3jsbot

Implementation of robot kinematics, control, and decision making in HTML5/JavaScript and threejs

Getting Started

1. Clone the repo to an easly accessible location on your machine.
2. Open cs148/home.html
3. Play around!

Controls

• WASD - Forward, Rotate Left, Backward, Rotate Right
• QE - Strafe Left, Strafe Right
• M - Generate motion plan using Rapidly-Exploring Random Trees between Robot and Goal (X on the ground)
• NB - Move forward and backward through the steps of the motion plan
• P - Show goal box and move robot endeffector to match its position
• RF - Move the goal box up and down

Changing Worlds

There are a few different worlds available that make the motion plan generation more complicated. The available worlds are in the cs148/worlds folder. The world is specified at line 158 of cs148/home.html:

line 158 <script src="worlds/world_basic.js"></script>

You can change this to point to any of the worlds in the cs148/worlds folder.

Prerequisites

This currently only works on the Firefox or Edge browsers. I haven't had the chance to test it on Safari, but on Chrome it does not render correctly.