Control the Arm (#66)

Controls the arm and adds a list of controls to the UI

Closes #53

lib/data.dart

@@ -10,6 +10,7 @@
 ///  library should import any other library.
 library data;
 
+export "src/data/generated/arm.pb.dart";
 export "src/data/generated/core.pb.dart";
 export "src/data/generated/drive.pb.dart";
 export "src/data/generated/electrical.pb.dart";

lib/src/data/generated/arm.pbjson.dart

@@ -20,23 +20,6 @@ const Position$json = const {
 
 /// Descriptor for `Position`. Decode as a `google.protobuf.DescriptorProto`.
 final $typed_data.Uint8List positionDescriptor = $convert.base64Decode('CghQb3NpdGlvbhIMCgF4GAEgASgFUgF4EgwKAXkYAiABKAVSAXkSDAoBehgDIAEoBVIBeg==');
-@$core.Deprecated('Use armCommandDescriptor instead')
-const ArmCommand$json = const {
-  '1': 'ArmCommand',
-  '2': const [
-    const {'1': 'move_to', '3': 1, '4': 1, '5': 11, '6': '.Position', '10': 'moveTo'},
-    const {'1': 'calibrate', '3': 2, '4': 1, '5': 8, '10': 'calibrate'},
-    const {'1': 'swivel', '3': 3, '4': 1, '5': 2, '10': 'swivel'},
-    const {'1': 'extend', '3': 4, '4': 1, '5': 2, '10': 'extend'},
-    const {'1': 'lift', '3': 5, '4': 1, '5': 2, '10': 'lift'},
-    const {'1': 'precise_swivel', '3': 6, '4': 1, '5': 2, '10': 'preciseSwivel'},
-    const {'1': 'precise_lift', '3': 7, '4': 1, '5': 2, '10': 'preciseLift'},
-    const {'1': 'precise_extend', '3': 8, '4': 1, '5': 2, '10': 'preciseExtend'},
-  ],
-};
-
-/// Descriptor for `ArmCommand`. Decode as a `google.protobuf.DescriptorProto`.
-final $typed_data.Uint8List armCommandDescriptor = $convert.base64Decode('CgpBcm1Db21tYW5kEiIKB21vdmVfdG8YASABKAsyCS5Qb3NpdGlvblIGbW92ZVRvEhwKCWNhbGlicmF0ZRgCIAEoCFIJY2FsaWJyYXRlEhYKBnN3aXZlbBgDIAEoAlIGc3dpdmVsEhYKBmV4dGVuZBgEIAEoAlIGZXh0ZW5kEhIKBGxpZnQYBSABKAJSBGxpZnQSJQoOcHJlY2lzZV9zd2l2ZWwYBiABKAJSDXByZWNpc2VTd2l2ZWwSIQoMcHJlY2lzZV9saWZ0GAcgASgCUgtwcmVjaXNlTGlmdBIlCg5wcmVjaXNlX2V4dGVuZBgIIAEoAlINcHJlY2lzZUV4dGVuZA==');
 @$core.Deprecated('Use motorStatusDescriptor instead')
 const MotorStatus$json = const {
   '1': 'MotorStatus',
@@ -63,52 +46,43 @@ const ArmData$json = const {
 
 /// Descriptor for `ArmData`. Decode as a `google.protobuf.DescriptorProto`.
 final $typed_data.Uint8List armDataDescriptor = $convert.base64Decode('CgdBcm1EYXRhEjMKD2N1cnJlbnRQb3NpdGlvbhgBIAEoCzIJLlBvc2l0aW9uUg9jdXJyZW50UG9zaXRpb24SMQoOdGFyZ2V0UG9zaXRpb24YAiABKAsyCS5Qb3NpdGlvblIOdGFyZ2V0UG9zaXRpb24SIAoEYmFzZRgDIAEoCzIMLk1vdG9yU3RhdHVzUgRiYXNlEigKCHNob3VsZGVyGAQgASgLMgwuTW90b3JTdGF0dXNSCHNob3VsZGVyEiIKBWVsYm93GAUgASgLMgwuTW90b3JTdGF0dXNSBWVsYm93');
+@$core.Deprecated('Use armCommandDescriptor instead')
+const ArmCommand$json = const {
+  '1': 'ArmCommand',
+  '2': const [
+    const {'1': 'stop', '3': 1, '4': 1, '5': 8, '10': 'stop'},
+    const {'1': 'calibrate', '3': 2, '4': 1, '5': 8, '10': 'calibrate'},
+    const {'1': 'move_swivel', '3': 3, '4': 1, '5': 2, '10': 'moveSwivel'},
+    const {'1': 'move_shoulder', '3': 4, '4': 1, '5': 2, '10': 'moveShoulder'},
+    const {'1': 'move_elbow', '3': 5, '4': 1, '5': 2, '10': 'moveElbow'},
+  ],
+};
+
+/// Descriptor for `ArmCommand`. Decode as a `google.protobuf.DescriptorProto`.
+final $typed_data.Uint8List armCommandDescriptor = $convert.base64Decode('CgpBcm1Db21tYW5kEhIKBHN0b3AYASABKAhSBHN0b3ASHAoJY2FsaWJyYXRlGAIgASgIUgljYWxpYnJhdGUSHwoLbW92ZV9zd2l2ZWwYAyABKAJSCm1vdmVTd2l2ZWwSIwoNbW92ZV9zaG91bGRlchgEIAEoAlIMbW92ZVNob3VsZGVyEh0KCm1vdmVfZWxib3cYBSABKAJSCW1vdmVFbGJvdw==');
 @$core.Deprecated('Use gripperDataDescriptor instead')
 const GripperData$json = const {
   '1': 'GripperData',
   '2': const [
-    const {'1': 'rotation', '3': 1, '4': 1, '5': 2, '10': 'rotation'},
-    const {'1': 'swivel', '3': 2, '4': 1, '5': 2, '10': 'swivel'},
-    const {'1': 'pinch', '3': 3, '4': 1, '5': 2, '10': 'pinch'},
-    const {'1': 'motor_temperature', '3': 4, '4': 1, '5': 2, '10': 'motorTemperature'},
+    const {'1': 'rotate', '3': 1, '4': 1, '5': 11, '6': '.MotorStatus', '10': 'rotate'},
+    const {'1': 'lift', '3': 2, '4': 1, '5': 11, '6': '.MotorStatus', '10': 'lift'},
+    const {'1': 'pinch', '3': 3, '4': 1, '5': 11, '6': '.MotorStatus', '10': 'pinch'},
   ],
 };
 
 /// Descriptor for `GripperData`. Decode as a `google.protobuf.DescriptorProto`.
-final $typed_data.Uint8List gripperDataDescriptor = $convert.base64Decode('CgtHcmlwcGVyRGF0YRIaCghyb3RhdGlvbhgBIAEoAlIIcm90YXRpb24SFgoGc3dpdmVsGAIgASgCUgZzd2l2ZWwSFAoFcGluY2gYAyABKAJSBXBpbmNoEisKEW1vdG9yX3RlbXBlcmF0dXJlGAQgASgCUhBtb3RvclRlbXBlcmF0dXJl');
+final $typed_data.Uint8List gripperDataDescriptor = $convert.base64Decode('CgtHcmlwcGVyRGF0YRIkCgZyb3RhdGUYASABKAsyDC5Nb3RvclN0YXR1c1IGcm90YXRlEiAKBGxpZnQYAiABKAsyDC5Nb3RvclN0YXR1c1IEbGlmdBIiCgVwaW5jaBgDIAEoCzIMLk1vdG9yU3RhdHVzUgVwaW5jaA==');
 @$core.Deprecated('Use gripperCommandDescriptor instead')
 const GripperCommand$json = const {
   '1': 'GripperCommand',
   '2': const [
-    const {'1': 'calibrate', '3': 1, '4': 1, '5': 8, '10': 'calibrate'},
-    const {'1': 'pinch', '3': 2, '4': 1, '5': 2, '10': 'pinch'},
-    const {'1': 'rotate', '3': 3, '4': 1, '5': 2, '10': 'rotate'},
-    const {'1': 'precise_pinch', '3': 4, '4': 1, '5': 2, '10': 'precisePinch'},
-    const {'1': 'precise_rotate', '3': 5, '4': 1, '5': 2, '10': 'preciseRotate'},
+    const {'1': 'stop', '3': 1, '4': 1, '5': 8, '10': 'stop'},
+    const {'1': 'calibrate', '3': 2, '4': 1, '5': 8, '10': 'calibrate'},
+    const {'1': 'move_rotate', '3': 3, '4': 1, '5': 2, '10': 'moveRotate'},
+    const {'1': 'move_lift', '3': 4, '4': 1, '5': 2, '10': 'moveLift'},
+    const {'1': 'move_gripper', '3': 5, '4': 1, '5': 2, '10': 'moveGripper'},
   ],
 };
 
 /// Descriptor for `GripperCommand`. Decode as a `google.protobuf.DescriptorProto`.
-final $typed_data.Uint8List gripperCommandDescriptor = $convert.base64Decode('Cg5HcmlwcGVyQ29tbWFuZBIcCgljYWxpYnJhdGUYASABKAhSCWNhbGlicmF0ZRIUCgVwaW5jaBgCIAEoAlIFcGluY2gSFgoGcm90YXRlGAMgASgCUgZyb3RhdGUSIwoNcHJlY2lzZV9waW5jaBgEIAEoAlIMcHJlY2lzZVBpbmNoEiUKDnByZWNpc2Vfcm90YXRlGAUgASgCUg1wcmVjaXNlUm90YXRl');
-@$core.Deprecated('Use hreiDataDescriptor instead')
-const HreiData$json = const {
-  '1': 'HreiData',
-  '2': const [
-    const {'1': 'arm_data', '3': 1, '4': 1, '5': 11, '6': '.ArmData', '10': 'armData'},
-    const {'1': 'gripper_data', '3': 2, '4': 1, '5': 11, '6': '.GripperData', '10': 'gripperData'},
-  ],
-};
-
-/// Descriptor for `HreiData`. Decode as a `google.protobuf.DescriptorProto`.
-final $typed_data.Uint8List hreiDataDescriptor = $convert.base64Decode('CghIcmVpRGF0YRIjCghhcm1fZGF0YRgBIAEoCzIILkFybURhdGFSB2FybURhdGESLwoMZ3JpcHBlcl9kYXRhGAIgASgLMgwuR3JpcHBlckRhdGFSC2dyaXBwZXJEYXRh');
-@$core.Deprecated('Use hreiCommandDescriptor instead')
-const HreiCommand$json = const {
-  '1': 'HreiCommand',
-  '2': const [
-    const {'1': 'arm_command', '3': 1, '4': 1, '5': 11, '6': '.ArmCommand', '10': 'armCommand'},
-    const {'1': 'gripper_command', '3': 2, '4': 1, '5': 11, '6': '.GripperCommand', '10': 'gripperCommand'},
-  ],
-};
-
-/// Descriptor for `HreiCommand`. Decode as a `google.protobuf.DescriptorProto`.
-final $typed_data.Uint8List hreiCommandDescriptor = $convert.base64Decode('CgtIcmVpQ29tbWFuZBIsCgthcm1fY29tbWFuZBgBIAEoCzILLkFybUNvbW1hbmRSCmFybUNvbW1hbmQSOAoPZ3JpcHBlcl9jb21tYW5kGAIgASgLMg8uR3JpcHBlckNvbW1hbmRSDmdyaXBwZXJDb21tYW5k');
+final $typed_data.Uint8List gripperCommandDescriptor = $convert.base64Decode('Cg5HcmlwcGVyQ29tbWFuZBISCgRzdG9wGAEgASgIUgRzdG9wEhwKCWNhbGlicmF0ZRgCIAEoCFIJY2FsaWJyYXRlEh8KC21vdmVfcm90YXRlGAMgASgCUgptb3ZlUm90YXRlEhsKCW1vdmVfbGlmdBgEIAEoAlIIbW92ZUxpZnQSIQoMbW92ZV9ncmlwcGVyGAUgASgCUgttb3ZlR3JpcHBlcg==');

lib/src/models/data/home.dart

@@ -28,19 +28,18 @@ class HomeModel extends Model {
 		_messageTimer = Timer(const Duration(seconds: 5), () { message = null; notifyListeners(); });
 	} 
 
-	/// The list of controls for this mode.
-	List<String> get controls => [  // TODO: replace with actual backend
-		"Start dig sequence: START",
-		"Change operation mode: BACK",
-		"Move Auger: D-pad Up/Down",
-		"...",
-	];
-
 	/// Changes the mode based on an index.  
 	void changeMode(int index) {
 		mode = OperatingMode.values[index];
 		models.rover.updateMode(mode);
 		services.gamepad.vibrate();
 		notifyListeners();
 	}
+
+	/// Switches to the next mode.
+	void nextMode() {
+		int index = mode.index + 1;
+		if (index == OperatingMode.values.length) index = 0;
+		changeMode(index);
+	}
 }

lib/src/models/data/video.dart

@@ -42,7 +42,7 @@ class VideoModel extends Model {
 			handler: updateFrame,
 		);
 		frameUpdater = Timer.periodic(
-			const Duration(milliseconds: 17),  // 60 FPS 
+			const Duration(milliseconds: 42),  // 24 FPS 
 			(_) => notifyListeners()
 		);
 		// TODO: Read the layout from Settings

lib/src/models/rover/arm.dart

@@ -0,0 +1,41 @@
+import "controller.dart";
+
+/// Controls the arm.
+class ArmController extends Controller {
+	@override
+	List<Message> parseInputs(GamepadState state) => [
+		// ARM
+		if (state.leftShoulder) ArmCommand(moveSwivel: -0.25),
+		if (state.rightShoulder) ArmCommand(moveSwivel: 0.25),
+		if (state.normalRightY != 0) ArmCommand(moveElbow: state.normalRightY),
+		if (state.normalLeftY != 0) ArmCommand(moveShoulder: -state.normalLeftY),
+
+		// GRIPPER
+		if (state.leftTrigger > 0) GripperCommand(moveGripper: -state.normalLeftTrigger),
+		if (state.rightTrigger > 0) GripperCommand(moveGripper: state.normalRightTrigger),
+		if (state.dpadUp) GripperCommand(moveLift: 1),
+		if (state.dpadDown) GripperCommand(moveLift: -1),
+		if (state.normalRightX != 0) GripperCommand(moveRotate: 1.25*state.normalRightX),
+
+		if (state.buttonBack) ArmCommand(stop: true),
+		if (state.buttonBack) GripperCommand(stop: true),
+		// if (state.buttonStart) ArmCommand(calibrate: true), 
+		// if (state.buttonStart) GripperCommand(calibrate: true),
+	];
+
+	@override
+	List<Message> get onDispose => [
+		ArmCommand(stop: true),
+		GripperCommand(stop: true),
+	];
+
+	@override
+	Map<String, String> get controls => {
+		"Swivel": "Bumpers",
+		"Shoulder": "Left joystick (vertical)",
+		"Elbow": "Right joystick (vertical)",
+		"Gripper Lift": "D-pad up/down",
+		"Gripper rotate": "Right joystick (horizontal)",
+		"Pinch": "Triggers",
+	};
+}

lib/src/models/rover/controller.dart

@@ -5,6 +5,7 @@ import "package:rover_dashboard/models.dart";
 import "package:rover_dashboard/services.dart";
 
 import "../model.dart";
+import "arm.dart";
 import "drive.dart";
 import "stub.dart";
 
@@ -26,13 +27,18 @@ abstract class Controller extends Model {
 	/// Reads the gamepad and controls the rover when triggered.
 	late final Timer gamepadTimer;
 
+	/// Whether the start button has been pressed.
+	/// 
+	/// When the start button is released, the dashboard will switch to the next mode.
+	bool isStartPressed = false;
+
 	/// Allows this class to be subclassed.
 	Controller();
 
 	/// Constructs the appropriate [Controller] for each mode.
 	factory Controller.forMode(OperatingMode mode) {
 		switch (mode) {
-			case OperatingMode.arm: return StubController();
+			case OperatingMode.arm: return ArmController();
 			case OperatingMode.science: return StubController();
 			case OperatingMode.autonomy: return StubController();
 			case OperatingMode.drive: return DriveController();
@@ -62,6 +68,9 @@ abstract class Controller extends Model {
 	/// Use this to stop the rover when the user switches modes.
 	Iterable<Message> get onDispose;
 
+	/// A human-readable list of controls.
+	Map<String, String> get controls;
+
 	/// Sends a command over the network or over Serial.
 	Future<void> sendMessage(Message message) async {
 		if (models.serial.isConnected) {
@@ -72,8 +81,13 @@ abstract class Controller extends Model {
 	}
 
 	/// Reads the gamepad, chooses commands, and sends them to the rover.
-	void _update([_]) {
+	Future<void> _update([_]) async {
 		services.gamepad.update();
+		if (services.gamepad.state.buttonStart) {
+			isStartPressed = true;
+		} else if (isStartPressed) {
+			models.home.nextMode();
+		} 
 		final messages = parseInputs(services.gamepad.state);
 		messages.forEach(sendMessage);
 	}

lib/src/models/rover/core.dart

@@ -9,10 +9,10 @@ import "../model.dart";
 const connectionIncrement = 0.2;
 
 /// How long to wait between handshakes.
-const handshakeInterval = Duration(seconds: 1);
+const handshakeInterval = Duration(milliseconds: 200);
 
 /// How long to wait for incoming handshakes after sending them out.
-const handshakeWaitDelay = Duration(milliseconds: 200);
+const handshakeWaitDelay = Duration(milliseconds: 50);
 
 /// Monitors the connection to the rover.
 class RoverCore extends Model {

lib/src/models/rover/drive.dart

@@ -10,10 +10,27 @@ class DriveController extends Controller {
 
 	@override
 	List<Message> parseInputs(GamepadState state) => [
-		DriveCommand(setLeft: true, left: state.leftThumbstickY.normalizeJoystick.clamp(-1, 1)),
+		// Manual controls
+		DriveCommand(setLeft: true, left: -1*state.leftThumbstickY.normalizeJoystick.clamp(-1, 1)),
 		DriveCommand(setRight: true, right: state.rightThumbstickY.normalizeJoystick.clamp(-1, 1)),
 		if (state.dpadUp) updateThrottle(throttleIncrement),
 		if (state.dpadDown) updateThrottle(-throttleIncrement),
+
+		// More intuitive controls
+		if (state.leftShoulder) ...[
+			DriveCommand(setLeft: true, left: 1),
+			DriveCommand(setRight: true, right: 1),
+		] else if (state.rightShoulder)...[
+			DriveCommand(setLeft: true, left: -1),
+			DriveCommand(setRight: true, right: -1),
+		],
+		if (state.leftTrigger > 0) ...[
+			DriveCommand(setLeft: true, left: state.normalLeftTrigger),
+			DriveCommand(setRight: true, right: -1*state.normalRightTrigger),
+		] else if (state.rightTrigger > 0)...[
+			DriveCommand(setLeft: true, left: -1*state.normalLeftTrigger),
+			DriveCommand(setRight: true, right: state.normalRightTrigger),
+		]
 	];
 
 	/// Updates the throttle by [throttleIncrement], clamping at [0, 1].
@@ -29,4 +46,13 @@ class DriveController extends Controller {
 		DriveCommand(setLeft: true, left: 0),
 		DriveCommand(setLeft: false, left: 0),
 	];
+
+	@override
+	Map<String, String> get controls => {
+		"Left Throttle": "Left joystick (vertical)",
+		"Right Throttle": "Right joystick (vertical)",
+		"Drive Straight": "Triggers",
+		"Turn in place": "Bumpers",
+		"Adjust speed": "D-pad up/down",
+	};
 }

lib/src/models/rover/stub.dart

@@ -7,4 +7,7 @@ class StubController extends Controller {
 
 	@override
 	List<Message> get onDispose => [];
+
+	@override
+	Map<String, String> get controls => {};
 }