilities.
*
* If, for reasons, you need to have multiple nipples into the same zone.
*
* Otherwise it will only get one, and all new touches won’t do a thing.
*
* Please note that multitouch is off when in static or semi modes.
*/
multitouch?: boolean;
/**
* Defaults to `1`
*
* If you need to, you can also control the maximum number of instance that could be created.
*
* Obviously in a multitouch configuration.
*/
maxNumberOfNipples?: number;
/**
* Defaults to `false`
*
* The library won’t draw anything in the DOM and will only trigger events with data.
*/
dataOnly?: boolean;
/**
* Defaults to `{top: 0, left: 0}`
*
* An object that will determine the position of a static mode.
*
* You can pass any of the four top, right, bottom and left.
*
* They will be applied as any css property.
*/
position?: {
top?: string;
right?: string;
bottom?: string;
left?: string;
};
/**
* Behavioral mode for the joystick
*
* ### 'dynamic':
* a new joystick is created at each new touch.
* the joystick gets destroyed when released.
* can be multitouch.
*
* ### 'semi':
* new joystick is created at each new touch farther than options.catchDistance of any previously created joystick.
* the joystick is faded-out when released but not destroyed.
* when touch is made inside the options.catchDistance a new direction is triggered immediately.
* when touch is made outside the options.catchDistance the previous joystick is destroyed and a new one is created.
* cannot be multitouch.
*
* ### 'static':
* a joystick is positioned immediately at options.position.
* one joystick per zone.
* each new touch triggers a new direction.
* cannot be multitouch.
*/
mode?: 'dynamic' | 'semi' | 'static';
/**
* Defaults to `true`
*
* Reset the joystick’s position when it enters the rest state.
*/
restJoystick?: boolean;
/**
* Defaults to `0.5`
* The opacity to apply when the joystick is in a rest position.
*/
restOpacity?: number;
/**
* Defaults to `200`
*
* This is only useful in the semi mode, and determine at which distance we recycle the previous joystick.
*/
catchDistance?: number;
/**
* Defaults to `false`
*
* Locks joystick’s movement to the x (horizontal) axis
*/
lockX?: boolean;
/**
* Defaults to `false`
*
* Locks joystick’s movement to the y (vertical) axis
*/
lockY?: boolean;
}
export interface Position {
x: number;
y: number;
}
export interface JoystickOutputData {
angle: {
degree: number;
radian: number;
};
direction: {
angle: string;
x: string;
y: string;
};
vector: {
x: number;
y: number;
};
raw: {
distance: number;
position: Position;
};
distance: number;
force: number;
identifier: number;
instance: Joystick;
position: Position;
pressure: number;
}
export type JoystickEventTypes =
/**
* A joystick is activated. (the user pressed on the active zone)
* Will pass the instance alongside the event.
*/
| 'start'
/** A joystick is de-activated. (the user released the active zone)
* Will pass the instance alongside the event.
*/
| 'end'
/**
* A joystick is moved
*/
| 'move'
/**
* When a direction is reached after the threshold.
*
* Direction are split with a 45° angle.
*/
| 'dir'
| 'dir:up'
| 'dir:down'
| 'dir:right'
| 'dir:left'
/**
* When a plain direction is reached after the threshold.
* Plain directions are split with a 90° angle.
*/
| 'plain'
// plain variations
| 'plain:up'
| 'plain:down'
| 'plain:right'
| 'plain:left'
/**
* Is triggered at the end of the fade-in animation.
* Will pass the instance alongside the event.
*
* Won’t be trigger in a dataOnly configuration.
*/
| 'shown'
/**
* Is triggered at the end of the fade-out animation.
*
* Will pass the instance alongside the event.
*
* Won’t be trigger in a dataOnly configuration.
*/
| 'hidden'
/**
* Is triggered at the end of destroy.
*
* Will pass the instance alongside the event.
*/
| 'destroyed'
/**
* MBP’s Force Touch, iOS’s 3D Touch, Microsoft’s pressure or MDN’s force
*
*Is triggered when the pressure on the joystick is changed.
*
*The value, between 0 and 1, is sent back alongside the event.
*/
| 'pressure';
export type ManagerOnlyEventTypes =
/**
* A joystick just got added.
*
* Will pass the instance alongside the event.
*/
| 'added'
/**
* A joystick just got removed.
*
* Fired at the end of the fade-out animation.
*
* Will pass the instance alongside the event.
*
* Won’t be trigger in a dataOnly configuration.
*/
| 'removed';
export type JoystickManagerEventTypes = JoystickEventTypes | ManagerOnlyEventTypes;
export interface EventData {
type: JoystickEventTypes | ManagerOnlyEventTypes;
target: Collection;
}
export class JoystickManager {
create(options?: JoystickManagerOptions): JoystickManager;
on(
type: JoystickManagerEventTypes | JoystickManagerEventTypes[],
handler: (evt: EventData, data: JoystickOutputData) => void
): void;
off(
type: JoystickManagerEventTypes | JoystickManagerEventTypes[],
handler: (evt: EventData, data: JoystickOutputData) => void
): void;
get(identifier: number): Joystick;
destroy(): void;
}
export interface Collection {
nipples: Joystick[];
idles: Joystick[];
actives: Joystick[];
ids: number[];
pressureIntervals: {};
manager: JoystickManager;
id: number;
defaults: JoystickManagerOptions;
}
export interface Joystick {
on(
type: JoystickEventTypes | JoystickEventTypes[],
handler: (evt: EventData, data: JoystickOutputData) => void
): void;
off(
type: JoystickEventTypes | JoystickEventTypes[],
handler: (evt: EventData, data: JoystickOutputData) => void
): void;
el: HTMLElement;
show(cb?: () => void): void;
hide(cb?: () => void): void;
add(): void;
remove(): void;
destroy(): void;
identifier: number;
trigger(
type: JoystickEventTypes | JoystickEventTypes[],
handler: (evt: EventData, data: any) => void
): void;
position: Position;
frontPosition: Position;
ui: {
el: HTMLElement;
front: HTMLElement;
back: HTMLElement;
};
options: JoystickManagerOptions;
}
/**
* A JavaScript library for creating vanillaJS virtual joysticks, for touch capable interfaces.
*/
declare module 'nipplejs' {
/**
* Create a Joystick manager
* @param options for creating a manager instance
* @return manager instance
*/
function create(options: JoystickManagerOptions): JoystickManager;
/**
* Library's root manger instance.
*/
const factory: JoystickManager;
}
ExoMy_Software-master/gui/package-lock.json
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{
"requires": true,
"lockfileVersion": 1,
"dependencies": {
"nipplejs": {
"version": "0.8.5",
"resolved": "https://registry.npmjs.org/nipplejs/-/nipplejs-0.8.5.tgz",
"integrity": "sha512-2G7warzUh4jIdmzSIDRCeXJUl/QrZyJ0QwFgI0V1lM34HLNsIqEX6uY0NY4V3wBDHNsub3me1cbFb/FJpWE/5g=="
}
}
}
ExoMy_Software-master/gui/style.css
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header {
background-color: #f1f1f1;
padding: 20px;
text-align: center;
position: relative;
}
body {
overflow: scroll;
}
.wrapper {
display: grid;
grid-template-columns: 1fr 1fr 1fr;
grid-template-rows: 1fr;
width: 100vw;
height: 100vh;
}
.button {
border: none;
color: white;
text-decoration: none;
display: inline-block;
margin: 10px auto;
cursor: pointer;
width: 90%;
box-shadow: 0 8px 16px 0 rgba(0,0,0,0.2), 0 6px 20px 0 rgba(0,0,0,0.19);
font-size: 18px;
font-weight: bold;
border-radius: 8px;
}
.buttonY{
background-color: orange;
grid-row: 1;
}
.buttonX{
background-color: blue;
grid-row: 2;
}
.buttonA{
background-color: green;
grid-row: 3;
}
.buttonStart{
background-color: red;
grid-row: 4;
width: 50%;
font-size: 12px;
}
.button_container {
position: absolute;
display: grid;
left: 25%;
top: 25%;
height: 50%;
width: 50%;
}
.image_container {
position: absolute;
top: 20%;
height: 80%;
width: 80%;
}
.joy_container {
height: 100%;
width: 100%;
}
.left {
position: relative;
background: rgba(63, 58, 55, 0.1);
grid-column: 1;
height: 100%;
}
.middle {
position: relative;
background: rgba(45, 48, 45, 0.1);
grid-column: 2;
height: 100%;
}
.right {
position: relative;
background: rgba(63, 58, 55, 0.1);
grid-column: 3;
}
ExoMy_Software-master/launch/exomy.launch
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<launch>
<node name="robot" pkg="exomy" type="robot_node.py" respawn="true" output="screen"/>
<node name="motors" pkg="exomy" type="motor_node.py" respawn="true" output="screen" />
<node name="joystick" pkg="exomy" type="joystick_parser_node.py" respawn="true" output="screen" />
<node respawn="true" pkg="joy" type="joy_node" name="joy_node">
<param name="coalesce_interval" value="0.05"/>
</node>
<node pkg="web_video_server" type="web_video_server" name="web_video_server" respawn="false" output="screen">
<param name="default_transport" value="compressed"/>
<param name="quality" value="50"/>
</node>
<node pkg="usb_cam" type="usb_cam_node" name="pi_cam" respawn="false" output="screen">
<param name="framerate" value="10"/>
<param name="video_device" value="/dev/video0"/>
<param name="image_width" value="640"/>
<param name="image_height" value="480"/>
<param name="pixel_format" value="yuyv"/>
<param name="camera_frame_id" value="pi_cam"/>
<param name="io_method" value="mmap"/>
</node>
<include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch"/>
<rosparam file="$(find exomy)/config/exomy.yaml"/>
</launch>
ExoMy_Software-master/msg/MotorCommands.msg
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int64[] motor_speeds
int64[] motor_angles
ExoMy_Software-master/msg/RoverCommand.msg
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bool connected
bool motors_enabled
int64 locomotion_mode
int64 vel
int64 steering
ExoMy_Software-master/msg/Screen.msg
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string state
ExoMy_Software-master/package.xml
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<?xml version="1.0"?>
<package format="2">
<name>exomy</name>
<version>1.0.1</version>
<description>The ExoMy ROS package</description>
<maintainer email="max.ehrhardt@hotmail.de">Maximilian Ehrhardt</maintainer>
<license>GPLv3</license>
<url type="website">https://github.com/esa-prl/ExoMy</url>
<author email="max.ehrhardt@hotmail.de">Maximilian Ehrhardt</author>
<buildtool_depend>catkin</buildtool_depend>
<build_depend>rospy</build_depend>
<build_depend>std_msgs</build_depend>
<build_depend>sensor_msgs</build_depend>
<build_export_depend>rospy</build_export_depend>
<build_export_depend>std_msgs</build_export_depend>
<build_export_depend>sensor_msgs</build_export_depend>
<exec_depend>python-rpi.gpio</exec_depend>
<exec_depend>rospy</exec_depend>
<exec_depend>std_msgs</exec_depend>
<exec_depend>sensor_msgs</exec_depend>
<build_depend>message_generation</build_depend>
<exec_depend>message_runtime</exec_depend>
<export>
</export>
</package>
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ExoMy_Software-master/scripts/cam_test.py
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from picamera import PiCamera
from time import sleep
'''
This script helps to test the functionality of the Raspberry Pi camera.
The script must be run dicrectly on the Raspberry Pi (not in the Docker container)
'''
camera = PiCamera()
camera.start_preview()
sleep(5)
camera.stop_preview()
ExoMy_Software-master/scripts/config_drive_motor_neutral.py
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import Adafruit_PCA9685
import yaml
import time
import os
config_filename = '../config/exomy.yaml'
def get_driving_pins():
pin_list = []
with open(config_filename, 'r') as file:
param_dict = yaml.load(file)
for key, value in param_dict.items():
if('pin_drive_' in str(key)):
pin_list.append(value)
return pin_list
def get_drive_pwm_neutral():
with open(config_filename, 'r') as file:
param_dict = yaml.load(file)
for key, value in param_dict.items():
if('drive_pwm_neutral' in str(key)):
return value
default_value = 300
print('The parameter drive_pwm_neutral could not be found in the exomy.yaml \n')
print('It was set to the default value: '+ default_value + '\n')
return default_value
if __name__ == "__main__":
print(
'''
$$$$$$$$\ $$\ $$\
$$ _____| $$$\ $$$ |
$$ | $$\ $$\ $$$$$$\ $$$$\ $$$$ |$$\ $$\
$$$$$\ \$$\ $$ |$$ __$$\ $$\$$\$$ $$ |$$ | $$ |
$$ __| \$$$$ / $$ / $$ |$$ \$$$ $$ |$$ | $$ |
$$ | $$ $$< $$ | $$ |$$ |\$ /$$ |$$ | $$ |
$$$$$$$$\ $$ /\$$\ \$$$$$$ |$$ | \_/ $$ |\$$$$$$$ |
\________|\__/ \__| \______/ \__| \__| \____$$ |
$$\ $$ |
\$$$$$$ |
\______/
'''
)
print(
'''
This script helps you to set the neutral values of PWM of the driving motors correctly.
It will send the intended signal for "not moving" to all the motors.
On each motor you have to turn the correction screw until the motor really stands still.
'''
)
if not os.path.exists(config_filename):
print("exomy.yaml does not exist. Finish config_motor_pins.py to generate it.")
exit()
pwm = Adafruit_PCA9685.PCA9685()
'''
The drive_pwm_neutral value is determined from the exomy.yaml file.
But it can be also calculated from the values of the PWM board and motors,
like shown in the following calculation:
# For most motors a pwm frequency of 50Hz is normal
pwm_frequency = 50.0 # Hz
pwm.set_pwm_freq(pwm_frequency)
# The cycle is the inverted frequency converted to milliseconds
cycle = 1.0/pwm_frequency * 1000.0 # 20 ms
# The time the pwm signal is set to on during the duty cycle
on_time = 1.5 # ms
# Duty cycle is the percentage of a cycle the signal is on
duty_cycle = on_time/cycle # 0.075
# The PCA 9685 board requests a 12 bit number for the duty_cycle
value = int(duty_cycle*4096.0) # 307
'''
value = get_drive_pwm_neutral()
pin_list = get_driving_pins()
for pin in pin_list:
pwm.set_pwm(pin, 0, value)
time.sleep(0.1)
raw_input('Press any button if you are done to complete configuration\n')
for pin in pin_list:
pwm.set_pwm(pin, 0, 0)
ExoMy_Software-master/scripts/config_motor_pins.py
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import Adafruit_PCA9685
import time
from shutil import copyfile
import os
DRIVE_MOTOR, STEER_MOTOR = [0, 1]
pos_names = {
1: 'fl',
2: 'fr',
3: 'cl',
4: 'cr',
5: 'rl',
6: 'rr',
}
pin_dict = {
}
pwm = Adafruit_PCA9685.PCA9685()
# For most motors a pwm frequency of 50Hz is normal
pwm_frequency = 50.0 # Hz
pwm.set_pwm_freq(pwm_frequency)
# The cycle is the inverted frequency converted to milliseconds
cycle = 1.0/pwm_frequency * 1000.0 # ms
# The time the pwm signal is set to on during the duty cycle
on_time_1 = 2.4 # ms
on_time_2 = 1.5 # ms
# Duty cycle is the percentage of a cycle the signal is on
duty_cycle_1 = on_time_1/cycle
duty_cycle_2 = on_time_2/cycle
# The PCA 9685 board requests a 12 bit number for the duty_cycle
value_1 = 200 #int(duty_cycle_1*4096.0)
value_2 = 400#int(duty_cycle_2*4096.0)
class Motor():
def __init__(self, pin):
self.pin_name = 'pin_'
self.pin_number = pin
def wiggle_motor(self):
# Set the motor to the second value
pwm.set_pwm(self.pin_number, 0, value_2)
# Wait for 1 seconds
time.sleep(1.0)
# Set the motor to the first value
pwm.set_pwm(self.pin_number, 0, value_1)
# Wait for 1 seconds
time.sleep(1.0)
# Set the motor to neutral
pwm.set_pwm(self.pin_number, 0, 307)
# Wait for half seconds
time.sleep(0.5)
# Stop the motor
pwm.set_pwm(self.pin_number, 0, 0)
def stop_motor(self):
# Turn the motor off
pwm.set_pwm(self.pin_number, 0, 0)
def print_exomy_layout():
print(
'''
1 fl-||-fr 2
||
3 cl-||-cr 4
5 rl====rr 6
'''
)
def update_config_file():
file_name = '../config/exomy.yaml'
template_file_name = file_name+'.template'
if not os.path.exists(file_name):
copyfile(template_file_name, file_name)
print("exomy.yaml.template was copied to exomy.yaml")
output = ''
with open(file_name, 'rt') as file:
for line in file:
for key, value in pin_dict.items():
if(key in line):
line = line.replace(line.split(': ', 1)[
1], str(value) + '\n')
break
output += line
with open(file_name, 'w') as file:
file.write(output)
if __name__ == "__main__":
print(
'''
$$$$$$$$\ $$\ $$\
$$ _____| $$$\ $$$ |
$$ | $$\ $$\ $$$$$$\ $$$$\ $$$$ |$$\ $$\
$$$$$\ \$$\ $$ |$$ __$$\ $$\$$\$$ $$ |$$ | $$ |
$$ __| \$$$$ / $$ / $$ |$$ \$$$ $$ |$$ | $$ |
$$ | $$ $$< $$ | $$ |$$ |\$ /$$ |$$ | $$ |
$$$$$$$$\ $$ /\$$\ \$$$$$$ |$$ | \_/ $$ |\$$$$$$$ |
\________|\__/ \__| \______/ \__| \__| \____$$ |
$$\ $$ |
\$$$$$$ |
\______/
'''
)
print(
'''
###############
Motor Configuration
This scripts leads you through the configuration of the motors.
First we have to find out, to which pin of the PWM board a motor is connected.
Look closely which motor moves and type in the answer.
Ensure to run the script until the end, otherwise your changes will not be saved!
This script can always be stopped with ctrl+c and restarted.
All other controls will be explained in the process.
###############
'''
)
for pin_number in range(16):
motor = Motor(pin_number)
motor.stop_motor()
for pin_number in range(16):
motor = Motor(pin_number)
motor.wiggle_motor()
type_selection = ''
while(1):
print("Pin #{}".format(pin_number))
print(
'Was it a steering or driving motor that moved, or should I repeat the movement? ')
type_selection = raw_input('(d)rive (s)teer (r)epeat - (n)one (f)inish_configuration\n')
if(type_selection == 'd'):
motor.pin_name += 'drive_'
print('Good job\n')
break
elif(type_selection == 's'):
motor.pin_name += 'steer_'
print('Good job\n')
break
elif(type_selection == 'r'):
print('Look closely\n')
motor.wiggle_motor()
elif(type_selection == 'n'):
print('Skipping pin')
break
elif(type_selection == 'f'):
print('Finishing calibration at pin {}.'.format(pin_number))
break
else:
print('Input must be d, s, r, n or f\n')
if (type_selection == 'd' or type_selection == 's'):
while(1):
print_exomy_layout()
pos_selection = raw_input(
'Type the position of the motor that moved.[1-6] or (r)epeat\n')
if(pos_selection == 'r'):
print('Look closely\n')
else:
try:
pos = int(pos_selection)
if(pos >= 1 and pos <= 6):
motor.pin_name += pos_names[pos]
break
else:
print('The input was not a number between 1 and 6\n')
except ValueError:
print('The input was not a number between 1 and 6\n')
pin_dict[motor.pin_name] = motor.pin_number
print('Motor set!\n')
print('########################################################\n')
elif (type_selection == 'f'):
break
print('Now we will step through all the motors and check whether they have been assigned correctly.\n')
print('Press ctrl+c if something is wrong and start the script again. \n')
for pin_name in pin_dict:
print('moving {}'.format(pin_name))
print_exomy_layout()
pin = pin_dict[pin_name]
motor = Motor(pin)
motor.wiggle_motor()
raw_input('Press button to continue')
print("You assigned {}/12 motors.".format(len(pin_dict.keys())))
print('Write to config file.\n')
update_config_file()
print(
'''
$$$$$$$$\ $$\ $$\ $$\ $$\
$$ _____|\__| \__| $$ | $$ |
$$ | $$\ $$$$$$$\ $$\ $$$$$$$\ $$$$$$$\ $$$$$$\ $$$$$$$ |
$$$$$\ $$ |$$ __$$\ $$ |$$ _____|$$ __$$\ $$ __$$\ $$ __$$ |
$$ __| $$ |$$ | $$ |$$ |\$$$$$$\ $$ | $$ |$$$$$$$$ |$$ / $$ |
$$ | $$ |$$ | $$ |$$ | \____$$\ $$ | $$ |$$ ____|$$ | $$ |
$$ | $$ |$$ | $$ |$$ |$$$$$$$ |$$ | $$ |\$$$$$$$\ \$$$$$$$ |
\__| \__|\__| \__|\__|\_______/ \__| \__| \_______| \_______|
''')
ExoMy_Software-master/scripts/config_steer_motor_neutral.py
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import Adafruit_PCA9685
import yaml
import time
import os
config_filename = '../config/exomy.yaml'
def get_steering_motor_pins():
steering_motor_pins = {}
with open(config_filename, 'r') as file:
param_dict = yaml.load(file)
for param_key, param_value in param_dict.items():
if('pin_steer_' in str(param_key)):
steering_motor_pins[param_key] = param_value
return steering_motor_pins
def get_steering_pwm_neutral_values():
steering_pwm_neutral_values = {}
with open(config_filename, 'r') as file:
param_dict = yaml.load(file)
for param_key, param_value in param_dict.items():
if('steer_pwm_neutral_' in str(param_key)):
steering_pwm_neutral_values[param_key] = param_value
return steering_pwm_neutral_values
def get_position_name(name):
position_name = ''
if('_fl' in name):
position_name = 'Front Left'
elif('_fr' in name):
position_name = 'Front Right'
elif('_cl' in name):
position_name = 'Center Left'
elif('_cr' in name):
position_name = 'Center Right'
elif('_rl' in name):
position_name = 'Rear Left'
elif('_rr' in name):
position_name = 'Rear Right'
return position_name
def update_config_file(steering_pwm_neutral_dict):
output = ''
with open(config_filename, 'rt') as file:
for line in file:
for key, value in steering_pwm_neutral_dict.items():
if(key in line):
line = line.replace(line.split(': ', 1)[
1], str(value) + '\n')
break
output += line
with open(config_filename, 'w') as file:
file.write(output)
if __name__ == "__main__":
print(
'''
$$$$$$$$\ $$\ $$\
$$ _____| $$$\ $$$ |
$$ | $$\ $$\ $$$$$$\ $$$$\ $$$$ |$$\ $$\
$$$$$\ \$$\ $$ |$$ __$$\ $$\$$\$$ $$ |$$ | $$ |
$$ __| \$$$$ / $$ / $$ |$$ \$$$ $$ |$$ | $$ |
$$ | $$ $$< $$ | $$ |$$ |\$ /$$ |$$ | $$ |
$$$$$$$$\ $$ /\$$\ \$$$$$$ |$$ | \_/ $$ |\$$$$$$$ |
\________|\__/ \__| \______/ \__| \__| \____$$ |
$$\ $$ |
\$$$$$$ |
\______/
'''
)
print(
'''
This script helps you to set the neutral pwm values for the steering motors.
You will iterate over all steering motors and set them to a neutral position.
The determined value is written to the config file.
Commands:
a - Decrease value for current pin
d - Increase value for current pin
q - Finish setting value for current pin
[Every of these commands must be confirmed with the enter key]
ctrl+c - Exit script
------------------------------------------------------------------------------
'''
)
if not os.path.exists(config_filename):
print("exomy.yaml does not exist. Finish config_motor_pins.py to generate it.")
exit()
pwm = Adafruit_PCA9685.PCA9685()
# For most motors a pwm frequency of 50Hz is normal
pwm_frequency = 50.0 # Hz
pwm.set_pwm_freq(pwm_frequency)
# The cycle is the inverted frequency converted to milliseconds
cycle = 1.0/pwm_frequency * 1000.0 # ms
# The time the pwm signal is set to on during the duty cycle
on_time = 1.5 # ms
# Duty cycle is the percentage of a cycle the signal is on
duty_cycle = on_time/cycle
# The PCA 9685 board requests a 12 bit number for the duty_cycle
initial_value = int(duty_cycle*4096.0)
# Get all steering pins
steering_motor_pins = get_steering_motor_pins()
pwm_neutral_dict = get_steering_pwm_neutral_values()
# Iterating over all motors and fine tune the zero value
for pin_name, pin_value in steering_motor_pins.items():
pwm_neutral_name = pin_name.replace('pin_steer_', 'steer_pwm_neutral_')
pwm_neutral_value = pwm_neutral_dict[pwm_neutral_name]
print('Set ' + get_position_name(pin_name) + ' steering motor: \n')
while(1):
# Set motor
pwm.set_pwm(pin_value, 0, pwm_neutral_value)
time.sleep(0.1)
print('Current value: ' + str(pwm_neutral_value) + '\n')
input = raw_input(
'q-set / a-decrease pwm neutral value/ d-increase pwm neutral value\n')
if(input is 'q'):
print('PWM neutral value for ' + get_position_name(pin_name) +
' has been set.\n')
break
elif(input is 'a'):
print('Decreased pwm neutral value')
pwm_neutral_value-= 5
elif(input is 'd'):
print('Increased pwm neutral value')
pwm_neutral_value += 5
pwm_neutral_dict[pwm_neutral_name] = pwm_neutral_value
update_config_file(pwm_neutral_dict)
print("Finished configuration!!!")
ExoMy_Software-master/scripts/motor_test.py
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import Adafruit_PCA9685
import time
import sys
'''
This script helps to test pwm motors with the Adafruit PCA9685 board
Example usage:
python motor_test.py 3
Performs a motor test for the motor connected to pin 3 of the PWM board
'''
# Check if the pin number is given as an argument
if len(sys.argv) < 2:
print('You must give the pin number of the motor to be tested as argument.')
print('E.g: python motor_test.py 3')
print('Tests the motor connected to pin 3.')
exit()
# Set the pin of the motor
pin = int(sys.argv[1])
print('Pin: '+str(pin))
pwm = Adafruit_PCA9685.PCA9685()
# For most motors a pwm frequency of 50Hz is normal
pwm_frequency = 50.0 #Hz
pwm.set_pwm_freq(pwm_frequency)
# The cycle is the inverted frequency converted to milliseconds
cycle = 1.0/pwm_frequency * 1000.0 #ms
# The time the pwm signal is set to on during the duty cycle
on_time = 2.0 #ms
selection = ''
while(selection != '0'):
print("What do you want to test?")
print("1. Min to Max oscilation")
print('2. Incremental positioning')
print('0. Abort')
selection = raw_input()
if (int(selection) == 1):
min_t = 0.5 # ms
max_t = 2.5 # ms
mid_t = min_t+max_t/2
print("pulsewidth_min = {:.2f}, pulsewidth_max = {:.2f}".format(min_t, max_t))
# *_dc is the percentage of a cycle the signal is on
min_dc = min_t/cycle
max_dc = max_t/cycle
mid_dc = mid_t/cycle
dc_list = [min_dc, mid_dc, max_dc, mid_dc]
for dc in dc_list:
pwm.set_pwm(pin, 0, int(dc*4096.0))
time.sleep(2.0)
if (int(selection) == 2):
curr_t = 1.5 # ms
curr_dc = curr_t/cycle
step_size = 0.1 # ms
step_size_scaling = 0.2
dc_selection = ''
while (dc_selection != '0'):
dc_selection = raw_input('a-d: change pulsewidth | w-s: change step size | 0: back to menu\n')
if dc_selection == 'a':
curr_t = curr_t - step_size
elif dc_selection == 'd':
curr_t = curr_t + step_size
elif dc_selection == 's':
step_size = step_size*(1-step_size_scaling)
elif dc_selection == 'w':
step_size = step_size*(1+step_size_scaling)
curr_dc = curr_t/cycle
curr_pwm = int(curr_dc*4096.0)
print("t_current:\t{0:.4f} [ms]\nstep_size:\t{1:.4f} [ms]\ncurr_pwm: {2:.2f}".format(curr_t, step_size, curr_pwm))
pwm.set_pwm(pin, 0, curr_pwm)
# The PCA 9685 board requests a 12 bit number for the duty_cycle
pwm.set_pwm(pin, 0, 0)
ExoMy_Software-master/scripts/stop_motors.py
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import Adafruit_PCA9685
import time
import sys
'''
This script simply stops all the motors, in case they were left in a running state.
'''
pwm = Adafruit_PCA9685.PCA9685()
# For most motors a pwm frequency of 50Hz is normal
pwm_frequency = 50.0 # Hz
pwm.set_pwm_freq(pwm_frequency)
for pin_number in range(16):
pwm.set_pwm(pin_number, 0, 0)
ExoMy_Software-master/src/joystick_parser_node.py
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#!/usr/bin/env python
import rospy
from sensor_msgs.msg import Joy
from exomy.msg import RoverCommand
from locomotion_modes import LocomotionMode
import math
# Define locomotion modes
global locomotion_mode
global motors_enabled
locomotion_mode = LocomotionMode.ACKERMANN.value
motors_enabled = True
def callback(data):
global locomotion_mode
global motors_enabled
rover_cmd = RoverCommand()
# Function map for the Logitech F710 joystick
# Button on pad | function
# --------------|----------------------
# A | Ackermann mode
# X | Point turn mode
# Y | Crabbing mode
# Left Stick | Control speed and direction
# START Button | Enable and disable motors
# Reading out joystick data
y = data.axes[1]
x = data.axes[0]
# Reading out button data to set locomotion mode
# X Button
if (data.buttons[0] == 1):
locomotion_mode = LocomotionMode.POINT_TURN.value
# A Button
if (data.buttons[1] == 1):
locomotion_mode = LocomotionMode.ACKERMANN.value
# B Button
if (data.buttons[2] == 1):
pass
# Y Button
if (data.buttons[3] == 1):
locomotion_mode = LocomotionMode.CRABBING.value
rover_cmd.locomotion_mode = locomotion_mode
# Enable and disable motors
# START Button
if (data.buttons[9] == 1):
if motors_enabled is True:
motors_enabled = False
rospy.loginfo("Motors disabled!")
elif motors_enabled is False:
motors_enabled = True
rospy.loginfo("Motors enabled!")
else:
rospy.logerr(
"Exceptional value for [motors_enabled] = {}".format(motors_enabled))
motors_enabled = False
rover_cmd.motors_enabled = motors_enabled
# The velocity is decoded as value between 0...100
rover_cmd.vel = 100 * min(math.sqrt(x*x + y*y), 1.0)
# The steering is described as an angle between -180...180
# Which describe the joystick position as follows:
# +90
# 0 +-180
# -90
#
rover_cmd.steering = math.atan2(y, x)*180.0/math.pi
rover_cmd.connected = True
pub.publish(rover_cmd)
if __name__ == '__main__':
global pub
rospy.init_node('joystick_parser_node')
rospy.loginfo('joystick_parser_node started')
sub = rospy.Subscriber("/joy", Joy, callback, queue_size=1)
pub = rospy.Publisher('/rover_command', RoverCommand, queue_size=1)
rospy.spin()
ExoMy_Software-master/src/locomotion_modes.py
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#!/usr/bin/env python
import enum
class LocomotionMode(enum.Enum):
FAKE_ACKERMANN = 0
ACKERMANN = 1
POINT_TURN = 2
CRABBING = 3
ExoMy_Software-master/src/motor_node.py
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#!/usr/bin/env python
import time
import rospy
from exomy.msg import MotorCommands
from motors import Motors
motors = Motors()
global watchdog_timer
def callback(cmds):
motors.setSteering(cmds.motor_angles)
motors.setDriving(cmds.motor_speeds)
global watchdog_timer
watchdog_timer.shutdown()
# If this timer runs longer than the duration specified,
# then watchdog() is called stopping the driving motors.
watchdog_timer = rospy.Timer(rospy.Duration(5.0), watchdog, oneshot=True)
def shutdown():
motors.stopMotors()
def watchdog(event):
rospy.loginfo("Watchdog fired. Stopping driving motors.")
motors.stopMotors()
if __name__ == "__main__":
# This node waits for commands from the robot and sets the motors accordingly
rospy.init_node("motors")
rospy.loginfo("Starting the motors node")
rospy.on_shutdown(shutdown)
global watchdog_timer
watchdog_timer = rospy.Timer(rospy.Duration(1.0), watchdog, oneshot=True)
sub = rospy.Subscriber(
"/motor_commands", MotorCommands, callback, queue_size=1)
rate = rospy.Rate(10)
rospy.spin()
ExoMy_Software-master/src/motors.py
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#!/usr/bin/env python
import rospy
from std_msgs.msg import String
import time
import numpy as np
import Adafruit_PCA9685
class Motors():
'''
Motors class contains all functions to control the steering and driving
'''
# Define wheel names
FL, FR, CL, CR, RL, RR = range(0, 6)
# Motor commands are assuming positiv=driving_forward, negative=driving_backwards.
# The driving direction of the left side has to be inverted for this to apply to all wheels.
wheel_directions = [-1, 1, -1, 1, -1, 1]
# 1 fl-||-fr 2
# ||
# 3 cl-||-cr 4
# 5 rl====rr 6
def __init__(self):
# Dictionary containing the pins of all motors
self.pins = {
'drive': {},
'steer': {}
}
# Set variables for the GPIO motor pins
self.pins['drive'][self.FL] = rospy.get_param("pin_drive_fl")
self.pins['steer'][self.FL] = rospy.get_param("pin_steer_fl")
self.pins['drive'][self.FR] = rospy.get_param("pin_drive_fr")
self.pins['steer'][self.FR] = rospy.get_param("pin_steer_fr")
self.pins['drive'][self.CL] = rospy.get_param("pin_drive_cl")
self.pins['steer'][self.CL] = rospy.get_param("pin_steer_cl")
self.pins['drive'][self.CR] = rospy.get_param("pin_drive_cr")
self.pins['steer'][self.CR] = rospy.get_param("pin_steer_cr")
self.pins['drive'][self.RL] = rospy.get_param("pin_drive_rl")
self.pins['steer'][self.RL] = rospy.get_param("pin_steer_rl")
self.pins['drive'][self.RR] = rospy.get_param("pin_drive_rr")
self.pins['steer'][self.RR] = rospy.get_param("pin_steer_rr")
# PWM characteristics
self.pwm = Adafruit_PCA9685.PCA9685()
self.pwm.set_pwm_freq(50) # Hz
self.steering_pwm_neutral = [None] * 6
self.steering_pwm_neutral[self.FL] = rospy.get_param("steer_pwm_neutral_fl")
self.steering_pwm_neutral[self.FR] = rospy.get_param("steer_pwm_neutral_fr")
self.steering_pwm_neutral[self.CL] = rospy.get_param("steer_pwm_neutral_cl")
self.steering_pwm_neutral[self.CR] = rospy.get_param("steer_pwm_neutral_cr")
self.steering_pwm_neutral[self.RL] = rospy.get_param("steer_pwm_neutral_rl")
self.steering_pwm_neutral[self.RR] = rospy.get_param("steer_pwm_neutral_rr")
self.steering_pwm_range = rospy.get_param("steer_pwm_range")
self.driving_pwm_low_limit = 100
self.driving_pwm_neutral = rospy.get_param("drive_pwm_neutral")
self.driving_pwm_upper_limit = 500
self.driving_pwm_range = rospy.get_param("drive_pwm_range")
# Set steering motors to neutral values (straight)
for wheel_name, motor_pin in self.pins['steer'].items():
self.pwm.set_pwm(motor_pin, 0,
self.steering_pwm_neutral[wheel_name])
time.sleep(0.1)
self.wiggle()
def wiggle(self):
time.sleep(0.1)
self.pwm.set_pwm(self.pins['steer'][self.FL], 0,
int(self.steering_pwm_neutral[self.FL] + self.steering_pwm_range * 0.3))
time.sleep(0.1)
self.pwm.set_pwm(self.pins['steer'][self.FR], 0,
int(self.steering_pwm_neutral[self.FR] + self.steering_pwm_range * 0.3))
time.sleep(0.3)
self.pwm.set_pwm(self.pins['steer'][self.FL], 0,
int(self.steering_pwm_neutral[self.FL] - self.steering_pwm_range * 0.3))
time.sleep(0.1)
self.pwm.set_pwm(self.pins['steer'][self.FR], 0,
int(self.steering_pwm_neutral[self.FR] - self.steering_pwm_range * 0.3))
time.sleep(0.3)
self.pwm.set_pwm(self.pins['steer'][self.FL], 0,
int(self.steering_pwm_neutral[self.FL]))
time.sleep(0.1)
self.pwm.set_pwm(self.pins['steer'][self.FR], 0,
int(self.steering_pwm_neutral[self.FR]))
time.sleep(0.3)
def setSteering(self, steering_command):
# Loop through pin dictionary. The items key is the wheel_name and the value the pin.
for wheel_name, motor_pin in self.pins['steer'].items():
duty_cycle = int(
self.steering_pwm_neutral[wheel_name] + steering_command[wheel_name]/90.0 * self.steering_pwm_range)
self.pwm.set_pwm(motor_pin, 0, duty_cycle)
def setDriving(self, driving_command):
# Loop through pin dictionary. The items key is the wheel_name and the value the pin.
for wheel_name, motor_pin in self.pins['drive'].items():
duty_cycle = int(self.driving_pwm_neutral +
driving_command[wheel_name]/100.0 * self.driving_pwm_range * self.wheel_directions[wheel_name])
self.pwm.set_pwm(motor_pin, 0, duty_cycle)
def stopMotors(self):
# Set driving wheels to neutral position to stop them
duty_cycle = int(self.driving_pwm_neutral)
for wheel_name, motor_pin in self.pins['drive'].items():
self.pwm.set_pwm(motor_pin, 0, duty_cycle)
ExoMy_Software-master/src/robot_node.py
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#!/usr/bin/env python
import time
from exomy.msg import RoverCommand, MotorCommands, Screen
import rospy
from rover import Rover
import message_filters
global exomy
exomy = Rover()
def joy_callback(message):
cmds = MotorCommands()
if message.motors_enabled is True:
exomy.setLocomotionMode(message.locomotion_mode)
cmds.motor_angles = exomy.joystickToSteeringAngle(
message.vel, message.steering)
cmds.motor_speeds = exomy.joystickToVelocity(
message.vel, message.steering)
else:
cmds.motor_angles = exomy.joystickToSteeringAngle(0, 0)
cmds.motor_speeds = exomy.joystickToVelocity(0, 0)
robot_pub.publish(cmds)
if __name__ == '__main__':
rospy.init_node('robot_node')
rospy.loginfo("Starting the robot node")
global robot_pub
joy_sub = rospy.Subscriber(
"/rover_command", RoverCommand, joy_callback, queue_size=1)
rate = rospy.Rate(10)
robot_pub = rospy.Publisher("/motor_commands", MotorCommands, queue_size=1)
rospy.spin()
ExoMy_Software-master/src/rover.py
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#!/usr/bin/env python
import rospy
import time
import math
import enum
from locomotion_modes import LocomotionMode
import numpy as np
class Rover():
'''
Rover class contains all the math and motor control algorithms to move the rover
'''
# Defining wheel names
FL, FR, CL, CR, RL, RR = range(0, 6)
# Defining locomotion modes
FAKE_ACKERMANN, ACKERMANN, POINT_TURN, CRABBING = range(0, 4)
def __init__(self):
self.locomotion_mode = LocomotionMode.FAKE_ACKERMANN
self.wheel_x = 12.0
self.wheel_y = 20.0
max_steering_angle = 45
self.ackermann_r_min = abs(
self.wheel_y) / math.tan(max_steering_angle * math.pi / 180.0) + self.wheel_x
self.ackermann_r_max = 250
def setLocomotionMode(self, locomotion_mode_command):
'''
Sets the locomotion mode
'''
if(self.locomotion_mode != locomotion_mode_command):
self.locomotion_mode = locomotion_mode_command
rospy.loginfo('Set locomotion mode to: %s',
LocomotionMode(locomotion_mode_command).name)
def joystickToSteeringAngle(self, driving_command, steering_command):
'''
Converts the steering command [angle of joystick] to angles for the different motors
:param int driving_command: Drive speed command range from -100 to 100
:param int stering_command: Turning radius command with the values 0(left) +90(forward) -90(backward) +-180(right)
'''
steering_angles = [0]*6
deg = steering_command
if(self.locomotion_mode == LocomotionMode.FAKE_ACKERMANN.value):
if (driving_command == 0):
# Stop
steering_angles[self.FL] = 0
steering_angles[self.FR] = 0
steering_angles[self.CR] = 0
steering_angles[self.CL] = 0
steering_angles[self.RL] = 0
steering_angles[self.RR] = 0
return steering_angles
if(80 < deg < 100):
# Drive straight forward
steering_angles[self.FL] = 0
steering_angles[self.FR] = 0
steering_angles[self.CR] = 0
steering_angles[self.CL] = 0
steering_angles[self.RL] = 0
steering_angles[self.RR] = 0
elif(-80 < deg < -100):
# Drive straight backwards
steering_angles[self.FL] = 0
steering_angles[self.FR] = 0
steering_angles[self.CR] = 0
steering_angles[self.CL] = 0
steering_angles[self.RL] = 0
steering_angles[self.RR] = 0
elif(100 < deg <= 180):
# Drive right forwards
steering_angles[self.FL] = 45
steering_angles[self.FR] = 45
steering_angles[self.CR] = 0
steering_angles[self.CL] = 0
steering_angles[self.RL] = -45
steering_angles[self.RR] = -45
elif(-100 > deg >= -180):
# Drive right backwards
steering_angles[self.FL] = 45
steering_angles[self.FR] = 45
steering_angles[self.CR] = 0
steering_angles[self.CL] = 0
steering_angles[self.RL] = -45
steering_angles[self.RR] = -45
elif(80 > deg >= 0):
# Drive left forwards
steering_angles[self.FL] = -45
steering_angles[self.FR] = -45
steering_angles[self.CR] = 0
steering_angles[self.CL] = 0
steering_angles[self.RL] = 45
steering_angles[self.RR] = 45
elif(0 > deg > -80):
# Drive left backwards
steering_angles[self.FL] = -45
steering_angles[self.FR] = -45
steering_angles[self.CR] = 0
steering_angles[self.CL] = 0
steering_angles[self.RL] = 45
steering_angles[self.RR] = 45
return steering_angles
if(self.locomotion_mode == LocomotionMode.ACKERMANN.value):
# No steering if robot is not driving
if(driving_command is 0):
return steering_angles
# Scale between min and max Ackermann radius
if math.cos(math.radians(steering_command)) == 0:
r = self.ackermann_r_max
else:
r = self.ackermann_r_max - \
abs(math.cos(math.radians(steering_command))) * \
((self.ackermann_r_max-self.ackermann_r_min))
# No steering
if r == self.ackermann_r_max:
return steering_angles
inner_angle = int(math.degrees(
math.atan(self.wheel_x/(abs(r)-self.wheel_y))))
outer_angle = int(math.degrees(
math.atan(self.wheel_x/(abs(r)+self.wheel_y))))
if steering_command > 90 or steering_command < -90:
# Steering to the right
steering_angles[self.FL] = outer_angle
steering_angles[self.FR] = inner_angle
steering_angles[self.RL] = -outer_angle
steering_angles[self.RR] = -inner_angle
else:
# Steering to the left
steering_angles[self.FL] = -inner_angle
steering_angles[self.FR] = -outer_angle
steering_angles[self.RL] = inner_angle
steering_angles[self.RR] = outer_angle
return steering_angles
if(self.locomotion_mode == LocomotionMode.POINT_TURN.value):
steering_angles[self.FL] = 45
steering_angles[self.FR] = -45
steering_angles[self.RL] = -45
steering_angles[self.RR] = 45
return steering_angles
if(self.locomotion_mode == LocomotionMode.CRABBING.value):
if(driving_command != 0):
wheel_direction = 0
if(steering_command > 0):
wheel_direction = steering_command - 90
elif(steering_command <= 0):
wheel_direction = steering_command + 90
wheel_direction = np.clip(wheel_direction, -75, 75)
steering_angles[self.FL] = wheel_direction
steering_angles[self.FR] = wheel_direction
steering_angles[self.CL] = wheel_direction
steering_angles[self.CR] = wheel_direction
steering_angles[self.RL] = wheel_direction
steering_angles[self.RR] = wheel_direction
return steering_angles
def joystickToVelocity(self, driving_command, steering_command):
'''
Converts the steering and drive command to the speeds of the individual motors
:param int driving_command: Drive speed command range from -100 to 100
:param int stering_command: Turning radius command with the values 0(left) +90(forward) -90(backward) +-180(right)
'''
motor_speeds = [0]*6
if (self.locomotion_mode == LocomotionMode.FAKE_ACKERMANN.value):
if(driving_command > 0 and steering_command >= 0):
motor_speeds[self.FL] = 50
motor_speeds[self.FR] = 50
motor_speeds[self.CR] = 50
motor_speeds[self.CL] = 50
motor_speeds[self.RL] = 50
motor_speeds[self.RR] = 50
elif(driving_command > 0 and steering_command <= 0):
motor_speeds[self.FL] = -50
motor_speeds[self.FR] = -50
motor_speeds[self.CR] = -50
motor_speeds[self.CL] = -50
motor_speeds[self.RL] = -50
motor_speeds[self.RR] = -50
return motor_speeds
if (self.locomotion_mode == LocomotionMode.ACKERMANN.value):
v = driving_command
if(steering_command < 0):
v *= -1
# Scale between min and max Ackermann radius
radius = self.ackermann_r_max - \
abs(math.cos(math.radians(steering_command))) * \
((self.ackermann_r_max-self.ackermann_r_min))
if (v == 0):
return motor_speeds
if (radius == self.ackermann_r_max):
return [v] * 6
else:
rmax = radius + self.wheel_x
a = math.pow(self.wheel_y, 2)
b = math.pow(abs(radius) + self.wheel_x, 2)
c = math.pow(abs(radius) - self.wheel_x, 2)
rmax_float = float(rmax)
r1 = math.sqrt(a+b)
r2 = rmax_float
r3 = r1
r4 = math.sqrt(a+c)
r5 = abs(radius) - self.wheel_x
r6 = r4
v1 = int(v)
v2 = int(v*r2/r1)
v3 = v1
v4 = int(v*r4/r1)
v5 = int(v*r5/r1)
v6 = v4
if (steering_command > 90 or steering_command < -90):
motor_speeds = [v1, v2, v3, v4, v5, v6]
else:
motor_speeds = [v6, v5, v4, v3, v2, v1]
return motor_speeds
if (self.locomotion_mode == LocomotionMode.POINT_TURN.value):
deg = steering_command
if(driving_command is not 0):
# Left turn
if(deg < 85 and deg > -85):
motor_speeds[self.FL] = -50
motor_speeds[self.FR] = 50
motor_speeds[self.CL] = -50
motor_speeds[self.CR] = 50
motor_speeds[self.RL] = -50
motor_speeds[self.RR] = 50
# Right turn
elif(deg > 95 or deg < -95):
motor_speeds[self.FL] = 50
motor_speeds[self.FR] = -50
motor_speeds[self.CL] = 50
motor_speeds[self.CR] = -50
motor_speeds[self.RL] = 50
motor_speeds[self.RR] = -50
else:
# Stop
motor_speeds[self.FL] = 0
motor_speeds[self.FR] = 0
motor_speeds[self.CL] = 0
motor_speeds[self.CR] = 0
motor_speeds[self.RL] = 0
motor_speeds[self.RR] = 0
return motor_speeds
if(self.locomotion_mode == LocomotionMode.CRABBING.value):
if(driving_command > 0):
if(steering_command > 0):
motor_speeds[self.FL] = 50
motor_speeds[self.FR] = 50
motor_speeds[self.CL] = 50
motor_speeds[self.CR] = 50
motor_speeds[self.RL] = 50
motor_speeds[self.RR] = 50
elif(steering_command <= 0):
motor_speeds[self.FL] = -50
motor_speeds[self.FR] = -50
motor_speeds[self.CL] = -50
motor_speeds[self.CR] = -50
motor_speeds[self.RL] = -50
motor_speeds[self.RR] = -50
return motor_speeds
GitHub/.gitignore
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*.STL
*.STEP
*~$
GitHub/CHANGELOG.md
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# Changelog
## [v1.0.2] - 2020-07-16
- add "Optional Parts" containing various add-ons.
- Flexi fill indoors tires
- Bowtie
- Universal neck decoration mount
- fix URL in purchasing BoM of M4x16 button head screw
- increase height of P15_DCDC_Holddown.SLDPRT and standoffheight of P01_Chassis.SLDPRT to match screw length correctly.
- add chamfers to holes in P20_Head.SLDPRT.
- add SolidWorks view-cameras to A01_ExoMy.SLDASM
## [v1.0.0] - 2020-03-09
- first released version of ExoMy
GitHub/Datasheets/900-00005-Standard-Servo-Product-Documentation-v2.2.pdf
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# ExoMy Fritzing project
This folder contains everything you need to open the ExoMy electronics as a Fritzing project.
## Exomy.fzz
Is the main Project file.
## Exomy_bin.fzbz
The library file that contains all the parts used for the project.
## parts
All the Fritzing pars used in the project. The files are normal archives and can be opened with any archive program, to access the underlying svg files.
## exports
The exported views of breadboard and schematic as pdf and svg file format.
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GNU GENERAL PUBLIC LICENSE
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Each version is given a distinguishing version number. If the
Program specifies that a certain numbered version of the GNU General
Public License "or any later version" applies to it, you have the
option of following the terms and conditions either of that numbered
version or of any later version published by the Free Software
Foundation. If the Program does not specify a version number of the
GNU General Public License, you may choose any version ever published
by the Free Software Foundation.
If the Program specifies that a proxy can decide which future
versions of the GNU General Public License can be used, that proxy's
public statement of acceptance of a version permanently authorizes you
to choose that version for the Program.
Later license versions may give you additional or different
permissions. However, no additional obligations are imposed on any
author or copyright holder as a result of your choosing to follow a
later version.
15. Disclaimer of Warranty.
THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY
APPLICABLE LAW. EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT
HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY
OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO,
THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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IS WITH YOU. SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF
ALL NECESSARY SERVICING, REPAIR OR CORRECTION.
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IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING
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GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE
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DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD
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EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF
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17. Interpretation of Sections 15 and 16.
If the disclaimer of warranty and limitation of liability provided
above cannot be given local legal effect according to their terms,
reviewing courts shall apply local law that most closely approximates
an absolute waiver of all civil liability in connection with the
Program, unless a warranty or assumption of liability accompanies a
copy of the Program in return for a fee.
END OF TERMS AND CONDITIONS
How to Apply These Terms to Your New Programs
If you develop a new program, and you want it to be of the greatest
possible use to the public, the best way to achieve this is to make it
free software which everyone can redistribute and change under these terms.
To do so, attach the following notices to the program. It is safest
to attach them to the start of each source file to most effectively
state the exclusion of warranty; and each file should have at least
the "copyright" line and a pointer to where the full notice is found.
<one line to give the program's name and a brief idea of what it does.>
Copyright (C) <year> <name of author>
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <https://www.gnu.org/licenses/>.
Also add information on how to contact you by electronic and paper mail.
If the program does terminal interaction, make it output a short
notice like this when it starts in an interactive mode:
<program> Copyright (C) <year> <name of author>
This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
This is free software, and you are welcome to redistribute it
under certain conditions; type `show c' for details.
The hypothetical commands `show w' and `show c' should show the appropriate
parts of the General Public License. Of course, your program's commands
might be different; for a GUI interface, you would use an "about box".
You should also get your employer (if you work as a programmer) or school,
if any, to sign a "copyright disclaimer" for the program, if necessary.
For more information on this, and how to apply and follow the GNU GPL, see
<https://www.gnu.org/licenses/>.
The GNU General Public License does not permit incorporating your program
into proprietary programs. If your program is a subroutine library, you
may consider it more useful to permit linking proprietary applications with
the library. If this is what you want to do, use the GNU Lesser General
Public License instead of this License. But first, please read
<https://www.gnu.org/licenses/why-not-lgpl.html>.
GitHub/Mechanical Design/A01_ExoMy.SLDASM
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https://de.misumi-ec.com/vona2/detail/221000551163/
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README by Miro Voellmy 10.02.2020
Use this folder as a collection for commonly used screws.
!!!DO NOT RENAME SCREWS OR FOLDERS!!!
!!!Otherwise assemblies, that use the screws will brake!!!
How to add screws:
1.
Go to link specified in folder (Socket, Button, etc):
OR
Find a new screw type from:
https://de.misumi-ec.com/
OR
Model it yourself
(1.5)
Create new folder for screw type and document link, as done in the other folders.
2.
Find fitting screw.
Screws manufactured by MISUMI are preferred. The resulting CAD file can be generated and will be much smaller as it contains a parasolid instead of all the SolidWorks features.
3.
Download CAD (with account) and put the single *.SLDPRT file into the fitting location.
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