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a_history_of_the_domino_problem
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stepper bak

master
Michael Winter 1 年之前
父節點
b44bc5bd08
當前提交
462a69b68d
共有 6 個檔案被更改，包括 625 行新增 和 8 行删除
分割檢視 顯示文件統計
  1. +171
    -0
      arduino/multistepper_prototype/multistepper_prototype.ino
  2. +7
    -2
      klayout/separate_wafers.py
  3. +2
    -2
      klayout/shift_tester_inverted.py
  4. 二進制
      score/lilypond/berger_knuth/berger_knuth.pdf
  5. +4
    -4
      supercollider/main.scd
  6. +441
    -0
      supercollider/stepper_control.scd

+ 171
- 0
arduino/multistepper_prototype/multistepper_prototype.ino 查看文件

@@ -0,0 +1,171 @@
// Include the AccelStepper library:
#include <AccelStepper.h>

// Define stepper motor connections and motor interface type. Motor interface type must be set to 1 when using a driver:

// Set stepper 1 pins
#define m1LimitNegPin 2
#define m1LimitPosPin 3
#define m1DirPin 4
#define m1StepPin 5
#define m1PowerPin 6

// Set stepper 2 pins
#define m2LimitNegPin 9
#define m2LimitPosPin 10
#define m2DirPin 11
#define m2StepPin 12
#define m2PowerPin 13

#define motorInterfaceType 1

// Create a new instance of the AccelStepper class:
AccelStepper m1Stepper = AccelStepper(motorInterfaceType, m1StepPin, m1DirPin);
AccelStepper m2Stepper = AccelStepper(motorInterfaceType, m2StepPin, m2DirPin);

unsigned long previousMillis = 0;
unsigned long currentMillis = 0;

void setup() {

pinMode(m1PowerPin, OUTPUT);
pinMode(m1LimitNegPin, INPUT);
pinMode(m1LimitPosPin, INPUT);

pinMode(m2PowerPin, OUTPUT);
pinMode(m2LimitNegPin, INPUT);
pinMode(m2LimitPosPin, INPUT);

Serial.begin(115200);

// Set the maximum speed in steps per second:
m1Stepper.setMaxSpeed(200);
m1Stepper.setAcceleration(100);
m1Stepper.setCurrentPosition(0);
m2Stepper.setMaxSpeed(200);
m2Stepper.setAcceleration(100);
m2Stepper.setCurrentPosition(0);
}


int integerValue=0;
bool negativeNumber = false; // track if number is negative
char incomingByte;
void loop() {
currentMillis = millis();
int m1EorNeg = digitalRead(m1LimitNegPin);
int m1EorPos = digitalRead(m1LimitPosPin);

int m2EorNeg = digitalRead(m2LimitNegPin);
int m2EorPos = digitalRead(m2LimitPosPin);

if (currentMillis - previousMillis >= 1000 == true ) {
Serial.println("------Stepper 1------");
Serial.print("m1EorPos:");
Serial.println(m1EorNeg);
Serial.print("m1EorNeg: ");
Serial.println(m1EorPos);
Serial.print("m1CurPos: ");
Serial.println(m1Stepper.currentPosition() * -1);
Serial.print("m1TarPos: ");
Serial.println(m1Stepper.targetPosition() * -1);
Serial.println("");

Serial.println("------Stepper 2------");
Serial.print("m2EorPos: ");
Serial.println(m2EorNeg);
Serial.print("m2EorNeg: ");
Serial.println(m2EorPos);
Serial.print("m2CurPos: ");
Serial.println(m2Stepper.currentPosition() * -1);
Serial.print("m2TarPos: ");
Serial.println(m2Stepper.targetPosition() * -1);
Serial.println("");

previousMillis = currentMillis;
}

// limit switch logic for stepper 1
if ((m1EorNeg < m1EorPos) && (m1Stepper.targetPosition() > m1Stepper.currentPosition())) {
m1Stepper.setSpeed(0);
m1Stepper.moveTo(m1Stepper.currentPosition());
digitalWrite(m1PowerPin, HIGH);
} else if ((m1EorNeg > m1EorPos) && (m1Stepper.targetPosition() < m1Stepper.currentPosition())) {
m1Stepper.setSpeed(0);
m1Stepper.moveTo(m1Stepper.currentPosition());
digitalWrite(m1PowerPin, HIGH);
} else if (m1Stepper.targetPosition() == m1Stepper.currentPosition()) {
digitalWrite(m1PowerPin, HIGH);
} else {
digitalWrite(m1PowerPin, LOW);
m1Stepper.run();
}

// limit switch logic for stepper 2
if ((m2EorNeg < m2EorPos) && (m2Stepper.targetPosition() > m2Stepper.currentPosition())) {
m2Stepper.setSpeed(0);
m2Stepper.moveTo(m2Stepper.currentPosition());
digitalWrite(m2PowerPin, HIGH);
} else if ((m2EorNeg > m2EorPos) && (m2Stepper.targetPosition() < m2Stepper.currentPosition())) {
m2Stepper.setSpeed(0);
m2Stepper.moveTo(m1Stepper.currentPosition());
digitalWrite(m2PowerPin, HIGH);
} else if (m2Stepper.targetPosition() == m2Stepper.currentPosition()) {
digitalWrite(m2PowerPin, HIGH);
} else {
digitalWrite(m2PowerPin, LOW);
m2Stepper.run();
}
if (Serial.available() > 0) { // something came across serial
integerValue = 0; // throw away previous integerValue
negativeNumber = false; // reset for negative
while(1) { // force into a loop until 'n' is received
incomingByte = Serial.read();
if (incomingByte == ' ') break; // exit the while(1), we're done receiving
if (incomingByte == -1) continue; // if no characters are in the buffer read() returns -1
if (incomingByte == '-') {
negativeNumber = true;
continue;
}
integerValue *= 10; // shift left 1 decimal place
integerValue = ((incomingByte - 48) + integerValue); // convert ASCII to integer, add, and shift left 1 decimal place
}
if (negativeNumber)
integerValue = -integerValue;

integerValue = -integerValue; // this makes up for the fact that things are backwards
m1Stepper.moveTo(integerValue);


integerValue = 0; // throw away previous integerValue
negativeNumber = false; // reset for negative
while(1) { // force into a loop until 'n' is received
incomingByte = Serial.read();
if (incomingByte == '\n') break; // exit the while(1), we're done receiving
if (incomingByte == -1) continue; // if no characters are in the buffer read() returns -1
if (incomingByte == '-') {
negativeNumber = true;
continue;
}
integerValue *= 10; // shift left 1 decimal place
integerValue = ((incomingByte - 48) + integerValue); // convert ASCII to integer, add, and shift left 1 decimal place
}
if (negativeNumber)
integerValue = -integerValue;

integerValue = -integerValue; // this makes up for the fact that things are backwards
m2Stepper.moveTo(integerValue);

}
//delay(100);
}

+ 7
- 2
klayout/separate_wafers.py 查看文件

@@ -7,7 +7,9 @@ layout = pya.Layout()
layout.read(os.path.join(base_dir, "..", "gds", "image_with_alignment_marks_overlapped.gds"))

layout.delete_layer(1)
layout.top_cell().shapes(0).insert(pya.Box(-9000000, 6850000 - 1850000 + 30000, 9000000, 6850000 - 1850000 + 30000 + 5000))
layer3_index = layout.insert_layer(pya.LayerInfo.new(3, 0))
layout.top_cell().shapes(0).insert(pya.Box(-7500000, 6850000 - 1850000 + 30000, 7500000, 6850000 - 1850000 + 30000 + 5000))
layout.top_cell().shapes(layer3_index).insert(pya.Box(-7500000, -7500000, 7500000, 7500000))
#layout.transform(pya.Trans(2, False, 0, 0))

layout.write(os.path.join(base_dir, "..", "gds", "wafer_1.gds"))
@@ -17,9 +19,12 @@ layout = pya.Layout()
layout.read(os.path.join(base_dir, "..", "gds", "image_with_alignment_marks_overlapped.gds"))

layout.delete_layer(0)
layer3_index = layout.insert_layer(pya.LayerInfo.new(3, 0))
#layout.transform(pya.Trans(2, True, 0, 0))
layout.transform(pya.Trans(0, True, 0, 0))
layout.top_cell().shapes(1).insert(pya.Box(-9000000, 6850000 - 1850000 + 30000, 9000000, 6850000 - 1850000 + 30000 + 5000))
layout.top_cell().shapes(1).insert(pya.Box(-7500000, 6850000 - 1850000 + 30000, 7500000, 6850000 - 1850000 + 30000 + 5000))
layout.top_cell().shapes(layer3_index).insert(pya.Box(-7500000, -7500000, 7500000, 7500000))


layout.write(os.path.join(base_dir, "..", "gds", "wafer_2.gds"))


+ 2
- 2
klayout/shift_tester_inverted.py 查看文件

@@ -1,8 +1,8 @@
import pya

#amount to shift in units of distance between images
shift_x = -1
shift_y = -1
shift_x = 0
shift_y = 0.1

#vars on current sizes
shift_mult = 5

二進制
score/lilypond/berger_knuth/berger_knuth.pdf 查看文件


+ 4
- 4
supercollider/main.scd 查看文件

@@ -1,7 +1,7 @@
~seed = 11735;

~dir = thisProcess.nowExecutingPath.dirname;
PathName.new(~dir).files.do({arg path; if(path.fileName != "main.scd", {path.fileName.loadRelative})});
PathName.new(~dir).files.do({arg path; if((path.fileName != "main.scd") && (path.fileName != "stepper_control.scd"), {path.fileName.loadRelative})});


~bergerTiling = ~berger.value(500, 500, true);
@@ -12,7 +12,7 @@ PathName.new(~dir).files.do({arg path; if(path.fileName != "main.scd", {path.fil
~bergerSound.play;
~bergerTranscribe.value(~bergerMusic);
~visualize.value(~berger.value(100, 100), 0, 0, scale: 1, name: "berger")
s.record(~dir +/+ ".." +/+ "recs" +/+ "berger_knuth.wav", duration: 300);
s.record(~dir +/+ ".." +/+ "recs" +/+ "berger_knuth.wav", duration: (30 * 60));


~robinsonTiling = ~robinson.value(8);
@@ -22,7 +22,7 @@ s.record(~dir +/+ ".." +/+ "recs" +/+ "berger_knuth.wav", duration: 300);
~robinsonSound.play;
~robinsonTranscribe.value(~robinsonMusic);
~visualize.value(~robinsonTiling, 0, 0, 200, 200, scale: 1, name: "robinson");
s.record(~dir +/+ ".." +/+ "recs" +/+ "robinson.wav", duration: 300);
s.record(~dir +/+ ".." +/+ "recs" +/+ "robinson.wav", duration: (30 * 60));


//Potential TODO: add (de)crescendo markings and update synthdef to have the fades
@@ -33,7 +33,7 @@ s.record(~dir +/+ ".." +/+ "recs" +/+ "robinson.wav", duration: 300);
~penroseSound.play;
~penroseTranscribe.value(~penroseMusic);
~visualize.value(~penroseTiling, 0, 0, name: "penrose");
s.record(~dir +/+ ".." +/+ "recs" +/+ "penrose.wav", duration: 300);
s.record(~dir +/+ ".." +/+ "recs" +/+ "penrose.wav", duration: (30 * 60));


~ammannTiling = ~ammann.value(645, 105);

+ 441
- 0
supercollider/stepper_control.scd 查看文件

@@ -0,0 +1,441 @@
(
var imageDist, micronsPerStep, automation, imgPositions, curPos, tarPos,
netAddress, serialPort, serialListener,
moveTo, jogControl, jogHorizontal, jogVertical,
imgSelect, imgCalibrate, automate;

// init global vars
imageDist = 100; // in steps
micronsPerStep = 0.0977;
automation = false;
imgPositions = 9.collect({nil});
curPos = Point.new(0, 0);
tarPos = Point.new(0, 0);
netAddress = NetAddr.new("127.0.0.1", 7777);
serialPort = SerialPort("/dev/ttyACM0", baudrate: 115200, crtscts: true);

// recieve motor feedback
serialListener = Routine({
var byte, str, res, valArray,
stepper, limitSwitchNeg, limitSwitchPos, safeMode, limitPos;

safeMode = false;

loop{
byte = serialPort.read;
if(byte==13, {
if(str[1].asString == "[", {
valArray = str.asString.interpret.postln;
curPos = Point.new(valArray[0], valArray[1]);
limitSwitchNeg = valArray[2];
limitSwitchPos = valArray[3];
if(safeMode && (limitSwitchNeg == limitSwitchPos), {
safeMode = false;
fork {
netAddress.sendMsg("/STATE/SET", "{message: \"all clear\"}");
2.wait;
netAddress.sendMsg("/STATE/SET", "{message: \"\"}");
}
});
if(automation, {
if((curPos.x - tarPos.x).abs < 100, {tarPos.x = imageDist.rand2});
if((curPos.y - tarPos.y).abs < 100, {tarPos.y = imageDist.rand2});
moveTo.value(tarPos);
});
}, {
if(str[1..3].asString == "!!!", {
netAddress.sendMsg("/STATE/SET", "{message: \"!!! limit switch still on after 1000 steps, this should NEVER happen\"}");
}, {
automation = false;
safeMode = true;
netAddress.sendMsg("/STATE/SET", "{message: \"!! limit hit, move the other direction\"}");
});
});
str = "";
}, {str = str++byte.asAscii});
};
}).play(AppClock);

// send new coordinates to the arduino / motors
moveTo = {arg point;
serialPort.putAll(point.x.asInteger.asString ++ " " ++ point.y.asInteger.asString);
serialPort.put(10);
};

jogControl = {arg axis;
var jog, count = 0, jogRate= 0, jogDirection = 1;
jog = Task({
loop{
count = (count + 0.01).clip(0, 1);
jogRate = pow(count, 2) * 500;
if(axis == '/jog_horizontal', {
tarPos.x = curPos.x + (jogRate * jogDirection);
}, {
tarPos.y = curPos.y + (jogRate * jogDirection);
});
moveTo.value(tarPos);
0.1.wait
};
});
OSCFunc({arg msg;
//tarPos.x = curPos.x + (1000 * msg[1]);
//moveTo.value(tarPos);
if(msg[1] == 0, {count = 0; jogRate = 0; jog.pause()}, {jogDirection = msg[1]; jog.play(AppClock)});
automation = false;
netAddress.sendMsg("/STATE/SET", "{automate: 0}");
}, axis, netAddress)
};

jogHorizontal = jogControl.value('/jog_horizontal');
jogVertical = jogControl.value('/jog_vertical');

imgSelect = {
var lastSelect = nil;
OSCFunc({arg msg;
var imgIndex;
if(msg[1] > 0, {
imgIndex = msg[1] - 1;
if(imgPositions[imgIndex] != nil, {tarPos = imgPositions[imgIndex].deepCopy; moveTo.value(tarPos)});
9.do({arg i; if(imgIndex != i, {
netAddress.sendMsg("/STATE/SET", "{img_" ++ (i + 1).asString ++ "_select: " ++ (i + 1).neg ++ "}")})});
automation = false;
netAddress.sendMsg("/STATE/SET", "{automate: 0}");
lastSelect = imgIndex;
}, {
imgIndex = msg[1].neg - 1;
if(imgIndex == lastSelect, {
if(imgPositions[imgIndex] != nil, {tarPos = imgPositions[imgIndex].deepCopy; moveTo.value(tarPos)});
netAddress.sendMsg("/STATE/SET", "{img_" ++ (imgIndex + 1).asInteger.asString ++ "_select: " ++ (imgIndex + 1) ++ "}")});
});
}, '/img_select', netAddress)
}.value;

imgCalibrate = {
var calibrateHold, imgIndex, setPos;
calibrateHold = Routine({
20.do({0.1.wait});
imgPositions[imgIndex] = setPos.deepCopy;
netAddress.sendMsg("/STATE/SET", "{message: \"image calibrated\"}");
});

OSCFunc({ arg msg;
imgIndex = msg[1] - 1;
if(imgIndex >= 0, {
setPos = curPos.deepCopy;
calibrateHold.play(AppClock);
}, {
calibrateHold.stop; calibrateHold.reset; netAddress.sendMsg("/STATE/SET", "{message: \"\"}");
});
}, '/img_calibrate', netAddress);
}.value;

automate = OSCFunc({arg msg;
if(msg[1] == 1, {
automation = true;
}, {
automation = false;
tarPos = curPos.deepCopy;
moveTo.value(tarPos);
});
9.do({arg i; netAddress.sendMsg("/STATE/SET", "{img_" ++ (i + 1).asString ++ "_select: " ++ (i + 1).neg ++ "}")});
}, '/automate', netAddress);
)


(
// TODO:
// set position to 0
// limit switch warnings
// More clean up and testing
var imageDist, rotation, micronsPerStep, curPos, tarPos, automate, imagePositions,
serialPort, serialListener, moveTo,
window, xOffset, yOffset,
userView, imageButtonRects,
dirKeyBlockTasks, jogTasks, jogRates,
moveButtons, curPosFields, tarPosFields,
calibrationSteps, wizardButtons, wizMoveBlock, curWizardStep, curWizardText;

// init global vars
imageDist = 25; // in microns
rotation = 0; // in degrees
micronsPerStep = 0.0977;
curPos = Point.new(0, 0);
tarPos = Point.new(0, 0);
automate = false;
imagePositions = 3.collect({arg r; 3.collect({arg c; Point(imageDist * (c - 1), imageDist * (r - 1))})}).reverse.flat;

// connect to arduino
serialPort = SerialPort(
"/dev/ttyACM0", //edit to match the port (SerialPort.listDevice)
baudrate: 115200, //check that baudrate is the same as in arduino sketch
crtscts: true);

// recieve motor feedback
serialListener = Routine({
var byte, str, res, valArray,
stepper, limitSwitchPos, limitSwitchNeg, safeMode, limitPos;
loop{
byte = serialPort.read;
if(byte==13, {
if(str[1].asString == "[", {

valArray = str.asString.interpret;
stepper = valArray[0];
if(stepper == 1, {curPos.x = valArray[1]}, {curPos.y = valArray[1]});
//tarPos = valArray[2];
limitSwitchPos = valArray[3];
limitSwitchNeg = valArray[4];
safeMode = valArray[5];
limitPos = valArray[6];

// update all the curPos fields
if(stepper == 2, {
//curPos = curPos.rotate(rotation.neg * (pi / 180.0)) * micronsPerStep;
curPos = curPos * micronsPerStep;
curPosFields[0].string = (curPos.x).round(0.1).asString;
curPosFields[1].string = (curPos.y).round(0.1).asString;
curPosFields[2].string = (curPos.rho).round(0.1).asString;
curPosFields[3].string = (if(curPos.theta >= 0, {0}, {360}) + (curPos.theta * (180 / pi))).round(0.1).asString;
userView.refresh;

// automate mode: select new point before the motor comes to a stop
if(automate, {
if((curPos.x - tarPos.x).abs < 5.0, {tarPos.x = imageDist.rand2.round(0.1)});
if((curPos.y - tarPos.y).abs < 5.0, {tarPos.y = imageDist.rand2.round(0.1)});
moveTo.value(tarPos);
});
});
}, {
(str).postln;
});
str = "";
}, {str = str++byte.asAscii});
};
});

// send new coordinates to the arduino / motors
moveTo = {arg point;
var rotatedPoint, xMove, yMove;
tarPosFields[0].string = tarPos.x.round(0.1).asString;
tarPosFields[1].string = tarPos.y.round(0.1).asString;
tarPosFields[2].string = tarPos.rho.round(0.1).asString;
tarPosFields[3].string = (if(tarPos.theta >= 0, {0}, {360}) + (tarPos.theta * (180 / pi))).round(0.1).asString;
//rotatedPoint = point.rotate(rotation * (pi / 180.0));
rotatedPoint = point;
xMove = (rotatedPoint.x / micronsPerStep).round(1).asInteger;
yMove = (rotatedPoint.y / micronsPerStep).round(1).asInteger;
serialPort.putAll(xMove.asString ++ " " ++ yMove.asString);
serialPort.put(10);
};


// generate the gui
window = Window.new("", Rect(400, 400, 480, 650)).front;

xOffset = 240;
yOffset = 220;


// drawing and window key commands
userView = UserView(window, Rect(0, 0, 800, 600));
imageButtonRects = (({arg r; ({arg c; Rect.aboutPoint(Point(xOffset + (120 * (r - 1)), yOffset + (120 * (c - 1))), 5, 5)}) ! 3}) ! 3).flat;

userView.drawFunc = ({
imageButtonRects.do({ arg rect, i;
Pen.addOval(rect);
Pen.color = Color.blue;
Pen.draw;
});

Pen.addOval(Rect.aboutPoint(Point(xOffset + (curPos.x * (120 / imageDist)), yOffset + (curPos.y.neg * (120 / imageDist))), 5, 5));
Pen.color = Color.black;
Pen.draw;

Pen.line(Point(xOffset, yOffset + 150), Point(xOffset, yOffset + 250));
Pen.stroke;
});

userView.keyDownAction = ({arg view, char, mod, unicode, keycode, key;
switch(key,
16r1000012, {moveButtons[0].focus; dirKeyBlockTasks[0].stop; jogTasks[0].pause; jogTasks[0].play(AppClock)},
16r1000013, {moveButtons[1].focus; dirKeyBlockTasks[1].stop; jogTasks[1].pause; jogTasks[1].play(AppClock)},
16r1000014, {moveButtons[2].focus; dirKeyBlockTasks[2].stop; jogTasks[2].pause; jogTasks[2].play(AppClock)},
16r1000015, {moveButtons[3].focus; dirKeyBlockTasks[3].stop; jogTasks[3].pause; jogTasks[3].play(AppClock)})
});


// create all the jog buttons and logic
dirKeyBlockTasks = [];
jogTasks = [];
jogRates = [0, 0, 0, 0, 0, 0, 0, 0];
moveButtons = ([[-1, 0], [0, -1], [1, 0], [0, 1], [-1, 0], [0, -1], [1, 0], [0, 1]].collect({arg m, i;
var icons = ["◄", "▲", "►", "▼", "↻", "+", "↺", "-"], button;

// speeds up the jog based on how long the button was pressed
jogTasks = jogTasks.add(
Task({
dirKeyBlockTasks[i].stop;
loop{
jogRates[i] = (jogRates[i] + 0.1).clip(0, 10);
if(i < 4, {
// cartesian horizontal movement
if(m[0].abs == 1, {tarPos.x = tarPos.x + (jogRates[i] * m[0])});
// cartesian vertical movement
if(m[1].abs == 1, {tarPos.y = tarPos.y + (jogRates[i] * m[1].neg);});
}, {// polar change theta (rotate)
if(m[0].abs == 1, {tarPos.theta = ((tarPos.theta * (180 / pi)) + (jogRates[i] * m[0])) * (pi / 180.0)});
// polar change magnitude
if(m[1].abs == 1, {tarPos.rho = tarPos.rho + (jogRates[i] * m[1].neg)});
});
moveTo.value(tarPos);
0.2.wait
};
})
);

// hack to acount for a key held down
dirKeyBlockTasks = dirKeyBlockTasks.add(Task({0.1.wait; jogRates[i] = 0;jogTasks[i].stop}));

// create buttons
button = Button(window, Rect(xOffset - 12.5 + (25 * m[0]) + if(i < 4, {-175}, {175}), yOffset + 187.5 + (25 * m[1]), 25, 25))
.states_([[icons[i]]])
.mouseDownAction_({jogRates[i] = 0; jogTasks[i].play(AppClock)})
.action_({jogTasks[i].stop(AppClock)})
.enabled_(false)
.keyDownAction_({arg butt, char, mod, unicode, keycode, key;
switch(key,
16r1000012, {moveButtons[0].focus; dirKeyBlockTasks[0].stop; jogTasks[0].pause; jogTasks[0].play(AppClock); true},
16r1000013, {moveButtons[1].focus; dirKeyBlockTasks[1].stop; jogTasks[1].pause; jogTasks[1].play(AppClock); true},
16r1000014, {moveButtons[2].focus; dirKeyBlockTasks[2].stop; jogTasks[2].pause; jogTasks[2].play(AppClock); true},
16r1000015, {moveButtons[3].focus; dirKeyBlockTasks[3].stop; jogTasks[3].pause; jogTasks[3].play(AppClock); true},
{false})})
.keyUpAction_({arg butt, char, mod, unicode, keycode, key;
switch(key,
16r1000012, {dirKeyBlockTasks[0].start(AppClock); true},
16r1000013, {dirKeyBlockTasks[1].start(AppClock); true},
16r1000014, {dirKeyBlockTasks[2].start(AppClock); true},
16r1000015, {dirKeyBlockTasks[3].start(AppClock); true},
{false})})
}));


// position text fields
StaticText(window, Rect(xOffset - 82, yOffset + 150, 300, 20)).string_("cartesian");
StaticText(window, Rect(xOffset + 39, yOffset + 150, 300, 20)).string_("polar");
curPosFields = [];
tarPosFields = ["x", "y", "ρ", "θ"].collect({arg v, i;
StaticText(window, Rect(xOffset + 22.5 + (55 * (i - 2)), yOffset + 170, 50, 20)).string_(v);
curPosFields = curPosFields.add(StaticText(window, Rect(xOffset + 5 + (55 * (i - 2)), yOffset + 220, 50, 20)).string_("0.0"));
TextField(window, Rect(xOffset + 2.5 + (55 * (i - 2)), yOffset + 190, 50, 20))
.string_("0.0")
.enabled_(false)
.action_({arg field;
if(i < 2, {
tarPos.x = tarPosFields[0].string.asFloat;
tarPos.y = tarPosFields[1].string.asFloat;
tarPosFields[2].string = tarPos.rho.round(0.1).asString;
tarPosFields[3].string = (if(tarPos.theta >= 0, {0}, {360}) + (tarPos.theta * (180 / pi))).round(0.1).asString;
}, {
tarPos.rho = tarPosFields[2].string.asFloat;
tarPos.theta = tarPosFields[3].string.asFloat * (pi / 180);
tarPosFields[0].string = tarPos.x.round(0.1).asString;
tarPosFields[1].string = tarPos.y.round(0.1).asString;
});
moveTo.value(tarPos)})
});


// calibration wizard
calibrationSteps = [
"1) find center image",
"2) find northwest image \ntry first by using only the ↻ ↺ buttons to change θ",
"3) compute all other points \nthis will erase previously saved points unless skipped",
"4) find north image",
"5) find northeast image",
"6) find east image",
"7) find southeast image",
"8) find south image",
"9) find southwest image",
"10) find west image"
];

// disables everything till the point is reached between each step in the wizard
wizMoveBlock = Task({
while({curPos.dist(tarPos) > 1}, {
moveButtons.do({arg button; button.enabled = false});
wizardButtons.do({arg button; button.enabled = false});
tarPosFields.do({arg field; field.enabled = false});
0.1.wait;
});
wizardButtons.do({arg button; button.enabled = true});
wizardButtons[2].focus;
moveButtons.do({arg button; button.enabled = true});
tarPosFields.do({arg field; field.enabled = true});
});

// automate / calibrate button
Button.new(window, Rect.aboutPoint(Point(xOffset, yOffset + 270), 75, 12.5))
.states_([["calibrate"], ["automate"]])
.action_({arg button;
if(button.value == 0, {
automate = true;
curWizardText.string = "";
wizardButtons.do({arg button; button.visible = false});
}, {
automate = false;
curWizardText.string = calibrationSteps[0];
tarPos = imagePositions[4].deepCopy;
moveTo.value(tarPos);
wizMoveBlock.start(AppClock);
curWizardStep = 0;
wizardButtons.do({arg button; button.visible = true});
});
moveButtons.do({arg button; button.enabled = automate.not});
tarPosFields.do({arg field; field.enabled = automate.not});
});

// wizard button logic
curWizardStep = 0;
curWizardText = StaticText(window, Rect.aboutPoint(Point(xOffset, yOffset + 310), 200, 20)).string_("").align_(\center);
wizardButtons = ["back", "skip", "next"].collect({arg t, i;
var pointSeq, button;
pointSeq = [4, 0, 0, 1, 2, 5, 8, 7, 6, 3, 4];
button = Button(window, Rect.aboutPoint(Point(xOffset - 60 + (60 * i), yOffset + 350), 25, 12.5))
.states_([[t]])
.action_({arg button;

// code to automate populate all the points based on relation between two of the points
if((curWizardStep == 2) && (i == 2), {
if(imagePositions[0].rho == imageDist, {

}, {

});
rotation = imagePositions[0].theta - (0.75 * pi);
imagePositions[1].theta = (0.5 * pi) + rotation;
imagePositions[2].theta = (0.25 * pi) + rotation;
imagePositions[3].theta = pi + rotation;
imagePositions[5].theta = rotation;
imagePositions[6].theta = (1.25 * pi) + rotation;
imagePositions[7].theta = (1.5 * pi) + rotation;
imagePositions[8].theta = (1.75 * pi) + rotation;
});

if((curWizardStep == 0) && (i == 2), {serialPort.putAll("c")});
if(i == 2, {imagePositions[pointSeq[curWizardStep]] = if(curWizardStep == 0, {Point(0, 0)}, {curPos.deepCopy})});
curWizardStep = (curWizardStep + if(i == 0, {-1}, {1})) % 10;
tarPos = imagePositions[pointSeq[curWizardStep]].deepCopy;
moveTo.value(tarPos);
wizMoveBlock.start(AppClock);
//wizardButtons.do({arg button; button.enabled = true});
//moveButtons.do({arg button; button.enabled = true});
//tarPosFields.do({arg field; field.enabled = true});
curWizardText.string = calibrationSteps[curWizardStep];
//wizardButtons[1].visible = if(curWizardStep == 2, {true}, {false});
})
.visible_(false)
});

serialListener.play(AppClock);
)


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