var state = 0;

​

function setup() {

  for (let i = 0; i < 5; i++) {

    scrollValues.push(new uiFloat(500));

  }

  noStroke();

  noScrolling();

  createCanvas(windowWidth, windowHeight);

  loadGoogleFont("Droid Sans");

  textFont("Droid Sans");

  frameRate(30);

  serialConnect(true);

}

​

//let interval = options.dmx_speed ? (1000 / options.dmx_speed) : 46;

​

const dmxData = new Uint8Array(30);

let timer = 0;

​

function draw() {

  background(200);

  uiUpdateSimple();

  if (!portIsOpen && uiButton("Connect", 255, 200, 30, 50, 100).clicked) {

    serialConnect();

  }

​

  if (portIsOpen) {

    for (let i = 0; i < scrollValues.length; i++) {

      if (

        uiScrollbar(i + 1, 0, 1000, scrollValues[i], 200, 50, 130 + i * 30)

          .clicked

      ) {

        let timeMove = 500;

        sendCmd(

          i + 1,

          SERVO_MOVE_TIME_WRITE,

          lowerByte(Math.round(scrollValues[i].get())), higherByte(Math.round(scrollValues[i].get())),

          lowerByte(timeMove),higherByte(timeMove)

        );

      }

    }

  }

  if (

    portIsOpen &&

    uiButton("Read servo 1 pos", 255, 200, 30, 50, 50).clicked

  ) {

    //sendCmd(1, SERVO_POS_READ);

    getResponse(1,SERVO_POS_READ).then(responseValue => {

        print('value:', responseValue);

    })

  }

}

​

​

function lowerByte(value) {

    return value & 0xFF;

}

​

function higherByte(value) {

    return (value >> 8) & 0xFF;

}

​

function word(low, high) {

    return (high << 8) | low;

}

​

​

readyToWrite = false;

​

let SERVO_ID_ALL = 0xfe;

​

let SERVO_MOVE_TIME_WRITE = 1;

let SERVO_MOVE_TIME_READ = 2;

let SERVO_MOVE_TIME_WAIT_WRITE = 7;

let SERVO_MOVE_TIME_WAIT_READ = 8;

let SERVO_MOVE_START = 11;

let SERVO_MOVE_STOP = 12;

let SERVO_ID_WRITE = 13;

let SERVO_ID_READ = 14;

let SERVO_ANGLE_OFFSET_ADJUST = 17;

let SERVO_ANGLE_OFFSET_WRITE = 18;

let SERVO_ANGLE_OFFSET_READ = 19;

let SERVO_ANGLE_LIMIT_WRITE = 20;

let SERVO_ANGLE_LIMIT_READ = 21;

let SERVO_VIN_LIMIT_WRITE = 22;

let SERVO_VIN_LIMIT_READ = 23;

let SERVO_TEMP_MAX_LIMIT_WRITE = 24;

let SERVO_TEMP_MAX_LIMIT_READ = 25;

let SERVO_TEMP_READ = 26;

let SERVO_VIN_READ = 27;

let SERVO_POS_READ = 28;

let SERVO_OR_MOTOR_MODE_WRITE = 29;

let SERVO_OR_MOTOR_MODE_READ = 30;

let SERVO_LOAD_OR_UNLOAD_WRITE = 31;

let SERVO_LOAD_OR_UNLOAD_READ = 32;

let SERVO_LED_CTRL_WRITE = 33;

let SERVO_LED_CTRL_READ = 34;

let SERVO_LED_ERROR_WRITE = 35;

let SERVO_LED_ERROR_READ = 36;

​

let SERVO_ERROR_OVER_TEMPERATURE = 1;

let SERVO_ERROR_OVER_VOLTAGE = 2;

let SERVO_ERROR_LOCKED_ROTOR = 4;

​

 function sendCmd(servoId, command, ...params) {

  const length = 3 + params.length;

  const checksum =

    255 -

    ((servoId + length + command + params.reduce((a, b) => a + b, 0)) % 256);

  const buffer = new Uint8Array([

    0x55,

    0x55,

    servoId,

    length,

    command,

    ...params,

    checksum,

  ]);

  serialWriter.write(buffer);

}

​

 async function getResponse(servoId, command, ...params) {

  sendCmd(servoId, command, ...params);

  print("hep");

  if (port.readable && portIsOpen) {

    reader = port.readable.getReader();

    try {

      const { value, done } = await reader.read();

      await reader.releaseLock();

      return value[5] | value[6] << 8 ; //value[6]+value[5];

    } catch (error) {

      print(error);

    } finally {

      // Allow the serial port to be closed later.

      await reader.releaseLock();

    }

  }

}

​

function keyReleased() {

  if (key == "f") {

    fullScreenToggle();

  }

}

​