Alant arm movement

src/components/arm/ArmModel.vue

@@ -6,33 +6,45 @@ 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, {
-  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;
-  },
-});
+);
 </script>
 <template>
   <div id="arm">