guh

webui/src/controls/controlMath.js

@@ -0,0 +1,59 @@
+/* global Buffer */
+
+import { DRIVE_LIMITS } from './constants.js';
+
+export function clamp(value, min, max) {
+  if (typeof value !== 'number' || Number.isNaN(value)) return min;
+  return Math.max(min, Math.min(max, value));
+}
+
+export function clampUnit(value) {
+  if (typeof value !== 'number' || Number.isNaN(value)) return 0;
+  return Math.max(-1, Math.min(1, value));
+}
+
+export function clampRange(value, range) {
+  if (!Array.isArray(range) || range.length !== 2) return value;
+  return clamp(value, range[0], range[1]);
+}
+
+export function normalizeDriveVector(vector = {}) {
+  const x = clampUnit(vector.x ?? 0);
+  const y = clampUnit(vector.y ?? 0);
+  return {
+    x,
+    y,
+    boost: Boolean(vector.boost),
+  };
+}
+
+export function computeDifferentialSpeeds(vector = {}, options = {}) {
+  const normalized = normalizeDriveVector(vector);
+  const maxSpeed = typeof options.maxSpeed === 'number' ? options.maxSpeed : DRIVE_LIMITS.maxSpeed;
+  const baseSpeed = typeof options.baseSpeed === 'number' ? options.baseSpeed : DRIVE_LIMITS.baseSpeed;
+  const boostSpeed = typeof options.boostSpeed === 'number' ? options.boostSpeed : DRIVE_LIMITS.boostSpeed;
+  const base = normalized.boost ? boostSpeed : baseSpeed;
+  const forward = normalized.y * base;
+  const turn = normalized.x * base;
+  return {
+    vector: normalized,
+    speeds: {
+      left: clamp(Math.round(forward + turn), -maxSpeed, maxSpeed),
+      right: clamp(Math.round(forward - turn), -maxSpeed, maxSpeed),
+    },
+  };
+}
+
+export function bytesToBase64(bytes) {
+  const safeBytes = Array.isArray(bytes) ? bytes : [];
+  const binary = String.fromCharCode(...safeBytes);
+  if (typeof btoa === 'function') return btoa(binary);
+  if (typeof Buffer !== 'undefined') {
+    return Buffer.from(safeBytes).toString('base64');
+  }
+  throw new Error('No base64 encoder available');
+}
+
+export function sleep(ms) {
+  return new Promise((resolve) => setTimeout(resolve, ms));
+}