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<template>
<h2>Motor Control</h2>
<table id='tmain'>
<tbody>
<tr>
<td>
<button :class='bdirClass("ccw")' @click='nextDir = "ccw"' :disabled='armed'>
{{ dirIcons.ccw }}
</button>
</td>
<td>
<table id='tmot'>
<tbody>
<tr v-for='ds in [["nw", "n", "ne"], ["w", "", "e"], ["sw", "s", "se"]]' :key='ds.id'>
<td v-for='d in ds' :key='d.id'>
<button v-if='d' :class='bdirClass(d)' @click='nextDir = d' :disabled='armed'>
{{ dirIcons[d] }}
</button>
</td>
</tr>
</tbody>
</table>
</td>
<td>
<button :class='bdirClass("cw")' @click='nextDir = "cw"' :disabled='armed'>
{{ dirIcons.cw }}
</button>
</td>
<td>
<table id='tspeed'>
<tbody>
<tr v-for='s in ["top", "fast", "slow", "slow2", "slow4"]' :key='s.id'>
<td>
<button :class='bspeedClass(s)' @click='nextSpeed = s' :disabled='armed'>
{{ s }}
</button>
</td>
</tr>
</tbody>
</table>
</td>
<td>
<table id='ttime'>
<tbody>
<tr v-for='t in ["4s", "2s", "1s", "0.5s", "0.25s"]' :key='t.id'>
<td>
<button :class='btimeClass(t)' @click='nextTime = t' :disabled='armed'>
{{ t }}
</button>
</td>
</tr>
</tbody>
</table>
</td>
</tr>
</tbody>
</table>
<table id='tcmd'>
<tbody>
<tr>
<td><input id='ihist' :value='renderCommand()' disabled /></td>
</tr>
</tbody>
</table>
<table id='tarm'>
<tbody>
<tr>
<td><button id='arm' @click='armed = !armed' :disabled='running'>{{ armed ? 'disarm' : 'arm' }}</button></td>
<td><button id='dispatch' @click='dispatch()' :disabled='!armed || running'>dispatch</button></td>
</tr>
</tbody>
</table>
</template>
<script>
import axios from 'axios'
import config from './config'
export default {
data() {
return {
dirIcons: {
n: '↑',
ne: '↗',
e: '→',
se: '↘',
s: '↓',
sw: '↙',
w: '←',
nw: '↖',
ccw: '↺',
cw: '↻'
},
nextDir: 'n',
nextSpeed: 'slow',
nextTime: '1s',
armed: false,
running: false
}
},
methods: {
bdirClass(d) {
return 'bmot' + (d == this.nextDir ? ' bhigh' : '')
},
bspeedClass(d) {
return d == this.nextSpeed ? 'bhigh' : ''
},
btimeClass(t) {
return t == this.nextTime ? 'bhigh' : ''
},
renderCommand() {
const cmd = ['ccw', 'cw'].includes(this.nextDir) ? 'Tilt' : 'Move'
const dir = this.nextDir.toUpperCase()
const speed = this.nextSpeed.charAt(0).toUpperCase() + this.nextSpeed.slice(1)
const time = this.nextTime.slice(0, -1)
return `${cmd} ${dir} ${speed} ${time}`
},
async dispatch() {
this.running = true
const res = await axios.get(config.api + '/command?cmd=' + this.renderCommand())
if (res.status == 200) {
this.armed = false
this.running = false
}
}
}
}
</script>
<style>
#tmot td {
height: 33%;
width: 33%;
}
#tmain td, #tcmd td {
background-color: #2aa198;
}
.bmot {
font-size: 16px;
font-weight: bold;
}
.bhigh {
background-color: #b58900;
color: #073642;
}
#tarm td:nth-child(1) {
width: 30%;
}
#arm {
background-color: #dc322f;
}
#dispatch {
background-color: #859900;
}
#arm, #dispatch {
color: #073642;
font-weight: bold;
}
</style>
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