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| <html>
<head>
<title>KUKA youbot control via rosbridge</title>
<meta charset="utf-8">
</head>
<body>
<script type="text/javascript" src="ros.js"></script>
<script type="text/javascript">
// This is the turtle to connect to
var con = new Bridge("ws://localhost:9090");
// отправка команд управления роботом (скорость)
function start_moving(keycode) {
console.log("Starting to move, keycode: " + keycode);
if (keycode == 38) {
// Forward
con.publish('/cmd_vel', {"linear":{"x":1.0,"y":0,"z":0},"angular":{"x":0,"y":0,"z":0}});
} else if (keycode == 40) {
// Backward
con.publish('/cmd_vel', {"linear":{"x":-1.0,"y":0,"z":0},"angular":{"x":0,"y":0,"z":0}});
} else if (keycode == 39) {
// Spin Left
con.publish('/cmd_vel', {"linear":{"x":0,"y":0,"z":0},"angular":{"x":0,"y":0,"z":-1.0}});
} else if (keycode == 37) {
// Spin Right
con.publish('/cmd_vel', {"linear":{"x":0,"y":0,"z":0},"angular":{"x":0,"y":0,"z":1.0}});
} else if (keycode == 65) {
// Strafe Left
con.publish('/cmd_vel', {"linear":{"x":0,"y":1.0,"z":0},"angular":{"x":0,"y":0,"z":0}});
} else if (keycode == 68) {
// Strafe Right
con.publish('/cmd_vel', {"linear":{"x":0,"y":-1.0,"z":0},"angular":{"x":0,"y":0,"z":0}});
} else if (keycode == 83) {
// Descend
con.publish('/cmd_vel', {"linear":{"x":0,"y":0,"z":-1.0},"angular":{"x":0,"y":0,"z":0}});
} else if (keycode == 87) {
// Ascend
con.publish('/cmd_vel', {"linear":{"x":0,"y":0,"z":1.0},"angular":{"x":0,"y":0,"z":0}});
} else if (keycode == 13) {
takeoff();
} else if (keycode == 32) {
land();
}
}
function stop_moving(keycode) {
console.log("ELECTRIC Done moving, keycode: " + keycode);
//if (keycode >= 37 && keycode <= 40) {
con.publish('/cmd_vel', {"linear":{"x":0,"y":0,"z":0},"angular":{"x":0,"y":0,"z":0}});
//}
}
function OnButtonDown (button,keycode) {
button.style.color = "#ff0000";
document.getElementById("countme").innerHTML = button.value+" "+keycode;
start_moving(keycode);
}
function OnButtonUp (button,keycode) {
button.style.color = "#000000";
document.getElementById("countme").innerHTML = "stop"+" "+keycode;
stop_moving(keycode);
}
function addlisteners(button,keycode) {
if (button.addEventListener) { // all browsers except IE before version 9
button.addEventListener ("mousedown", function () {OnButtonDown (button,keycode)}, false);
button.addEventListener ("mouseup", function () {OnButtonUp (button,0)}, false);
}
}
function main() {
document.addEventListener('keydown', function(e) {start_moving(e.keyCode); }, true);
document.addEventListener('keyup', function(e) {stop_moving(e.keyCode); }, true);
}
main();
window.onload = function() {
var button_ascend = document.getElementById ("ascend");
addlisteners(button_ascend,87);
var button_descend = document.getElementById ("descend");
addlisteners(button_descend,83);
var button_forward = document.getElementById ("forward");
addlisteners(button_forward,38);
var button_backward = document.getElementById ("backward");
addlisteners(button_backward,40);
var button_right = document.getElementById ("right");
addlisteners(button_right,68);
var button_left = document.getElementById ("left");
addlisteners(button_left,65);
var button_spinright = document.getElementById ("spinright");
addlisteners(button_spinright,39);
var button_spinleft = document.getElementById ("spinleft");
addlisteners(button_spinleft,37);
var button_takeoff = document.getElementById ("takeoff");
addlisteners(button_takeoff,13);
var button_land = document.getElementById ("land");
addlisteners(button_land,32);
}
</script>
<h1>KUKA youbot mobile platform controller</h1>
Некая информация. Используйте кнопки для управления мобильной платформой робота
<p>
<img src="http://localhost:8080/stream?topic=/ardrone/image_raw">
<p>
<table border="0">
<tr>
<td>
<input type="button" id="spinleft" value="spin lift" style="width:200px;height:100px;font-size:30" >
</td>
<td>
<input type="button" id="forward" value="forward" style="width:200px;height:100px;font-size:30" >
</td>
<td>
<input type="button" id="spinright" value="spin right" style="width:200px;height:100px;font-size:30" >
</td>
<td>
</td>
</tr>
<tr>
<td>
<input type="button" id="left" value="left" style="width:200px;height:100px;font-size:30" >
</td>
<td>
<input type="button" id="backward" value="backward" style="width:200px;height:100px;font-size:30" >
</td>
<td>
<input type="button" id="right" value="right" style="width:200px;height:100px;font-size:80" >
</td>
</tr>
</table>
<p>
</body>
</html> |
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