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rahul31124marcnause
rahul31124
and
marcnause
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feat: Ported robotic arm (#2729)
Co-authored-by: Marc Nause <marc.nause@audioattack.de>
1 parent 3a64431 commit 63c3d3d

9 files changed

Lines changed: 715 additions & 0 deletions

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‎lib/communication/science_lab.dart‎

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@@ -413,4 +413,44 @@ class ScienceLab {
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logger.e(e);
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}
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}
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Future<void> servo4(
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double angle1, double angle2, double angle3, double angle4) async {
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const int period = 10000;
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const int base = 750;
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const int range = 1900;
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const int params = (1 << 5) | 2;
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try {
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mPacketHandler.sendByte(mCommandsProto.wavegen);
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mPacketHandler.sendByte(mCommandsProto.sqr4);
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mPacketHandler.sendInt(period);
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int pulse1 = base + (angle1 * range ~/ 180);
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mPacketHandler.sendInt(pulse1);
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mPacketHandler.sendInt(0);
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int pulse2 = base + (angle2 * range ~/ 180);
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mPacketHandler.sendInt(pulse2);
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mPacketHandler.sendInt(0);
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int pulse3 = base + (angle3 * range ~/ 180);
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mPacketHandler.sendInt(pulse3);
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mPacketHandler.sendInt(0);
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int pulse4 = base + (angle4 * range ~/ 180);
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mPacketHandler.sendInt(pulse4);
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mPacketHandler.sendByte(params);
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await mPacketHandler.getAcknowledgement();
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} catch (e) {
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logger.e("Error in servo4(): $e");
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}
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}
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}

‎lib/constants.dart‎

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@@ -208,6 +208,28 @@ String maxValue = 'Max: ';
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String gyroscopeTitle = "Gyroscope";
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String gyroscopeAxisLabel = 'rad/s';
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String noData = 'No data available';
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String degreeSymbol = '°';
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String enterAngleRange = 'Enter angle (0 - 360)';
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String errorCannotBeEmpty = 'Cannot be empty';
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String servoValidNumberRange = 'Please enter a valid number between 0 and 360';
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String ok = 'Ok';
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String roboticArm = 'Robotic Arm';
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String play = 'Play';
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String pause = 'Pause';
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String stop = 'Stop';
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String controls = 'Controls';
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String saveData = 'Save Data';
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String showGuide = 'Show Guide';
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String showLoggedDataKey = 'show_logged_data';
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String showLoggedData = 'Show Logged Data';
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String setAngle = 'Set angle for Servo';
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String angleDialog = 'AngleDialog';
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List<String> servoLabels = [
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'Servo 1',
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'Servo 2',
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'Servo 3',
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'Servo 4',
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];
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String xyPlot = 'XY Plot';
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String enablePlot = 'Enable XY Plot';
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String trigger = 'Trigger';

‎lib/main.dart‎

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@@ -9,6 +9,7 @@ import 'package:pslab/view/gyroscope_screen.dart';
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import 'package:pslab/view/instruments_screen.dart';
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import 'package:pslab/view/luxmeter_screen.dart';
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import 'package:pslab/view/oscilloscope_screen.dart';
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import 'package:pslab/view/robotic_arm_screen.dart';
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import 'package:pslab/view/settings_screen.dart';
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import 'package:pslab/view/about_us_screen.dart';
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import 'package:pslab/view/software_licenses_screen.dart';
@@ -54,6 +55,7 @@ class MyApp extends StatelessWidget {
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'/softwareLicenses': (context) => const SoftwareLicensesScreen(),
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'/accelerometer': (context) => const AccelerometerScreen(),
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'/gyroscope': (context) => const GyroscopeScreen(),
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'/roboticArm': (context) => const RoboticArmScreen(),
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'/luxmeter': (context) => const LuxMeterScreen(),
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'/soundmeter': (context) => const SoundMeterScreen(),
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},

‎lib/providers/robotic_arm_state_provider.dart‎

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Original file line numberDiff line numberDiff line change
@@ -0,0 +1,127 @@
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import 'dart:async';
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import 'package:flutter/material.dart';
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import 'package:flutter/services.dart';
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import 'package:pslab/communication/science_lab.dart';
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import 'package:pslab/others/logger_service.dart';
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import '../others/science_lab_common.dart';
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class RoboticArmStateProvider extends ChangeNotifier {
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final List<double> servoValues = [0, 0, 0, 0];
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final int totalTimelineItems = 60;
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final double scrollAmountPerTick = 120;
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final List<List<double>> timelineDegrees =
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List.generate(60, (_) => List.filled(4, 0));
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int timelinePosition = 0;
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bool isPlaying = false;
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late ScienceLab scienceLab;
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Timer? _debounceTimer;
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Timer? _timelineTimer;
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final ScrollController timelineScrollController = ScrollController();
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Future<void> initialize() async {
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SystemChrome.setEnabledSystemUIMode(SystemUiMode.immersiveSticky);
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SystemChrome.setPreferredOrientations([
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DeviceOrientation.landscapeLeft,
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DeviceOrientation.landscapeRight,
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]);
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scienceLab =
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ScienceLabCommon(ScienceLabCommon.communicationHandler).getScienceLab();
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await scienceLab.connect();
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}
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void disposeResources() {
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_timelineTimer?.cancel();
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_debounceTimer?.cancel();
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timelineScrollController.dispose();
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SystemChrome.setPreferredOrientations([
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DeviceOrientation.portraitUp,
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DeviceOrientation.portraitDown,
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]);
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}
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void updateServoValue(int index, double value) {
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servoValues[index] = value;
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notifyListeners();
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_sendAllServoCommands();
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}
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void updateTimelineDegree(int timeIndex, int servoIndex, double value) {
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timelineDegrees[timeIndex][servoIndex] = value;
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notifyListeners();
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}
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void _sendAllServoCommands() {
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_debounceTimer?.cancel();
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_debounceTimer = Timer(const Duration(milliseconds: 200), () async {
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try {
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await scienceLab.servo4(
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servoValues[0],
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servoValues[1],
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servoValues[2],
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servoValues[3],
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);
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} catch (e) {
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logger.e(e);
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}
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});
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}
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void togglePlayPause() {
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if (isPlaying) {
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_timelineTimer?.cancel();
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isPlaying = false;
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notifyListeners();
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} else {
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_timelineTimer =
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Timer.periodic(const Duration(seconds: 1), (timer) async {
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if (timelinePosition >= totalTimelineItems) {
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stopScrolling(resetPosition: false);
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return;
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}
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timelineScrollController.animateTo(
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timelineScrollController.offset + scrollAmountPerTick,
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duration: const Duration(milliseconds: 50),
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curve: Curves.easeInOut,
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);
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final angles = timelineDegrees[timelinePosition];
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if (scienceLab.isConnected()) {
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try {
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await scienceLab.servo4(
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angles[0],
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angles[1],
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angles[2],
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angles[3],
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);
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} catch (e) {
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logger.e(e);
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}
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}
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timelinePosition++;
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notifyListeners();
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});
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isPlaying = true;
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notifyListeners();
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}
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}
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void stopScrolling({bool resetPosition = true}) {
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_timelineTimer?.cancel();
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isPlaying = false;
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timelinePosition = 0;
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notifyListeners();
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if (resetPosition) {
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timelineScrollController.animateTo(
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0,
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duration: const Duration(milliseconds: 50),
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curve: Curves.easeOut,
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);
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}
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}
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}

‎lib/view/instruments_screen.dart‎

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Original file line numberDiff line numberDiff line change
@@ -63,6 +63,18 @@ class _InstrumentsScreenState extends State<InstrumentsScreen> {
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);
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}
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break;
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case 12:
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if (Navigator.canPop(context) &&
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ModalRoute.of(context)?.settings.name == '/roboticArm') {
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Navigator.popUntil(context, ModalRoute.withName('/roboticArm'));
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} else {
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Navigator.pushNamedAndRemoveUntil(
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context,
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'/roboticArm',
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(route) => route.isFirst,
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);
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}
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break;
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case 15:
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if (Navigator.canPop(context) &&
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ModalRoute.of(context)?.settings.name == '/soundmeter') {

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