node-red-contrib-seeed-recamera/nodes/angle_to_can.html

Node-RED nodes for reCamera

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    <div class="form-row">
        <label for="node-input-name">
            <i class="fa fa-tag"></i>
            <span>Name</span>
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        <input type="text" id="node-input-name" />
    </div>
    <div class="form-row">
        <label for="node-input-name">
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            <span>Input</span>
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    <div class="form-row">
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            <span>Output as <b>CAN command</b></span>
        </label>
    </div>
    <div class="form-row" style="margin-left: 20px; margin-bottom: 0;">
        <label style="width: 100%;"><b>Yaw Axis (Left and Right):</b></label>
    </div>
    <div class="form-row">
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            <div>
                <div style="display: flex; margin-bottom: 5px;">
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                    <span>Absolute Position</span>
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                    <span>Relative Offset</span>
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    <div class="form-row" style="margin-left: 20px; margin-bottom: 0;">
        <label style="width: 100%;"><b>Pitch Axis (Up and Down):</b></label>
    </div>
    <div class="form-row">
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                <div style="display: flex; margin-bottom: 5px;">
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                    <span>Absolute Position</span>
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                    <span>Relative Offset</span>
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                    <input style="width: auto; margin: 0 10px;" type="radio" name="node-input-unit" id="node-input-unit-decimal" value="0" />
                    <span>Input in decimal (e.g 180.23 as 180.23 degrees)</span>
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                    <input style="width: auto; margin: 0 10px;" type="radio" name="node-input-unit" id="node-input-unit-integer" value="1" />
                    <span>Input in integer (e.g 18023 as 180.23 degrees)</span>
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<script type="text/javascript">
    RED.nodes.registerType("angle-to-can", {
        category: "reCamera gimbal",
        color: "#C6D09C",
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        paletteLabel: "angle to CAN",
        label: function () {
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<script type="text/markdown" data-help-name="angle-to-can">
# Angle to CAN

This node converts and parses the angle value in degrees to hexadecimal raw data for motor control.

## Overview
The node takes a numeric angle value as input and generates a CAN message object that can be sent directly to a CAN bus interface or to a CAN Write node.

## Configuration

### Motor Type
Select which motor to control:
- **Yaw** (horizontal axis): Used for left/right movement
- **Pitch** (vertical axis): Used for up/down movement

### Control Mode
Choose the type of control:
- **Absolute Position**: Set the motor to a specific angle
- **Relative Offset**: Move the motor by a specific angle offset from current position

### Input source
Specify the source of the angle value:
- **msg.xxx**: Use the value in the message such as payload or topic
- **flow.xxx**: Use a value from flow context
- **global.xxx**: Use a value from global context

### Number Format
Choose how to interpret your input value:
- **Decimal degrees**: Input is in standard degrees (e.g., 90.5°)
- **Motor units**: Input is in motor internal units (hundredths of degrees, e.g., 9050 = 90.5°)

## Input
The input should be a numeric value representing the target angle (for absolute positioning) or angle offset (for relative movement).

Examples:
- `90.5` - Move to 90.5 degrees (when using decimal degrees)
- `9050` - Move to 90.5 degrees (when using motor units)
- `-10` - Move 10 degrees counterclockwise (when using relative offset)

## Output
The node outputs a CAN message object that can be sent directly to a CAN bus:

```json
{
  "payload": {
    "id": 0x141,  // Motor ID in hex format (0x141 for Yaw, 0x142 for Pitch)
    "data": [0xA4, 0x00, 0x5A, 0x00, 0x10, 0x27, 0x00, 0x00]  // Command data as byte array
  }
}
```

## Command Format
The output CAN message follows this format:

### Absolute Position Command:
- **Byte 0**: Command type (0xA4)
- **Byte 1**: Direction (0x00)
- **Byte 2-3**: Speed (2 bytes, little-endian)
- **Byte 4-7**: Angle (4 bytes, little-endian)

### Relative Offset Command:
- **Byte 0**: Command type (0xA8)
- **Byte 1**: Direction (0x00)
- **Byte 2-3**: Speed (2 bytes, little-endian)
- **Byte 4-7**: Offset (4 bytes, little-endian)

## Angle Limits
- **Yaw**: -180° to +180°
- **Pitch**: -90° to +90°

Values outside these ranges will be automatically limited to the allowed range.

## Notes
- The node converts input values to the proper internal format for the motor
- For absolute position, angles are automatically limited to the valid range for each motor
- The output format is compatible with the CAN Write node and direct SocketCAN interfaces
- Status updates show the target angle or offset value
</script>