55 lines
1.6 KiB
TypeScript
55 lines
1.6 KiB
TypeScript
namespace pxsim {
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export class RobotGameTable {
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readonly ctx: CanvasRenderingContext2D;
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readonly data: ImageData;
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cx: number; // cm
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cy: number; // cm
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angle: number; // radians
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cwidth: number; // cm
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constructor(public canvas: HTMLCanvasElement, public scale: number) {
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this.ctx = this.canvas.getContext("2d");
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this.data = this.ctx.getImageData(0, 0, this.canvas.width, this.canvas.height);
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this.cx = this.width / 2;
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this.cy = 0;
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}
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/**
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* Gets the width in cm
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*/
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get width() {
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return this.canvas.width * this.scale;
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}
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/**
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* gets the height in cm
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*/
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get height() {
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return this.canvas.height * this.scale;
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}
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color(): number {
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// compute color sensor position from center;
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// todo
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const px = Math.max(0, Math.min(this.data.width, (this.cx ) / this.scale));
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const py = Math.max(0, Math.min(this.data.height, (this.cy ) / this.scale));
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// get color
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const i = px * this.data.width + py;
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let c =
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(this.data.data[i] << 16) | (this.data.data[i + 1] << 8) | (this.data.data[i + 2]);
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// map color to known color
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return c;
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}
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intensity(): number {
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const c = this.color();
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return ((c >> 16 & 0xff) + (c >> 8 & 0xff) + (c & 0xff)) / 3;
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}
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ultrasonicDistance() {
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// obstacles?
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}
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}
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} |