copy of main files to this folder

appVideoServer/public/GamePad.js

@@ -0,0 +1,110 @@
+var isRunning = false;
+var gamePadId = 0;
+var gamepad = {};
+
+let lastCheckTime = 0;
+
+
+
+function checkGamePad() {
+			if(isRunning  == false){return;}
+
+			const stepSize = "0.01";
+			const stepSizeXYZ = "0.5"; // 3 ist auch ok
+			const stepSizeE = "0.01";
+			var gp = navigator.getGamepads()[gamePadId]
+			var buttons = gp.buttons 
+
+			var xyzSpeed = 10; // 100 geht auch
+
+			var psi = gp.axes[0];
+			var z = gp.axes[1];
+			var x = gp.axes[2];
+			var y = gp.axes[3];
+
+
+			// Dreieck zum Dreieck-Setzen
+			if (buttons[3].pressed) {				
+				socketDriver.send(`G90 G1 X0 Y300 Z0 A${Math.PI/2} B${-1.0*Math.PI/2} C0 F${xyzSpeed}`);
+			}
+			if (buttons[4].pressed) {
+				//console.log("x=" + robot.x + "  y=" + robot.y + " z=" + robot.z);
+			}
+
+
+			
+			// X Button setzt eine Marke
+			if(buttons[0].pressed && (Date.now() - lastCheckTime > 500)){
+				lastCheckTime = Date.now()
+				console.log('FPoint!');
+				socketDriver.send('FPoint');
+				socketDriver.send('FShow');
+			}
+
+			// L1 und R1 Button to forward-backward in Point-List
+			if(gp.buttons[4].pressed && (Date.now() - lastCheckTime > 500)){
+				lastCheckTime = Date.now()
+				socketDriver.send('FMinus');
+				socketDriver.send('FShow');
+			}
+			if(gp.buttons[5].pressed && (Date.now() - lastCheckTime > 500)){
+				lastCheckTime = Date.now()
+				socketDriver.send('FPlus');
+				socketDriver.send('FShow');
+			}
+			
+			if (x < -0.2) { socketDriver.send(`G91 G1 X+${stepSizeXYZ} F${xyzSpeed}`);}
+			if (x > 0.2) { socketDriver.send(`G91 G1 X-${stepSizeXYZ} F${xyzSpeed}`);}
+
+			if (y < -0.2) { socketDriver.send(`G91 G1 Y${stepSizeXYZ} F${xyzSpeed}`); }		
+			if (y > 0.2) { socketDriver.send(`G91 G1 Y-${stepSizeXYZ} F${xyzSpeed}`);}
+
+			if (z < -0.2) { socketDriver.send(`G91 G1 Z${stepSizeXYZ} F${xyzSpeed}`); }
+            if (z > 0.2) { socketDriver.send(`G91 G1 Z-${stepSizeXYZ} F${xyzSpeed}`); }
+
+			
+			// Greif-Richtung
+			// LeftRight 
+			if(buttons[14].pressed){ socketDriver.send(`G91 G1 A${stepSize} F${xyzSpeed}`);}
+			if(buttons[15].pressed){ socketDriver.send(`G91 G1 A-${stepSize} F${xyzSpeed}`);}
+			// Up - Down
+			if(buttons[12].pressed){ socketDriver.send(`G91 G1 B${stepSize} F${xyzSpeed}`);}
+			if(buttons[13].pressed){ socketDriver.send(`G91 G1 B-${stepSize} F${xyzSpeed}`);}
+			// Drehung
+			if (psi < -0.2) { socketDriver.send(`G91 G1 C${stepSize} F${xyzSpeed}`); }
+            if (psi > 0.2) { socketDriver.send(`G91 G1 C-${stepSize} F${xyzSpeed}`); }
+
+			// Trigger-Buttons für Öffnen und Schliessen
+			if(buttons[6].pressed){socketDriver.send(`G91 G1 E-${stepSizeE} F${xyzSpeed}`);}
+			if(buttons[7].pressed){socketDriver.send(`G91 G1 E${stepSizeE} F${xyzSpeed}`);}
+
+			if (isRunning) { setTimeout(checkGamePad, 15);}
+}
+
+function gamepadHandler(event, connecting) {
+		
+			gamepad = event.gamepad;
+			if (typeof gamepad === `undefined`) {
+				isRunning = false;
+				gamePadId = 0;
+				console.warn("GamePad kann nicht gefunden werden");
+				return;
+            		}
+
+			if (connecting) {
+				console.log("GamePad " + event.gamepad.index + " connected");
+                		gamePadId = gamepad.index;
+				isRunning = true;
+				setTimeout(checkGamePad, 20);
+			} else {
+				console.log("GamePad " +gamePadId +" disconnected");
+				isRunning = false;
+				gamePadId = 0;
+			}
+}
+
+		
+window.addEventListener("gamepadconnected", function (e) { gamepadHandler(e, true); }, false);
+window.addEventListener("gamepaddisconnected", function (e) { gamepadHandler(e, false); }, false);
+
+document.addEventListener("touchstart", e => { console.log("TouchStart"); })