From 55045dfe27374ade8cdd55667197f42595917669 Mon Sep 17 00:00:00 2001
From: Yann C <yann.clarisse@epita.fr>
Date: Thu, 18 Apr 2024 17:44:18 +0300
Subject: saved

---
 temp.js | 181 ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 181 insertions(+)
 create mode 100644 temp.js

(limited to 'temp.js')

diff --git a/temp.js b/temp.js
new file mode 100644
index 0000000..1accb19
--- /dev/null
+++ b/temp.js
@@ -0,0 +1,181 @@
+const canvas = document.getElementById('drawing-board');
+const ctx = canvas.getContext('2d');
+const reset = document.getElementById("reset");
+
+robot = document.getElementById('robot');
+cross = document.getElementById('cross');
+
+const canvasOffsetX = canvas.offsetLeft;
+const canvasOffsetY = canvas.offsetTop;
+
+let scale = 2
+let drawings = []
+let prev = 0
+let angle = 0
+
+let speed = 200 // mm/s
+let dx = 0
+let dy = 0
+let conv = 10
+let animation = 0
+
+canvas.width = window.innerWidth - canvasOffsetX * 2;
+canvas.height = window.innerHeight - canvasOffsetY * 2;
+
+ctx.translate(canvas.width/2 + canvasOffsetX, canvas.height/2 + canvasOffsetY)
+
+reset.style.top = canvasOffsetY * 2 + "px";
+reset.style.right = canvasOffsetX * 2 + "px";
+robot.style.left = (canvas.width/2 + canvasOffsetX)/canvas.width *100 + "%"
+robot.style.top = (canvas.height/2 + canvasOffsetY)/canvas.height *100 + "%"
+
+class Wall {
+    constructor(x,y,a) {
+        this.x = x
+        this.y = y
+        this.h = 5
+        this.a = a
+    }
+
+    draw(context) {
+        context.fillRect(this.x - robot.offsetWidth/2, this.y - this.h/2,robot.offsetWidth,this.h)
+    }
+}
+
+canvas.addEventListener('mousedown', (e) => {
+    if (animation != 0) {
+        cancelAnimationFrame(animation)
+    }
+    cross.style.visibility = "visible";
+
+    x = e.layerX - canvas.width/2 - 2*canvasOffsetX
+    y = e.layerY - canvas.height/2 - 2*canvasOffsetY
+    cross.style.left = e.layerX - canvasOffsetX + "px"
+    cross.style.top = e.layerY - canvasOffsetY + "px"
+
+    prev = angle
+    angle = Math.atan(x/Math.abs(y))
+
+    sym = 1
+    if (x < 0) {
+        sym = -1
+    }
+
+    if (y > 0) {
+        angle = sym*Math.PI - angle
+    }
+
+    robot.style.transform = 'translate(-50%, -50%) rotate('+ angle +'rad)';
+    dist = Math.sqrt(x*x + y*y)
+    t = (dist/speed) * 1000/conv //miss conv
+    dx = x/(t)
+    dy = y/(t)
+    diff = angle - prev
+
+    if(angle * prev < 0 ) {
+        diff = (Math.abs(angle) + Math.abs(prev))
+        if (angle < 0)
+            diff = -diff
+    }
+    console.log("net angle :" + angle * 180 / Math.PI)
+
+    if(diff > Math.PI) {
+        diff = diff - 2*Math.PI
+    }
+    if (diff < -Math.PI) {
+        diff = diff + 2*Math.PI
+    }
+    moveTo(dist,diff)
+    
+    moveAll()
+});
+/*
+client.on('message', function (topic, message) {
+    let val = message.toString();
+    if (val == 'STOP') {
+        dx = 0
+        dy = 0
+    }
+    else {
+        var n = parseInt(val);
+        if (!isNaN(n)){
+            if (n < 150){
+                wall = new Wall(n * Math.sin(angle), - n * Math.cos(angle), angle)
+                drawings.push(wall)
+                draw(wall)
+            }
+        }
+    }
+});*/
+
+
+function test(wall) {
+    drawings.push(wall)
+    draw(wall)
+}
+
+function stop() {
+    dx = 0
+    dy = 0
+    if (animation != 0) {
+        cancelAnimationFrame(animation)
+    }
+}
+
+
+function draw(wall) {
+    ctx.save()
+    x = wall.x
+    y = wall.y
+    wall.x = 0
+    wall.y = 0
+    ctx.translate(x,y)
+    ctx.rotate(wall.a)
+    wall.draw(ctx)
+    wall.x = x
+    wall.y = y
+    ctx.restore()
+}
+
+function moveAll() {
+
+    a = canvas.width/2 + canvasOffsetX
+    b = canvas.height/2 + canvasOffsetY
+    ctx.clearRect(-a,-b,canvas.width,canvas.height)
+
+    drawings.forEach((e) => {
+        e.x -= dx
+        e.y -= dy
+        draw(e) 
+    })
+    animation = requestAnimationFrame(moveAll)
+}
+
+reset.onclick = () => {
+    a = canvas.width/2 + canvasOffsetX
+    b = canvas.height/2 + canvasOffsetY
+    ctx.clearRect(-a,-b,canvas.width,canvas.height)
+    cross.style.visibility = 'hidden'
+    drawings = [];
+    angle = 0
+    prev = 0
+    dx = 0
+    dy = 0
+    robot.style.transform = 'translate(-50%, -50%) rotate(0deg)';
+}
+
+function resizeCanvas() {
+    cross.style.visibility = 'hidden'
+    canvas.width = window.innerWidth - canvasOffsetX * 2
+    canvas.height = window.innerHeight - canvasOffsetY *2
+    reset.style.top = canvasOffsetY * 2 + "px";
+    reset.style.right = canvasOffsetX * 2 + "px";
+    robot.style.left = (canvas.width/2 + canvasOffsetX)/canvas.width *100 + "%"
+    robot.style.top = (canvas.height/2 + canvasOffsetY)/canvas.height *10
+
+    ctx.setTransform(1, 0, 0, 1, 0, 0);
+    ctx.translate(canvas.width/2 + canvasOffsetX, canvas.height/2 + canvasOffsetY)
+    moveAll(0,0)
+}
+
+window.onresize = resizeCanvas;
\ No newline at end of file
-- 
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