From e1c5e60e9feef2d32a143a7cdf6837f0af832320 Mon Sep 17 00:00:00 2001
From: Alan Talavera-Cordova <126989249+YoloMcFroyo@users.noreply.github.com>
Date: Fri, 7 Mar 2025 17:17:00 -0800
Subject: [PATCH 1/3] added in turntable rotation

---
 src/components/arm/ArmModel.vue | 13 ++++++++++---
 1 file changed, 10 insertions(+), 3 deletions(-)

diff --git a/src/components/arm/ArmModel.vue b/src/components/arm/ArmModel.vue
index 3450b46..dacf260 100644
--- a/src/components/arm/ArmModel.vue
+++ b/src/components/arm/ArmModel.vue
@@ -6,20 +6,22 @@ import { CanBusID, useTelemetryData } from '@/lib/roslibUtils/telemetry';
 
 const { scene } = await useGLTF('newarm.glb');
 
-//TODO: - add remaining bones
-//      - connect data to bones
+const wrist = scene.getObjectByName('Wrist') as Bone;
 const shoulder = scene.getObjectByName('Shoulder') as Bone;
 const elbow = scene.getObjectByName('Elbow') as Bone;
+const turntable = scene.getObjectByName('Turntable') as Bone;
 
 function degreesToRadians(degrees: number): number {
   return degrees * (Math.PI / 180);
 }
 
 //default rotations on the 3d model
+const wristDefault = degreesToRadians(12.69);
 const shoulderDefault = degreesToRadians(-72.88);
 const elbowDefault = degreesToRadians(153.65);
+const turntableDefault = degreesToRadians(-37.76);
 
-useTelemetryData([CanBusID.ArmShoulder, CanBusID.ArmElbow], (data) => data.position, null, {
+useTelemetryData([CanBusID.ArmShoulder, CanBusID.ArmElbow, CanBusID.ArmTurntable], (data) => data.position, null, {
   armShoulder: (position) => {
     // Multiply the telemetry fraction by 2π to get the incoming additional radians.
     const additionalShoulderRotation = position * -2 * Math.PI;
@@ -32,6 +34,11 @@ useTelemetryData([CanBusID.ArmShoulder, CanBusID.ArmElbow], (data) => data.posit
     const elbowRotation = elbowDefault + additionalElbowRotation;
     elbow.rotation.x = elbowRotation;
   },
+  armTurntable: (position) => {
+    const additionalTurntableRotation = position * 2 * Math.PI;
+    const turntableRotation = turntableDefault + additionalTurntableRotation;
+    turntable.rotation.x = turntableRotation;
+  }
 });
 </script>
 <template>

From 1b5d5bd37228717f9cdfd76cf282f706f180c218 Mon Sep 17 00:00:00 2001
From: Alan Talavera-Cordova <126989249+YoloMcFroyo@users.noreply.github.com>
Date: Fri, 7 Mar 2025 17:20:15 -0800
Subject: [PATCH 2/3] fix format

---
 src/components/arm/ArmModel.vue | 41 ++++++++++++++++++---------------
 1 file changed, 23 insertions(+), 18 deletions(-)

diff --git a/src/components/arm/ArmModel.vue b/src/components/arm/ArmModel.vue
index dacf260..2a42f7f 100644
--- a/src/components/arm/ArmModel.vue
+++ b/src/components/arm/ArmModel.vue
@@ -21,25 +21,30 @@ const shoulderDefault = degreesToRadians(-72.88);
 const elbowDefault = degreesToRadians(153.65);
 const turntableDefault = degreesToRadians(-37.76);
 
-useTelemetryData([CanBusID.ArmShoulder, CanBusID.ArmElbow, CanBusID.ArmTurntable], (data) => data.position, null, {
-  armShoulder: (position) => {
-    // Multiply the telemetry fraction by 2π to get the incoming additional radians.
-    const additionalShoulderRotation = position * -2 * Math.PI;
-    // The final rotation equals the default plus the telemetry offset.
-    const shoulderRotation = shoulderDefault + additionalShoulderRotation;
-    shoulder.rotation.x = shoulderRotation;
+useTelemetryData(
+  [CanBusID.ArmShoulder, CanBusID.ArmElbow, CanBusID.ArmTurntable],
+  (data) => data.position,
+  null,
+  {
+    armShoulder: (position) => {
+      // Multiply the telemetry fraction by 2π to get the incoming additional radians.
+      const additionalShoulderRotation = position * -2 * Math.PI;
+      // The final rotation equals the default plus the telemetry offset.
+      const shoulderRotation = shoulderDefault + additionalShoulderRotation;
+      shoulder.rotation.x = shoulderRotation;
+    },
+    armElbow: (position) => {
+      const additionalElbowRotation = position * 2 * Math.PI;
+      const elbowRotation = elbowDefault + additionalElbowRotation;
+      elbow.rotation.x = elbowRotation;
+    },
+    armTurntable: (position) => {
+      const additionalTurntableRotation = position * 2 * Math.PI;
+      const turntableRotation = turntableDefault + additionalTurntableRotation;
+      turntable.rotation.x = turntableRotation;
+    },
   },
-  armElbow: (position) => {
-    const additionalElbowRotation = position * 2 * Math.PI;
-    const elbowRotation = elbowDefault + additionalElbowRotation;
-    elbow.rotation.x = elbowRotation;
-  },
-  armTurntable: (position) => {
-    const additionalTurntableRotation = position * 2 * Math.PI;
-    const turntableRotation = turntableDefault + additionalTurntableRotation;
-    turntable.rotation.x = turntableRotation;
-  }
-});
+);
 </script>
 <template>
   <div id="arm">

From d93f89f4e3dc4aa885673e51a349e6ee0882fbc9 Mon Sep 17 00:00:00 2001
From: Alan Talavera-Cordova <126989249+YoloMcFroyo@users.noreply.github.com>
Date: Fri, 7 Mar 2025 17:29:12 -0800
Subject: [PATCH 3/3] remove unused variables

---
 src/components/arm/ArmModel.vue | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/components/arm/ArmModel.vue b/src/components/arm/ArmModel.vue
index 2a42f7f..57f94e9 100644
--- a/src/components/arm/ArmModel.vue
+++ b/src/components/arm/ArmModel.vue
@@ -6,7 +6,7 @@ import { CanBusID, useTelemetryData } from '@/lib/roslibUtils/telemetry';
 
 const { scene } = await useGLTF('newarm.glb');
 
-const wrist = scene.getObjectByName('Wrist') as Bone;
+//const wrist = scene.getObjectByName('Wrist') as Bone;
 const shoulder = scene.getObjectByName('Shoulder') as Bone;
 const elbow = scene.getObjectByName('Elbow') as Bone;
 const turntable = scene.getObjectByName('Turntable') as Bone;
@@ -16,7 +16,7 @@ function degreesToRadians(degrees: number): number {
 }
 
 //default rotations on the 3d model
-const wristDefault = degreesToRadians(12.69);
+//const wristDefault = degreesToRadians(12.69);
 const shoulderDefault = degreesToRadians(-72.88);
 const elbowDefault = degreesToRadians(153.65);
 const turntableDefault = degreesToRadians(-37.76);