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WPIRoboticsEngineering / RBE1001Lib

A library to support introduction to robotics engineering.
MIT License
4 stars 4 forks source link

Create test for web control #5

Closed madhephaestus closed 4 years ago

gcl8a commented 4 years ago

What is the overall status of "teleop"? Brad's server app (running on the ESP) has some basic buttons, but no real control. It's important to have something akin to a joystick-like interface. Something that allows you to turn a little bit, drive a little bit, etc. Some kind of fine-tune control.

Ideally, it could run on the ESP and just serve up an interface -- simpler that way.

Perhaps something like four arrows and so long as you click and hold on them, they engage the motors. Alternatively, individual clicks add/subtract from the current setpoints (with a STOP in the middle).

madhephaestus commented 4 years ago

this issue is being addressed in Pull Request #17 Brads server was a 1 second poll stack, @acamilo is using his experience setting up web sockets on the ESP to convert it to a low latency RC control.

gcl8a commented 4 years ago

Do we have a status update? (Sorry, I don't know if I should post that here or on #17, itself).

madhephaestus commented 4 years ago

the async server is installed under Brads old API and makes it stable and also 10x faster on polling. Updates come in once every 100ms now.

@acamilo and I are working switching from polling to websockets and adding the joystick code. We will have a final release at 5 that will bring us up to 10ms update rate, which is finally fast enough for RC control.