feat: basic joint controls via front

backend/src/routers/move.py

@@ -14,6 +14,7 @@
 # Post Models
 # --------
 
+
 class Move(BaseModel):
     x: float
     y: float
@@ -28,14 +29,22 @@ class Tool(BaseModel):
     toolValue: float
     wait: Optional[bool] = False
 
+
 class MoveJoint(BaseModel):
     joint_idx: int
     joint_value: float
     wait: Optional[bool] = False
 
+
 class HomeJoint(BaseModel):
     joint_idx: int
     wait: Optional[bool] = False
+
+
+class MoveJoints(BaseModel):
+    joint_values: list
+    wait: Optional[bool] = False
+
 # --------
 # General
 # --------
@@ -47,12 +56,16 @@ def home(controller: ArmController = controller_dependency) -> Dict[Any, Any]:
     controller.home()
     return {"message": "Homed"}
 
+
 @router.post("/home_joint/")
-def home_joint(home_joint : HomeJoint,controller: ArmController = controller_dependency) -> Dict[Any, Any]:
+def home_joint(
+    home_joint: HomeJoint, controller: ArmController = controller_dependency
+) -> Dict[Any, Any]:
     joint_idx = home_joint.dict().pop("joint_idx")
     controller.home_joint(joint_idx)
     return {"message": "Homed"}
 
+
 # --------
 # Pose
 # --------
@@ -95,8 +108,11 @@ def valid_pose(
     else:
         return JSONResponse(content={"message": "Pose is not valid"}, status_code=400)
 
+
 @router.post("/joint/")
-def move_joint(move: MoveJoint, controller: ArmController = controller_dependency) -> JSONResponse:
+def move_joint(
+    move: MoveJoint, controller: ArmController = controller_dependency
+) -> JSONResponse:
     move_dict = move.dict()
     wait = move_dict.pop("wait")
 
@@ -106,6 +122,33 @@ def move_joint(move: MoveJoint, controller: ArmController = controller_dependenc
     if wait:
         controller.wait_done_moving()
 
+
+@router.post("/joint/relative/")
+def move_joint_to_relative(
+    move: MoveJoint, controller: ArmController = controller_dependency
+) -> JSONResponse:
+    move_dict = move.dict()
+    wait = move_dict.pop("wait")
+
+    joint_idx = move_dict.pop("joint_idx")
+    joint_value = move_dict.pop("joint_value")
+    controller.move_joint_relative(joint_idx, joint_value)
+    if wait:
+        controller.wait_done_moving()
+
+
+@router.post("/joints/relative/")
+def move_joints_to_relative(
+    move: MoveJoints, controller: ArmController = controller_dependency
+) -> JSONResponse:
+    move_dict = move.dict()
+    wait = move_dict.pop("wait")
+
+    joint_values = move_dict.pop("joint_values")
+    controller.move_joints_to_relative(joint_values)
+    if wait:
+        controller.wait_done_moving()
+
 # --------
 # Pose
 # --------

controller/src/robot_arm_controller/controller.py

@@ -54,8 +54,10 @@ def __init__(
         self.print_status = False
         self.print_idx = 0
 
-        self.controller_server: ControllerServer = ControllerServer(self, server_port)
-        self.websocket_server: Optional[WebsocketServer] = WebsocketServer(self, websocket_port)
+        self.controller_server: ControllerServer = ControllerServer(
+            self, server_port)
+        self.websocket_server: Optional[WebsocketServer] = WebsocketServer(
+            self, websocket_port)
 
         self.arm_params = arm_parameters
         self.num_joints: int = len(self._current_angles)
@@ -85,7 +87,8 @@ def __init__(
             }
             self.joint_settings.append(current_joint_settings)
             self.joint_settings_response_code.append(
-                {setting.code_get + 1: setting for setting in current_joint_settings.values()}
+                {setting.code_get +
+                    1: setting for setting in current_joint_settings.values()}
             )
 
     """
@@ -115,7 +118,8 @@ def start(self, wait: bool = False, websocket_server: bool = True) -> None:
             while not self.is_ready:
                 time.sleep(0.1)
                 if time.time() - start_time > self.connection_controller_timeout:
-                    raise TimeoutError("Controller took too long to start, check arm client")
+                    raise TimeoutError(
+                        "Controller took too long to start, check arm client")
         console.log("\nController Started!", style="setup")
 
     def stop(self) -> None:
@@ -137,7 +141,8 @@ def current_angles(self) -> List[float]:
     @current_angles.setter
     def current_angles(self, angles: List[float]) -> None:
         if len(angles) != self.num_joints:
-            raise ValueError(f"Angles must be a list of length {self.num_joints}")
+            raise ValueError(
+                f"Angles must be a list of length {self.num_joints}")
         with self.current_angles_lock:
             self._current_angles = angles
 
@@ -206,7 +211,8 @@ def move_to(
         self,
         pose: ArmPose,
     ) -> bool:
-        target_angles = self.kinematics.pose_to_angles(pose, self.current_angles)
+        target_angles = self.kinematics.pose_to_angles(
+            pose, self.current_angles)
         if target_angles is None:
             console.log("Target pose is not reachable", style="error")
             return False
@@ -241,14 +247,33 @@ def move_joint_to(self, joint_idx: int, angle: float) -> bool:
         self.controller_server.send_message(message, mutex=True)
         self.move_queue_size += 1
         if self.print_status:
-            console.log(f"Moving joint {joint_idx} to angle: {angle}", style="move_joint")
+            console.log(
+                f"Moving joint {joint_idx} to angle: {angle}", style="move_joint")
         return True
 
     def home_joint(self, joint_idx: int) -> None:
         message = Message(MessageOp.MOVE, 5, [joint_idx])
         self.controller_server.send_message(message, mutex=True)
         time.sleep(self.command_cooldown)
 
+    def move_joint_relative(self, joint_idx: int, angle: float) -> bool:
+        message = Message(MessageOp.MOVE, 11, [joint_idx, angle])
+        self.controller_server.send_message(message, mutex=True)
+        self.move_queue_size += 1
+        if self.print_status:
+            console.log(
+                f"Moving joint {joint_idx} relative angle: {angle}", style="move_joint_relative")
+        return True
+
+    def move_joints_relative(self, angles: List[float]) -> bool:
+        message = Message(MessageOp.MOVE, 13, angles)
+        self.controller_server.send_message(message, mutex=True)
+        self.move_queue_size += 1
+        if self.print_status:
+            console.log(
+                f"Moving joints relative angles: {angles}", style="move_joints_relative")
+        return True
+
     def set_tool_value(self, angle: float) -> None:
         message = Message(MessageOp.MOVE, 7, [angle])
         self.controller_server.send_message(message, mutex=True)
@@ -262,14 +287,17 @@ def wait_until_angles_at_target(self, target_angles: List[float], epsilon: float
 
     def wait_done_moving(self) -> None:
         if self.print_status:
-            console.log(f"Waiting for arm to finish moving qsize: {self.move_queue_size}", style="waiting")
+            console.log(
+                f"Waiting for arm to finish moving qsize: {self.move_queue_size}", style="waiting")
         while self.move_queue_size > 0:
             time.sleep(0.2)
         if self.print_status:
-            console.log(f"Arm finished moving qsize: {self.move_queue_size}", style="waiting")
+            console.log(
+                f"Arm finished moving qsize: {self.move_queue_size}", style="waiting")
 
     def valid_pose(self, pose: ArmPose) -> bool:
-        target_angles = self.kinematics.pose_to_angles(pose, self.current_angles)
+        target_angles = self.kinematics.pose_to_angles(
+            pose, self.current_angles)
         if target_angles is None:
             return False
         return True
@@ -307,23 +335,26 @@ def stop_movement(self) -> None:
 
     def set_setting_joint(self, setting_key: Settings, value: float, joint_idx: int) -> None:
         if setting_key not in self.joint_settings[joint_idx].keys():
-            raise ValueError(f"Invalid setting key for joint setting: {setting_key}")
+            raise ValueError(
+                f"Invalid setting key for joint setting: {setting_key}")
         setting = self.joint_settings[joint_idx][setting_key]
         code = setting.code_set
         message = Message(MessageOp.CONFIG, code, [float(joint_idx), value])
         self.controller_server.send_message(message, mutex=True)
         setting.last_updated = -1
 
         if self.print_status:
-            console.log(f"Setting {setting_key} to {value} for joint {joint_idx}", style="set_settings")
+            console.log(
+                f"Setting {setting_key} to {value} for joint {joint_idx}", style="set_settings")
 
     def set_setting_joints(self, setting_key: Settings, value: float) -> None:
         for joint_idx in range(self.num_joints):
             self.set_setting_joint(setting_key, value, joint_idx)
 
     def get_setting_joint(self, setting_key: Settings, joint_idx: int) -> float:
         if setting_key not in self.joint_settings[joint_idx].keys():
-            raise ValueError(f"Invalid setting key for joint setting: {setting_key}")
+            raise ValueError(
+                f"Invalid setting key for joint setting: {setting_key}")
 
         setting = self.joint_settings[joint_idx][setting_key]
         code = setting.code_get

firmware/components/controller/controller.cpp

@@ -279,7 +279,7 @@ void Controller::message_handler_move(Message *message) {
                 }
             }
         } break;
-        case 9: { // Move Joint
+        case 9: {  // Move Joint
             uint8_t joint_idx = static_cast<uint8_t>(args[0]);
             if (!called) {
                 this->joints[joint_idx]->set_target_angle(args[1]);
@@ -290,22 +290,25 @@ void Controller::message_handler_move(Message *message) {
                 }
             }
         } break;
-        case 11: { // Move Joint Relative to target
+        case 11: {  // Move Joint Relative to target
             uint8_t joint_idx = static_cast<uint8_t>(args[0]);
             if (!called) {
-                float target_angle = this->joints[joint_idx]->get_target_angle();
-                this->joints[joint_idx]->set_target_angle(target_angle + args[1]);
+                float target_angle =
+                    this->joints[joint_idx]->get_target_angle();
+                this->joints[joint_idx]->set_target_angle(target_angle +
+                                                          args[1]);
                 message->set_called(true);
             } else {
                 if (this->joints[joint_idx]->at_target()) {
                     message->set_complete(true);
                 }
             }
         } break;
-        case 13: { // Move Joints Relative to target
+        case 13: {  // Move Joints Relative to target
             if (!called) {
                 for (int i = 0; i < num_args; i++) {
-                    this->joints[i]->set_target_angle(args[i] + this->joints[i]->get_target_angle());
+                    this->joints[i]->set_target_angle(
+                        args[i] + this->joints[i]->get_target_angle());
                 }
                 message->set_called(true);
             } else {

firmware/components/movement/endstops.cpp

@@ -33,9 +33,6 @@ HallEffectSensor::HallEffectSensor(int8_t pin) : EndStop(pin) {}
 
 HallEffectSensor::~HallEffectSensor() {}
 
-void HallEffectSensor::hardware_setup() {
-}
+void HallEffectSensor::hardware_setup() {}
 
-bool HallEffectSensor::hardware_read_state() {
-    return true;
-}
+bool HallEffectSensor::hardware_read_state() { return true; }

frontend/src/components/ArmSimulation/ArmSimulation.jsx

@@ -3,7 +3,7 @@ const ArmSimulation = () => {
     const websocket_port = process.env.NEXT_PUBLIC_ARM_SIMULATION_WEBSOCKET_PORT;
     const websocket_host = process.env.NEXT_PUBLIC_ARM_SIMULATION_WEBSOCKET_HOST;
     return (
-        <div className="relative flex-none h-1/2 w-full">
+        <div className="relative h-1/2 w-full flex-none">
             <iframe
                 src={`${simulation_url}/game.html?ip=${websocket_host}&port=${websocket_port}`}
                 className="absolute left-0 top-0 h-full w-full border-none"

frontend/src/components/controls/JointsControls.jsx

@@ -2,20 +2,18 @@ import MoveAxis from '@/components/controls/MoveAxis';
 import TextVariableInfo from '@/components/general/text/TextVariableInfo';
 import api from '@/utils/api';
 import { useState } from 'react';
-import { useSelector, useDispatch } from 'react-redux';
+import { useSelector } from 'react-redux';
 
 const JointsControls = () => {
     const currentAngles = useSelector(state => state.armPose.currentAngles);
-    console.log(currentAngles);
-    const [angles, setAngles] = useState(currentAngles);
     const [angleStep, setAngleStep] = useState(0.1);
 
     const callSetAngle = (index, value) => {
-        api.post('/move/joint/',{joint_idx: index, joint_value: value});
+        api.post('/move/joint/relative', { joint_idx: index, joint_value: value });
     };
 
-    const callHomeJoint = (index) => {
-        api.post('/move/home_joint/',{joint_idx: index});
+    const callHomeJoint = index => {
+        api.post('/move/home_joint/', { joint_idx: index });
     };
 
     return (
@@ -31,22 +29,22 @@ const JointsControls = () => {
                         setValue={setAngleStep}
                         infoText={'The amount the arm moves for coordinate changes'}
                     ></TextVariableInfo>
-                </div>
-                <div className="flex flex-row justify-center">
-                    {angles.map((angle, index) => (
-                        <div key={index}>
+                </div> <div className="flex flex-row justify-center gap-2"> {currentAngles.map((_, index) => (
+                        <div className="flex flex-col items-center justify-center " key={index}>
                             <MoveAxis
                                 label={`Joint ${index + 1}`}
                                 value={currentAngles[index]}
                                 setValue={value => {
-                                    const newAngles = [...angles];
-                                    newAngles[index] = value;
-                                    setAngles(newAngles);
                                     callSetAngle(index, value);
                                 }}
                                 step_amount={angleStep}
                             ></MoveAxis>
-                            <button onClick={() => callHomeJoint(index)}>Home</button>
+                            <button
+                                className="w-fit rounded-md bg-green-500 px-3 py-2 text-white hover:bg-green-700"
+                                onClick={() => callHomeJoint(index)}
+                            >
+                                Home
+                            </button>
                         </div>
                     ))}
                 </div>

frontend/src/redux/ArmPoseSlice.js

@@ -10,7 +10,7 @@ const initialState = {
     toolValue: 0,
     isHomed: false,
     moveQueueSize: 0,
-    currentAngles : [0,0,0,0,0,0],
+    currentAngles: [0, 0, 0, 0, 0, 0],
     toMove: {
         x: 0,
         y: 0,