integrate with respect to x

Finally, we get to a stage where everything comes together! Isn't it exciting? Are you as excited as we are?

Well, not everything is exciting...this post will be detailing how the server and the rest of the code is integrated. In an different post, Ashan detailed the integration of the arm, hand and sensors together. Here, we'll just do a brief description of what needs to be changed for everything to be integrated.

See the following two code snippets:

	controller.on('frame', function(frame) {
	handslength = frame.hands.length;
	if (handslength>0) {
	var hand = frame.hands[0];
	Pitch = Math.round(180 * (hand.pitch())/Math.PI);
	Roll = Math.round(180 * (hand.roll())/Math.PI);
	var handPosition = frame.hands[0].palmPosition;
	...

view raw gistfile1.js hosted with ❤ by GitHub

	io.sockets.on("connection",function(socket){
	console.log("User-Client Connected!");
	socket.on('frame', function(data) {
	var index = data.search('Raw JSON');
	var json = data.slice(index+14);
	var frame = JSON.parse(json);
	handslength = frame.hands.length;
	if (handslength>0) {
	var hand = frame.hands[0];
	// extracted from API
	var handpitch = Math.atan2(hand.direction[1], -hand.direction[2]);
	var handroll = Math.atan2(hand.palmNormal[0], -hand.palmNormal[1]);
	Pitch = Math.round(180 * (handpitch/Math.PI);
	Roll = Math.round(180 * (handroll/Math.PI);
	var handPosition = hand.palmPosition;
	...

view raw gistfile1.js hosted with ❤ by GitHub

As you can see, the first code snippet relies on the Leap Motion controller SDK; you can read from the controller and use the hand.pitch() and hand.roll() method from the SDK. However, as you can't do this over the server, you have to rely on the frame data that has been passed to you.

Looking at the second code snippet, you can see that the bulk of the data is actually slotted within the WebSocket method. Every time a frame is passed in, the Arm Code is triggered and the rest of the code can run.

More changelog:

• Synchronize all the loops and calls to code to the same frequency, namely, 250 ms
• Make sure that the computer we attached to had the correct ports, and had set up the multi-board correctly
• Test whether the data works correctly
• ???
• Profit when it does!

Next up - mysteries wrapped in riddles, hidden in enigmas