Ethersweep robot keyboard control Processing Code

robot_control.pde

// more info: github.com/neumi/ethersweep

import hypermedia.net.*;
UDP udp;
String ipLeft       = "192.168.0.102";
String ipRight       = "192.168.0.101";
String ipGripper       = "192.168.0.100";

int port = 8888;

JSONObject jsonLeft;
JSONObject jsonRight;
JSONObject jsonGripper;

int speed = 100;
int steps = 1600;
int hold = 0;
int ramp = 50;
int stepmode = 8;

boolean gripperOpen = true;

void setup() {
  size(600, 600);

  udp = new UDP( this, 8888 );
}

void draw() {
  background(20);
  steps = mouseX * 10;
  speed = mouseY + 50;
  text( "Steps: " + str(steps), mouseX +10, mouseY);
  text( "Speed: " + str(speed) + " µs", mouseX +10, mouseY+20);
}



void keyPressed() {
  background(200, 50, 50);
  switch(key) {
  case 'w': 
    println("forward");
    driveForward();
    break;

  case 's': 
    println("backward");
    driveBack();
    break;

  case 'd':
    driveRight();
    break;

  case 'a':
    driveLeft();
    break;
  case 'x':
    toggleGripper();
    break;
  }
}


void driveForward() {

  jsonLeft = new JSONObject();
  jsonLeft.setInt("drivemode", 2);
  jsonLeft.setInt("speed", speed);
  jsonLeft.setInt("slope", ramp);
  jsonLeft.setInt("steps", steps);
  jsonLeft.setInt("stepmode", stepmode);
  jsonLeft.setInt("direction", 0);
  jsonLeft.setInt("hold", hold);

  jsonRight = new JSONObject();
  jsonRight.setInt("drivemode", 2);
  jsonRight.setInt("speed", speed);
  jsonRight.setInt("slope", ramp);
  jsonRight.setInt("steps", steps);
  jsonRight.setInt("stepmode", stepmode);
  jsonRight.setInt("direction", 1);
  jsonRight.setInt("hold", hold);

  udp.send( jsonLeft.toString(), ipLeft, port );
  udp.send( jsonRight.toString(), ipRight, port );
}

void driveLeft() {
  jsonLeft = new JSONObject();
  jsonLeft.setInt("drivemode", 2);
  jsonLeft.setInt("speed", speed);
  jsonLeft.setInt("slope", ramp);
  jsonLeft.setInt("steps", steps);
  jsonLeft.setInt("stepmode", stepmode);
  jsonLeft.setInt("direction", 0);
  jsonLeft.setInt("hold", hold);

  jsonRight = new JSONObject();
  jsonRight.setInt("drivemode", 2);
  jsonRight.setInt("speed", speed);
  jsonRight.setInt("slope", ramp);
  jsonRight.setInt("steps", steps);
  jsonRight.setInt("stepmode", stepmode);
  jsonRight.setInt("direction", 0);
  jsonRight.setInt("hold", hold);

  udp.send( jsonLeft.toString(), ipLeft, port );
  udp.send( jsonRight.toString(), ipRight, port );
}


void driveRight() {
  jsonLeft = new JSONObject();
  jsonLeft.setInt("drivemode", 2);
  jsonLeft.setInt("speed", speed);
  jsonLeft.setInt("slope", ramp);
  jsonLeft.setInt("steps", steps);
  jsonLeft.setInt("stepmode", stepmode);
  jsonLeft.setInt("direction", 1);
  jsonLeft.setInt("hold", hold);

  jsonRight = new JSONObject();
  jsonRight.setInt("drivemode", 2);
  jsonRight.setInt("speed", speed);
  jsonRight.setInt("slope", ramp);
  jsonRight.setInt("steps", steps);
  jsonRight.setInt("stepmode", stepmode);
  jsonRight.setInt("direction", 1);
  jsonRight.setInt("hold", hold);

  udp.send( jsonLeft.toString(), ipLeft, port );
  udp.send( jsonRight.toString(), ipRight, port );
}

void driveBack() {
  jsonLeft = new JSONObject();
  jsonLeft.setInt("drivemode", 2);
  jsonLeft.setInt("speed", speed);
  jsonLeft.setInt("slope", ramp);
  jsonLeft.setInt("steps", steps);
  jsonLeft.setInt("stepmode", stepmode);
  jsonLeft.setInt("direction", 1);
  jsonLeft.setInt("hold", hold);

  jsonRight = new JSONObject();
  jsonRight.setInt("drivemode", 2);
  jsonRight.setInt("speed", speed);
  jsonRight.setInt("slope", ramp);
  jsonRight.setInt("steps", steps);
  jsonRight.setInt("stepmode", stepmode);
  jsonRight.setInt("direction", 0);
  jsonRight.setInt("hold", hold);

  udp.send( jsonLeft.toString(), ipLeft, port );
  udp.send( jsonRight.toString(), ipRight, port );
}

void toggleGripper() {
  if (gripperOpen) {
    jsonGripper = new JSONObject();
    jsonGripper.setInt("drivemode", 0);
    jsonGripper.setInt("speed", 500);
    jsonGripper.setInt("slope", 100);
    jsonGripper.setInt("steps", 600);
    jsonGripper.setInt("stepmode", 16);
    jsonGripper.setInt("direction", 1);
    jsonGripper.setInt("hold", 1);
    gripperOpen = false;
  } else {
    jsonGripper = new JSONObject();
    jsonGripper.setInt("drivemode", 0);
    jsonGripper.setInt("speed", 500);
    jsonGripper.setInt("slope", 100);
    jsonGripper.setInt("steps", 600);
    jsonGripper.setInt("stepmode", 16);
    jsonGripper.setInt("direction", 0);
    jsonGripper.setInt("hold", 1);
    gripperOpen = true;
  }

  udp.send( jsonGripper.toString(), ipGripper, port);
}