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<title>Neuraxon 2.0 β Sphero Brain + Word Writer</title>
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<body>
<div class="header">
<h1><span><a href="https://github.com/DavidVivancos/Neuraxon"> Neuraxon 2.0</a> Mini Writer By <a href="https://www.vivancos.com/">David Vivancos</a> & <a href="https://josesanchezgarcia.com/">Jose Sanchez</a> for <a href="https://qubic.org/">Qubic</a> Open Science </span> <em>Using a <a href="https://sphero.com/collections/mini"> Sphero Mini<a> with a Neuraxon 2.0 Brain</em></h1>
<div class="conn-badge off" id="badge">OFFLINE</div>
</div>
<div class="tabs">
<div class="tab active" data-tab="brain" id="tabBrain">π§ Brain View</div>
<div class="tab" data-tab="writer" id="tabWriter">βοΈ Word Writer</div>
</div>
<div class="app">
<div class="view-panel" id="panelBrain">
<canvas id="netCanvas"></canvas>
<div class="net-overlay" id="overlay">
<b>t</b>=<span id="oTime">0.000</span>s <b>step</b>=<span id="oStep">0</span>
<b>energy</b>=<span id="oEnergy">0.00</span> <b>active</b>=<span id="oActive">0</span>/<span id="oTotal">0</span>
</div>
</div>
<div class="view-panel" id="panelWriter" data-hidden>
<canvas id="pathCanvas"></canvas>
<div class="net-overlay">
<b>Word Path</b> β <span style="color:var(--green)">β</span> done
<span style="color:var(--txt3)">β</span> planned
<span style="color:var(--amber)">β</span> current
</div>
</div>
<div class="sidebar">
<div class="sb-section">
<h3>Connection</h3>
<div class="btn-row">
<button class="btn primary" id="btnConnect">Connect BLE</button>
<button class="btn danger" id="btnDisconnect" disabled>Disconnect</button>
</div>
<div class="btn-row" style="margin-top:6px">
<button class="btn" id="btnTestMotor" disabled>π§ Test Motor</button>
<button class="btn" id="btnTestLED" disabled>π‘ Test LED</button>
</div>
</div>
<div class="sb-section">
<h3>βοΈ Write a Word on the Ground</h3>
<div class="word-input-wrap">
<input class="word-input" id="wordInput" placeholder="QUBIC" maxlength="12" value="QUBIC">
</div>
<div class="slider-group">
<div class="slider-label"><span>Letter Size (cm)</span><span class="val" id="vSize">45</span></div>
<input type="range" min="15" max="100" value="45" id="sSize">
</div>
<div class="slider-group">
<div class="slider-label"><span>Speed (0-255)</span><span class="val" id="vWSpeed">70</span></div>
<input type="range" min="20" max="180" value="70" id="sWSpeed">
</div>
<div class="slider-group">
<div class="slider-label"><span>Segment time (ms)</span><span class="val" id="vSegTime">550</span></div>
<input type="range" min="100" max="1500" value="550" id="sSegTime">
</div>
<div class="btn-row" style="margin-top:6px">
<button class="btn write-btn" id="btnWrite">βοΈ WRITE</button>
<button class="btn danger" id="btnAbort" disabled>Stop</button>
</div>
<div class="letter-preview" id="letterPreview"></div>
<div class="progress-wrap">
<div class="progress-bar-outer"><div class="progress-bar-inner" id="writeProgress"></div></div>
<div class="progress-label"><span id="writeStatusText">Ready</span><span id="writePercent">0%</span></div>
</div>
<div class="write-status-live" id="writeLive"></div>
<div class="led-preview" id="ledPreview" style="background:#111"></div>
</div>
<div class="sb-section">
<h3>Simulation</h3>
<div class="btn-row" style="margin-bottom:6px">
<button class="btn" id="btnRun">βΆ Run</button>
<button class="btn" id="btnStep">Step</button>
<button class="btn" id="btnReset">Reset</button>
</div>
</div>
<div class="sb-section">
<h3>Network</h3>
<div class="stats-row">
<div class="stat"><div class="num" id="sExc">0</div><div class="lbl">Exc +1</div></div>
<div class="stat"><div class="num" id="sNeu">0</div><div class="lbl">Neu 0</div></div>
<div class="stat"><div class="num" id="sInh">0</div><div class="lbl">Inh β1</div></div>
</div>
</div>
<div class="sb-section">
<h3>Sensory Input</h3>
<div class="mode-row">
<button class="mode-btn active" data-mode="manual" id="modeManual">Manual</button>
<button class="mode-btn" data-mode="auto" id="modeAuto">Auto</button>
</div>
<div class="sensor-grid" id="sensorGrid">
<div class="sensor-btn" data-sensor="0" data-val="0">S0<br><b>0</b></div>
<div class="sensor-btn" data-sensor="1" data-val="0">S1<br><b>0</b></div>
<div class="sensor-btn" data-sensor="2" data-val="0">S2<br><b>0</b></div>
<div class="sensor-btn" data-sensor="3" data-val="0">S3<br><b>0</b></div>
<div class="sensor-btn" data-sensor="4" data-val="0">S4<br><b>0</b></div>
<div class="sensor-btn" data-sensor="5" data-val="0">S5<br><b>0</b></div>
</div>
</div>
<div class="sb-section">
<h3>Neuromodulation</h3>
<div class="nm-slider"><div class="nm-label"><div class="nm-dot" style="background:var(--da)"></div>DA<span class="val" id="vDA" style="margin-left:auto;color:var(--da)">0.75</span></div><input type="range" min="0" max="100" value="75" id="sDA"></div>
<div class="nm-slider"><div class="nm-label"><div class="nm-dot" style="background:var(--sht)"></div>5-HT<span class="val" id="v5HT" style="margin-left:auto;color:var(--sht)">0.30</span></div><input type="range" min="0" max="100" value="30" id="s5HT"></div>
<div class="nm-slider"><div class="nm-label"><div class="nm-dot" style="background:var(--ach)"></div>ACh<span class="val" id="vACh" style="margin-left:auto;color:var(--ach)">0.75</span></div><input type="range" min="0" max="100" value="75" id="sACh"></div>
<div class="nm-slider"><div class="nm-label"><div class="nm-dot" style="background:var(--na)"></div>NA<span class="val" id="vNA" style="margin-left:auto;color:var(--na)">0.30</span></div><input type="range" min="0" max="100" value="30" id="sNA"></div>
</div>
<div class="sb-section">
<h3>Motor β Sphero</h3>
<div class="output-row"><div class="output-label">Speed</div><div class="output-bar-wrap"><div class="output-bar" id="barSpeed" style="width:0%;background:var(--green)"></div></div><div class="output-val" id="valSpeed">0</div></div>
<div class="output-row"><div class="output-label">Heading</div><div class="output-bar-wrap"><div class="output-bar" id="barHead" style="width:50%;background:var(--amber)"></div></div><div class="output-val" id="valHead">0Β°</div></div>
<div class="output-row"><div class="output-label">NX Mod</div><div class="output-bar-wrap"><div class="output-bar" id="barMod" style="width:50%;background:var(--sht)"></div></div><div class="output-val" id="valMod">0</div></div>
</div>
<div class="log" id="logPanel">Neuraxon 2.0 β Sphero Writer\n</div>
</div>
</div>
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W:[[[0,0],[.25,1],[.5,.5],[.75,1],[1,0]]],
X:[[[0,0],[1,1]],[[1,0],[0,1]]],
Y:[[[0,0],[.5,.5],[1,0]],[[.5,.5],[.5,1]]],
Z:[[[0,0],[1,0],[0,1],[1,1]]],
' ':[]
};
// βββββββββββββββββββββββββββββββββββββββββββββββ
// WORD β SEGMENT PLAN (heading + duration based)
// Each segment: {heading, penDown, duration_ms, hue, letter, letterIdx}
// βββββββββββββββββββββββββββββββββββββββββββββββ
function wordToSegments(word, sizeCm, baseSpeed, segTimeMs) {
const segments = [];
const scale = sizeCm;
const spacing = scale * 1.3;
let curX = 0, curY = 0;
const upper = word.toUpperCase();
for (let ci = 0; ci < upper.length; ci++) {
const ch = upper[ci];
const strokes = FONT[ch];
const hue = (ci / Math.max(1, upper.length)) * 360;
if (!strokes || strokes.length === 0) { curX += spacing * 0.5; continue; }
const ox = curX; // letter origin X
for (let si = 0; si < strokes.length; si++) {
const stroke = strokes[si];
// First point of each stroke: pen-up move to get there
const startX = ox + stroke[0][0] * scale;
const startY = stroke[0][1] * scale;
const dx0 = startX - curX, dy0 = startY - curY;
const dist0 = Math.sqrt(dx0*dx0 + dy0*dy0);
if (dist0 > 0.5) {
const heading = ((Math.atan2(dx0, -dy0) * 180 / Math.PI) % 360 + 360) % 360;
// Time proportional to distance
const t = Math.max(150, (dist0 / scale) * segTimeMs * 0.7);
segments.push({ heading: Math.round(heading), penDown: false, duration: Math.round(t), hue, letter: ch, letterIdx: ci, x: startX, y: startY });
curX = startX; curY = startY;
}
// Pen-down segments along the stroke
for (let pi = 1; pi < stroke.length; pi++) {
const px = ox + stroke[pi][0] * scale;
const py = stroke[pi][1] * scale;
const ddx = px - curX, ddy = py - curY;
const dd = Math.sqrt(ddx*ddx + ddy*ddy);
if (dd < 0.3) continue;
const heading = ((Math.atan2(ddx, -ddy) * 180 / Math.PI) % 360 + 360) % 360;
const t = Math.max(100, (dd / scale) * segTimeMs);
segments.push({ heading: Math.round(heading), penDown: true, duration: Math.round(t), hue, letter: ch, letterIdx: ci, x: px, y: py });
curX = px; curY = py;
}
// Brief pause between strokes
segments.push({ heading: 0, penDown: false, duration: 80, hue, letter: ch, letterIdx: ci, x: curX, y: curY, pause: true });
}
curX = ox + spacing; // advance cursor for next letter
// Pause between letters
segments.push({ heading: 0, penDown: false, duration: 150, hue, letter: ch, letterIdx: ci, x: curX, y: curY, pause: true });
}
return segments;
}
// Also build the full planned path for preview
function wordToPlannedPath(word, sizeCm) {
const pts = [];
const scale = sizeCm, spacing = scale * 1.3;
let curX = 0;
const upper = word.toUpperCase();
for (let ci = 0; ci < upper.length; ci++) {
const ch = upper[ci];
const strokes = FONT[ch];
const hue = (ci / Math.max(1, upper.length)) * 360;
if (!strokes || strokes.length === 0) { curX += spacing * 0.5; continue; }
for (const stroke of strokes) {
for (let pi = 0; pi < stroke.length; pi++) {
pts.push({ x: curX + stroke[pi][0] * scale, y: stroke[pi][1] * scale, penDown: pi > 0, hue, letter: ch, letterIdx: ci });
}
}
curX += spacing;
}
return pts;
}
// βββββββββββββββββββββββββββββββββββββββββββββββ
// NEURAXON 2.0 ENGINE (compact, faithful)
// βββββββββββββββββββββββββββββββββββββββββββββββ
class ReceptorSubtype{constructor(n,t,g,i){this.threshold=t;this.gain=g;this.isTonic=i;this.activation=0}computeActivation(c){const k=this.isTonic?20:10;this.activation=this.gain/(1+Math.exp(-k*(c-this.threshold)));return this.activation}}
class OscillatorBank{constructor(){this.bands={infraslow:{freq:.05,phase:rand(0,6.28),amp:.1},slow:{freq:.5,phase:rand(0,6.28),amp:.15},theta:{freq:6,phase:rand(0,6.28),amp:.25},gamma:{freq:40,phase:rand(0,6.28),amp:.3}};this.coupling=.15}update(dt){for(const b of Object.values(this.bands)){b.phase+=2*Math.PI*b.freq*dt/1000;b.phase%=2*Math.PI}}getDrive(n,N){const p=2*Math.PI*n/N;const g=Math.max(0,Math.cos(this.bands.theta.phase+p));return this.coupling*(this.bands.gamma.amp*g*Math.sin(this.bands.gamma.phase+2*p)+.5*this.bands.slow.amp*Math.sin(this.bands.slow.phase+.3*p)+.3*this.bands.infraslow.amp*Math.sin(this.bands.infraslow.phase))}}
class NeuromodulatorSystem{constructor(){this.modulators={DA:{tonic:.5,phasic:0,tauP:200,rel:.3},SHT:{tonic:.5,phasic:0,tauP:500,rel:.2},ACh:{tonic:.5,phasic:0,tauP:150,rel:.25},NA:{tonic:.5,phasic:0,tauP:300,rel:.35}};this.receptors={D1:new ReceptorSubtype('D1',.3,1,false),D2:new ReceptorSubtype('D2',.5,.8,true),SHT1A:new ReceptorSubtype('5HT1A',.2,1,true),SHT2A:new ReceptorSubtype('5HT2A',.6,.9,false),M1:new ReceptorSubtype('M1',.3,1,false),M2:new ReceptorSubtype('M2',.5,.8,true),B1:new ReceptorSubtype('B1',.3,1,false),A2:new ReceptorSubtype('A2',.4,.9,true)}}setBaselines(d,s,a,n){this.modulators.DA.tonic=d;this.modulators.SHT.tonic=s;this.modulators.ACh.tonic=a;this.modulators.NA.tonic=n}update(act,dt){const d=dt/1000;for(const m of Object.values(this.modulators))m.phasic*=Math.exp(-d/(m.tauP/1000));this.modulators.DA.phasic+=this.modulators.DA.rel*act.stateChangeRate*d;this.modulators.ACh.phasic+=this.modulators.ACh.rel*act.excFrac*d;this.modulators.NA.phasic+=this.modulators.NA.rel*act.stateChangeRate*d;for(const m of Object.values(this.modulators)){m.tonic=clamp(m.tonic,0,1);m.phasic=clamp(m.phasic,0,1)}}computeReceptorActivations(){const R={},map={D1:'DA',D2:'DA',SHT1A:'SHT',SHT2A:'SHT',M1:'ACh',M2:'ACh',B1:'NA',A2:'NA'};for(const[rn,rec]of Object.entries(this.receptors)){const m=this.modulators[map[rn]];R[rn]=rec.computeActivation(rec.isTonic?m.tonic:m.tonic+m.phasic)}return R}}
class Synapse{constructor(p,q,b){this.preId=p;this.postId=q;this.branch=b;this.wf=rand(-.5,.5);this.ws=rand(-.3,.3);this.wm=rand(-.1,.1);this.tauF=50;this.tauS=500;this.tauM=5000;this.silent=Math.random()<.1;this.modulatory=Math.random()<.15;this.preTrace=0;this.postTrace=0;this.recentDw=0;this.integrity=1}computeInput(s){return this.silent?0:(this.wf+this.ws)*s}getModulatoryEffect(){return this.modulatory?this.wm:0}update(pre,post,R,dt){const d=dt/1000;this.preTrace+=(-(this.preTrace)/20+(pre===1?1:0))*d;this.postTrace+=(-(this.postTrace)/20+(post===1?1:0))*d;const eta=.05;let dw=eta*this.preTrace*(post===1?1:0)*(R.D1||.5)-eta*this.postTrace*(pre===1?1:0)*(R.D2||.5);this.recentDw=dw;this.wf+=(d/(this.tauF/1000))*(-.001*this.wf+.3*dw);this.ws+=(d/(this.tauS/1000))*(-.001*this.ws+.1*dw);const sf=.5*(R.SHT2A||.5)+.1*(1-(R.SHT1A||.5));this.wm+=(d/(this.tauM/1000))*(-.001*this.wm+.05*dw*sf);this.wf=clamp(this.wf,-1,1);this.ws=clamp(this.ws,-1,1);this.wm=clamp(this.wm,-.5,.5);this.integrity-=.0001*d;this.integrity=clamp(this.integrity,0,1);if(this.silent&&Math.abs(pre)===1&&Math.abs(post)===1&&Math.random()<.05)this.silent=false}}
class Neuraxon{constructor(id,type){this.id=id;this.type=type;this.s=0;this.state=0;this.theta1=.5;this.theta2=-.5;this.adapt=0;this.rBar=0;this.auto=0;this.health=1;this.tau=rand(15,40);this.numBranches=3;this.h=0;this.x=0;this.y=0;this.radius=0;this.label=''}
update(inputs,modIn,Iext,osc,R,dt){const d=dt/1000;this.rBar+=.01*(Math.abs(this.state)-this.rBar)*d;const gNA=1+.5*(R.B1||.5)+.2*(R.A2||.5);let D=0;for(const v of inputs)D+=v;const sp=(.02+.3*(R.A2||.3))*(Math.random()<.1*d?pick([-1,1]):0);this.s+=(d/(this.tau/1000))*(-this.s+gNA*D+Iext+osc-this.adapt+sp);this.h=.95*this.h+.05*.1*Iext;const sT=this.s+this.h;let rawMod=0;for(const m of modIn)rawMod+=m;rawMod+=.3*(R.M1||.5)-.2*(R.M2||.5);const t1=this.theta1-.3*Math.tanh(rawMod)+.01*(this.rBar-.3)-.1*this.auto;const t2=this.theta2-.3*Math.tanh(rawMod)+.01*(this.rBar-.3)+.1*this.auto;if(sT>t1)this.state=1;else if(sT<t2)this.state=-1;else this.state=0;this.adapt+=(d/(.1))*(-this.adapt+.1*Math.abs(this.state));this.auto+=(d/(.3))*(-this.auto+.2*this.state)}}
class NeuraxonNetwork{
constructor(nI,nH,nO){
this.neurons=[];this.synapses=[];this.oscillators=new OscillatorBank();this.neuromod=new NeuromodulatorSystem();
this.time=0;this.step=0;this.energy=0;this.prevStates=[];
for(let i=0;i<nI;i++)this.neurons.push(new Neuraxon(i,'input'));
for(let i=0;i<nH;i++)this.neurons.push(new Neuraxon(nI+i,'hidden'));
for(let i=0;i<nO;i++)this.neurons.push(new Neuraxon(nI+nH+i,'output'));
this.nI=nI;this.nH=nH;this.nO=nO;this.N=this.neurons.length;
this._buildSW(4,.3);this.prevStates=this.neurons.map(n=>n.state);
}
_buildSW(k,beta){
const N=this.N,hk=k>>1,edges=new Set();
for(let i=0;i<N;i++)for(let j=1;j<=hk;j++)edges.add(`${i}-${(i+j)%N}`);
for(const e of[...edges])if(Math.random()<beta){const[s]=e.split('-').map(Number);edges.delete(e);let t;do{t=randInt(0,N-1)}while(t===s||edges.has(`${s}-${t}`));edges.add(`${s}-${t}`)}
for(let i=0;i<this.nI;i++)for(let h=0;h<Math.min(4,this.nH);h++)edges.add(`${i}-${this.nI+((i*3+h)%this.nH)}`);
for(let h=0;h<this.nH;h++)for(let o=0;o<this.nO;o++)if(Math.random()<.6)edges.add(`${this.nI+h}-${this.nI+this.nH+o}`);
for(const e of edges){const[p,q]=e.split('-').map(Number);this.synapses.push(new Synapse(p,q,randInt(0,2)))}
}
computeActivity(){let e=0,a=0,c=0;for(let i=0;i<this.N;i++){if(this.neurons[i].state===1)e++;if(this.neurons[i].state!==0)a++;if(this.neurons[i].state!==this.prevStates[i])c++}return{excFrac:e/this.N,meanActivity:a/this.N,stateChangeRate:c/this.N}}
simulateStep(ext,dt){
this.prevStates=this.neurons.map(n=>n.state);
const act=this.computeActivity();this.neuromod.update(act,dt);const R=this.neuromod.computeReceptorActivations();this.oscillators.update(dt);
for(let i=0;i<this.nI;i++)if(ext[i]!==undefined){this.neurons[i].state=ext[i];this.neurons[i].s=ext[i]*.8}
const inp=this.neurons.map(()=>[]),mod=this.neurons.map(()=>[]);
for(const s of this.synapses){inp[s.postId].push(s.computeInput(this.neurons[s.preId].state));mod[s.postId].push(s.getModulatoryEffect())}
for(let i=this.nI;i<this.N;i++){const n=this.neurons[i];n.update(inp[i],mod[i],0,this.oscillators.getDrive(n.id,this.N),R,dt)}
for(const s of this.synapses)s.update(this.neurons[s.preId].state,this.neurons[s.postId].state,R,dt);
this.synapses=this.synapses.filter(s=>s.integrity>.05);
this.energy+=.01*this.neurons.filter(n=>n.state!==0).length*(dt/1000);this.time+=dt/1000;this.step++;
}
getOutputContinuous(){const o=[];for(let i=this.nI+this.nH;i<this.N;i++)o.push(this.neurons[i].s);return o}
// Average excitation level β used as "neural modulation signal" for the writer
getExcitationLevel(){let e=0;for(const n of this.neurons)e+=n.state;return e/this.N}
}
// βββββββββββββββββββββββββββββββββββββββββββββββ
// SPHERO BLE β EXACT COPY from working spherocontrol.html
// DO NOT MODIFY β flag bytes must be exact
// βββββββββββββββββββββββββββββββββββββββββββββββ
const UUID_SPHERO_SERVICE = '00010001-574f-4f20-5370-6865726f2121';
const UUID_SPHERO_SERVICE_INIT = '00020001-574f-4f20-5370-6865726f2121';
const UUID_CHAR_HANDLE = '00010002-574f-4f20-5370-6865726f2121';
const UUID_CHAR_USETHEFORCE = '00020005-574f-4f20-5370-6865726f2121';
const UseTheForceBytes = new Uint8Array([0x75,0x73,0x65,0x74,0x68,0x65,0x66,0x6f,0x72,0x63,0x65,0x2e,0x2e,0x2e,0x62,0x61,0x6e,0x64]);
const API = { ESC: 0xAB, SOP: 0x8D, EOP: 0xD8, ESC_MASK: 0x88 };
const DeviceId = { powerInfo: 0x13, driving: 0x16, userIO: 0x1A };
const PowerCmd = { wake: 0x0D, sleep: 0x01 };
const DrivingCmd = { resetYaw: 0x06, driveWithHeading: 0x07 };
const UserIOCmd = { allLEDs: 0x0E };
const Flags = { requestsResponse: 2, requestsOnlyErrorResponse: 4, resetsInactivityTimeout: 8 };
const sleep = ms => new Promise(r => setTimeout(r, ms));
class SpheroMiniBLE {
constructor() {
this.device = null; this.server = null; this.ch = new Map(); this.seq = 0;
this._chain = Promise.resolve(); this._qDepth = 0; this._closed = false;
this.onDisconnect = null;
}
_pushEscaped(out, b) {
if (b === API.SOP || b === API.EOP || b === API.ESC) { out.push(API.ESC); out.push(b & (~API.ESC_MASK)); }
else out.push(b);
}
_buildPacket(did, cid, dataBytes, cmdFlags) {
this.seq = (this.seq + 1) & 0xFF; let sum = 0; const out = [];
out.push(API.SOP); out.push(cmdFlags); sum += cmdFlags;
this._pushEscaped(out, did); sum += did;
this._pushEscaped(out, cid); sum += cid;
this._pushEscaped(out, this.seq); sum += this.seq;
for (const b of dataBytes) { this._pushEscaped(out, b); sum += b; }
const chk = (~sum) & 0xFF; this._pushEscaped(out, chk); out.push(API.EOP);
return new Uint8Array(out);
}
_enqueueWrite(fn) {
if (this._closed) return Promise.reject(new Error('BLE closed'));
this._qDepth++;
const run = async () => { try { return await fn(); } finally { this._qDepth = Math.max(0, this._qDepth - 1); } };
this._chain = this._chain.then(run, run); return this._chain;
}
async connect() {
log('Requesting Bluetooth device...');
this.device = await navigator.bluetooth.requestDevice({
filters: [{ services: [UUID_SPHERO_SERVICE] }],
optionalServices: [UUID_SPHERO_SERVICE_INIT]
});
this.device.addEventListener('gattserverdisconnected', () => {
log('BLE disconnected');
if (this.onDisconnect) this.onDisconnect();
});
log(`Connecting to: ${this.device.name || 'Sphero Mini'}`);
this.server = await this.device.gatt.connect();
const svcCmd = await this.server.getPrimaryService(UUID_SPHERO_SERVICE);
const svcInit = await this.server.getPrimaryService(UUID_SPHERO_SERVICE_INIT);
const chHandle = await svcCmd.getCharacteristic(UUID_CHAR_HANDLE);
const chForce = await svcInit.getCharacteristic(UUID_CHAR_USETHEFORCE);
this.ch.set('handle', chHandle);
log('Waking up Sphero...');
await this._enqueueWrite(() => chForce.writeValue(UseTheForceBytes));
await this.send(DeviceId.powerInfo, PowerCmd.wake, [], { response: 'full' });
await sleep(200);
await this.send(DeviceId.powerInfo, PowerCmd.wake, [], { response: 'full' });
}
async disconnect() {
this._closed = true;
if (this.device && this.device.gatt.connected) this.device.gatt.disconnect();
}
// CRITICAL: response:'none' β flags=0x08 only. response:'full' β 0x0A. 'errorOnly' β 0x0C.
// roll() and setMainLED() MUST use 'none' or Sphero ignores the command!
async send(did, cid, data, opts = { response: 'errorOnly' }) {
const chHandle = this.ch.get('handle'); if (!chHandle) throw new Error('Handle missing');
let cmdFlags = Flags.resetsInactivityTimeout;
if (opts.response === 'full') cmdFlags |= Flags.requestsResponse;
else if (opts.response === 'errorOnly') cmdFlags |= Flags.requestsOnlyErrorResponse;
// 'none' β cmdFlags stays at just 0x08
const pkt = this._buildPacket(did, cid, data, cmdFlags);
return this._enqueueWrite(async () => {
if (chHandle.writeValueWithoutResponse && opts.response !== 'full') await chHandle.writeValueWithoutResponse(pkt);
else await chHandle.writeValue(pkt);
return this.seq;
});
}
async setMainLED(r, g, b) { return this.send(DeviceId.userIO, UserIOCmd.allLEDs, [0x00, 0x70, r & 255, g & 255, b & 255], { response: 'none' }); }
async roll(speed, headingDeg) {
const head = ((headingDeg % 360) + 360) % 360;
return this.send(DeviceId.driving, DrivingCmd.driveWithHeading, [speed & 255, (head >> 8) & 0xFF, head & 0xFF, 0x01], { response: 'none' });
}
async resetYaw() { return this.send(DeviceId.driving, DrivingCmd.resetYaw, [], { response: 'full' }); }
async stop() { return this.roll(0, 0); }
}
// βββββββββββββββββββββββββββββββββββββββββββββββ
// APP STATE
// βββββββββββββββββββββββββββββββββββββββββββββββ
const net = new NeuraxonNetwork(6, 12, 3);
let sphero=null, bleConnected=false, running=false, simInterval=null, mode='manual';
let sensorValues=[0,0,0,0,0,0], activeTab='brain';
// Writer
let writerActive=false, writerSegments=[], writerIdx=0, writerDone=false;
let writerPlanned=[], trailHistory=[];
let segStartTime=0, currentLedR=0, currentLedG=0, currentLedB=0;
let writerTimerId=null;
// βββββββββββββββββββββββββββββββββββββββββββββββ
// WRITER ENGINE β timed segment execution
// No position feedback needed: each segment = drive at heading for N ms
// βββββββββββββββββββββββββββββββββββββββββββββββ
async function startWriting(){
const word=$('wordInput').value.trim();
if(!word){log('Enter a word');return}
const size=parseInt($('sSize').value);
const speed=parseInt($('sWSpeed').value);
const segTime=parseInt($('sSegTime').value);
writerSegments=wordToSegments(word,size,speed,segTime);
writerPlanned=wordToPlannedPath(word,size);
writerIdx=0;writerDone=false;writerActive=true;
trailHistory=[];
updateLetterChips(word);
$('writeStatusText').textContent=`Writing "${word}"β¦`;
$('btnWrite').disabled=true;$('btnAbort').disabled=false;
$('writeLive').textContent='';
// Boost DA + ACh on the Neuraxon network during writing
$('sDA').value=75;$('vDA').textContent='0.75';
$('sACh').value=70;$('vACh').textContent='0.70';
$('sNA').value=65;$('vNA').textContent='0.65';
log(`Writing "${word}" β ${writerSegments.length} segments, size=${size}cm, speed=${speed}`);
if(sphero&&bleConnected){await sphero.resetYaw();await new Promise(r=>setTimeout(r,300))}
// Start the Neuraxon simulation if not running
if(!running)$('btnRun').click();
// Switch to writer tab
$('tabWriter').click();
// Execute segments sequentially
executeNextSegment();
}
async function executeNextSegment(){
if(!writerActive||writerIdx>=writerSegments.length){
finishWriting();return;
}
const seg=writerSegments[writerIdx];
const baseSpeed=parseInt($('sWSpeed').value);
// βββ Neuraxon modulation βββ
// Feed segment info into the network as sensor inputs
const headNorm=seg.heading/360; // S0: heading normalized
const penSignal=seg.penDown?1:-1; // S1: pen state
const progressSignal=(writerIdx/writerSegments.length)*2-1; // S2: progress -1..+1
const letterSignal=(seg.letterIdx||0)/12; // S3: letter index
const excLevel=net.getExcitationLevel(); // S4: network feedback
const durationNorm=clamp(seg.duration/1000,-1,1); // S5: duration hint
sensorValues=[
headNorm>0.5?1:(headNorm<0.25?-1:0),
penSignal>0?1:-1,
progressSignal>0.5?1:(progressSignal<-0.5?-1:0),
Math.round(clamp(letterSignal*2-1,-1,1)),
excLevel>0.1?1:(excLevel<-0.1?-1:0),
durationNorm>0.3?1:(durationNorm<-0.3?-1:0)
];
updateSensorUI();
// Get Neuraxon output to modulate speed
const nxOut=net.getOutputContinuous();
const speedMod=1.0+clamp(nxOut[0]||0,-0.3,0.3); // Β±30% modulation
const actualSpeed=seg.pause?0:Math.round(clamp(baseSpeed*speedMod*(seg.penDown?1:1.4),0,200));
// LED color from letter hue
const[lr,lg,lb]=hslToRgb((seg.hue||0)/360,.85,.5);
currentLedR=lr;currentLedG=lg;currentLedB=lb;
$('ledPreview').style.background=`rgb(${lr},${lg},${lb})`;
// Update UI
updateMotorUI(actualSpeed,seg.heading,nxOut[0]||0);
const pct=Math.round((writerIdx/writerSegments.length)*100);
$('writeProgress').style.width=pct+'%';$('writePercent').textContent=pct+'%';
$('writeLive').textContent=`[${seg.letter}] seg ${writerIdx+1}/${writerSegments.length} h=${seg.heading}Β° ${seg.penDown?'βοΈPEN':'βοΈMOVE'} ${seg.duration}ms spd=${actualSpeed}`;
// Update letter chip
updateChipState(seg.letterIdx);
// Record trail point
trailHistory.push({segIdx:writerIdx,penDown:seg.penDown,hue:seg.hue,heading:seg.heading,duration:seg.duration,speed:actualSpeed,x:seg.x,y:seg.y});
// βββ Send to Sphero βββ
if(sphero&&bleConnected){
try{
await sphero.setMainLED(seg.penDown?lr:Math.round(lr*.3),seg.penDown?lg:Math.round(lg*.3),seg.penDown?lb:Math.round(lb*.3));
await sleep(30); // small gap to avoid BLE command collision
if(seg.pause){
await sphero.stop();
}else{
await sphero.roll(actualSpeed,seg.heading);
log(` β roll(${actualSpeed}, ${seg.heading}Β°) for ${seg.duration}ms`);
}
}catch(e){log('BLE err: '+e.message)}
}
// Wait for segment duration, then advance
writerTimerId=setTimeout(()=>{
writerIdx++;
executeNextSegment();
},seg.duration);
}
function finishWriting(){
writerActive=false;writerDone=true;
$('writeStatusText').textContent='β
Complete!';
$('writeProgress').style.width='100%';$('writePercent').textContent='100%';
$('btnWrite').disabled=false;$('btnAbort').disabled=true;
$('writeLive').textContent='Done!';
if(sphero&&bleConnected){sphero.stop().catch(()=>{});sphero.setMainLED(0,255,80).catch(()=>{});}
log('Writing complete!');
}
function abortWriting(){
writerActive=false;writerDone=true;
if(writerTimerId){clearTimeout(writerTimerId);writerTimerId=null}
$('writeStatusText').textContent='Aborted';
$('btnWrite').disabled=false;$('btnAbort').disabled=true;
$('writeLive').textContent='';
if(sphero&&bleConnected)sphero.stop().catch(()=>{});
log('Aborted');
}
function updateLetterChips(word){
const c=$('letterPreview');c.innerHTML='';
for(let i=0;i<word.length;i++){const d=document.createElement('div');d.className='letter-chip pending';d.textContent=word[i].toUpperCase();d.id=`chip${i}`;c.appendChild(d)}
}
function updateChipState(letterIdx){
document.querySelectorAll('.letter-chip').forEach((ch,i)=>{
if(i<letterIdx)ch.className='letter-chip done';
else if(i===letterIdx)ch.className='letter-chip active';
else ch.className='letter-chip pending';
});
}
function updateMotorUI(speed,heading,nxMod){
$('barSpeed').style.width=(speed/200*100)+'%';$('valSpeed').textContent=speed;
$('barHead').style.width=(heading/360*100)+'%';$('valHead').textContent=heading+'Β°';
const modNorm=clamp((nxMod+1)/2*100,0,100);
$('barMod').style.width=modNorm+'%';$('valMod').textContent=nxMod.toFixed(2);
}
function hslToRgb(h,s,l){let r,g,b;if(s===0){r=g=b=l}else{const q=l<.5?l*(1+s):l+s-l*s;const p=2*l-q;const f=(p,q,t)=>{if(t<0)t+=1;if(t>1)t-=1;if(t<1/6)return p+(q-p)*6*t;if(t<.5)return q;if(t<2/3)return p+(q-p)*(2/3-t)*6;return p};r=f(p,q,h+1/3);g=f(p,q,h);b=f(p,q,h-1/3)}return[Math.round(r*255),Math.round(g*255),Math.round(b*255)]}
// βββββββββββββββββββββββββββββββββββββββββββββββ
// VISUALIZATION
// βββββββββββββββββββββββββββββββββββββββββββββββ
function layoutNeurons(){
const c=$('netCanvas'),W=c.width,H=c.height,cx=W/2,cy=H/2;
const rI=Math.min(W,H)*.37,rH=Math.min(W,H)*.21,rO=Math.min(W,H)*.07;
const IL=['π‘L','π‘R','π§','π','β','β»'],OL=['Spd','TnL','TnR'];
for(let i=0;i<net.nI;i++){const a=(i/net.nI)*Math.PI*2-Math.PI/2;const n=net.neurons[i];n.x=cx+rI*Math.cos(a);n.y=cy+rI*Math.sin(a);n.radius=13;n.label=IL[i]}
for(let i=0;i<net.nH;i++){const a=(i/net.nH)*Math.PI*2-Math.PI/2;const n=net.neurons[net.nI+i];n.x=cx+rH*Math.cos(a);n.y=cy+rH*Math.sin(a);n.radius=9;n.label='H'+i}
for(let i=0;i<net.nO;i++){const a=(i/net.nO)*Math.PI*2-Math.PI/2;const n=net.neurons[net.nI+net.nH+i];n.x=cx+rO*Math.cos(a);n.y=cy+rO*Math.sin(a);n.radius=15;n.label=OL[i]}
}
function drawNetwork(){
const c=$('netCanvas'),ctx=c.getContext('2d'),W=c.width,H=c.height;
ctx.clearRect(0,0,W,H);
const bg=ctx.createRadialGradient(W/2,H/2,0,W/2,H/2,Math.max(W,H)*.6);bg.addColorStop(0,'#0c1220');bg.addColorStop(1,'#06080e');ctx.fillStyle=bg;ctx.fillRect(0,0,W,H);
ctx.strokeStyle='#0d1a2a';ctx.lineWidth=1;
[.37,.21].forEach(r=>{ctx.beginPath();ctx.arc(W/2,H/2,Math.min(W,H)*r,0,Math.PI*2);ctx.stroke()});
ctx.font='8px JetBrains Mono';ctx.fillStyle='#1a2940';ctx.textAlign='center';
ctx.fillText('SENSORY',W/2,H/2-Math.min(W,H)*.37-5);ctx.fillText('HIDDEN',W/2,H/2-Math.min(W,H)*.21-5);ctx.fillText('MOTOR',W/2,H/2+Math.min(W,H)*.07+20);
for(const s of net.synapses){if(s.silent)continue;const pr=net.neurons[s.preId],po=net.neurons[s.postId];const st=Math.abs(s.wf+s.ws),al=clamp(st*.4+.02,.02,.25);const w=s.wf+s.ws;ctx.beginPath();ctx.moveTo(pr.x,pr.y);const mx=(pr.x+po.x)/2+(pr.y-po.y)*.08,my=(pr.y+po.y)/2+(po.x-pr.x)*.08;ctx.quadraticCurveTo(mx,my,po.x,po.y);ctx.strokeStyle=w>0?`rgba(255,61,90,${al})`:w<0?`rgba(61,122,255,${al})`:`rgba(42,53,72,${al})`;ctx.lineWidth=clamp(st*3,.3,2.5);ctx.stroke()}
for(const n of net.neurons){ctx.save();let fc;if(n.state===1){fc='#ff3d5a';ctx.shadowColor='rgba(255,61,90,.4)';ctx.shadowBlur=16}else if(n.state===-1){fc='#3d7aff';ctx.shadowColor='rgba(61,122,255,.4)';ctx.shadowBlur=16}else{fc='#1e2d40'}ctx.beginPath();ctx.arc(n.x,n.y,n.radius,0,Math.PI*2);ctx.fillStyle=fc;ctx.fill();ctx.shadowBlur=0;ctx.lineWidth=n.type==='output'?2.5:n.type==='input'?2:1;ctx.strokeStyle=n.type==='output'?'rgba(255,171,0,.6)':n.type==='input'?'rgba(0,229,255,.4)':'rgba(120,200,255,.12)';ctx.stroke();ctx.fillStyle=n.state!==0?'#fff':'#5a7a98';ctx.font=`${n.type==='output'?700:500} ${n.radius<11?7:9}px JetBrains Mono`;ctx.textAlign='center';ctx.textBaseline='middle';ctx.fillText(n.label,n.x,n.y);ctx.restore()}
}
function drawPathCanvas(){
const c=$('pathCanvas'),ctx=c.getContext('2d'),W=c.width,H=c.height;
ctx.clearRect(0,0,W,H);
const bg=ctx.createRadialGradient(W/2,H/2,0,W/2,H/2,Math.max(W,H)*.6);bg.addColorStop(0,'#0a0e18');bg.addColorStop(1,'#06080e');ctx.fillStyle=bg;ctx.fillRect(0,0,W,H);
if(writerPlanned.length===0){ctx.fillStyle='#1e2d40';ctx.font='14px Syne,sans-serif';ctx.textAlign='center';ctx.fillText('Enter a word and press WRITE',W/2,H/2);return}
// Bounds
let mnX=Infinity,mxX=-Infinity,mnY=Infinity,mxY=-Infinity;
for(const p of writerPlanned){mnX=Math.min(mnX,p.x);mxX=Math.max(mxX,p.x);mnY=Math.min(mnY,p.y);mxY=Math.max(mxY,p.y)}
const pw=mxX-mnX||1,ph=mxY-mnY||1;
const margin=60;
const scale=Math.min((W-2*margin)/pw,(H-2*margin)/ph);
const offX=(W-pw*scale)/2-mnX*scale,offY=(H-ph*scale)/2-mnY*scale;
const tx=x=>x*scale+offX,ty=y=>y*scale+offY;
// Grid
ctx.strokeStyle='#0d1a2a';ctx.lineWidth=.5;
for(let x=Math.floor(mnX/10)*10;x<=mxX+10;x+=10){ctx.beginPath();ctx.moveTo(tx(x),margin-20);ctx.lineTo(tx(x),H-margin+20);ctx.stroke()}
// Planned strokes (dashed, dim)
ctx.setLineDash([4,4]);ctx.lineWidth=1.5;
for(let i=1;i<writerPlanned.length;i++){
if(!writerPlanned[i].penDown)continue;
ctx.beginPath();ctx.moveTo(tx(writerPlanned[i-1].x),ty(writerPlanned[i-1].y));
ctx.lineTo(tx(writerPlanned[i].x),ty(writerPlanned[i].y));
ctx.strokeStyle=`hsla(${writerPlanned[i].hue},70%,55%,.15)`;ctx.stroke();
}
ctx.setLineDash([]);
// Completed trail β bright, per-segment
if(trailHistory.length>1){
ctx.lineCap='round';ctx.lineJoin='round';
for(let i=1;i<trailHistory.length;i++){
const p=trailHistory[i-1],c2=trailHistory[i];
if(!c2.penDown)continue;
ctx.lineWidth=5;
ctx.beginPath();ctx.moveTo(tx(p.x),ty(p.y));ctx.lineTo(tx(c2.x),ty(c2.y));
ctx.strokeStyle=`hsla(${c2.hue},85%,60%,.9)`;
ctx.shadowColor=`hsla(${c2.hue},85%,60%,.5)`;ctx.shadowBlur=10;ctx.stroke();ctx.shadowBlur=0;
}
}
// Waypoint dots
for(let i=0;i<writerPlanned.length;i++){
const p=writerPlanned[i];
ctx.beginPath();ctx.arc(tx(p.x),ty(p.y),2,0,Math.PI*2);ctx.fillStyle='#2a3548';ctx.fill();
}
// Current segment marker
if(writerActive&&writerIdx<writerSegments.length){
const seg=writerSegments[writerIdx];
ctx.beginPath();ctx.arc(tx(seg.x),ty(seg.y),8,0,Math.PI*2);ctx.fillStyle='rgba(255,171,0,.3)';ctx.fill();
ctx.beginPath();ctx.arc(tx(seg.x),ty(seg.y),4,0,Math.PI*2);ctx.fillStyle='#ffab00';ctx.fill();
}
// Completed markers (green)
for(let i=0;i<trailHistory.length;i++){
const t=trailHistory[i];
if(!t.penDown)continue;
ctx.beginPath();ctx.arc(tx(t.x),ty(t.y),3,0,Math.PI*2);ctx.fillStyle='#00e676';ctx.fill();
}
// Letter labels
const word=$('wordInput').value.toUpperCase();
ctx.font='600 12px Syne,sans-serif';ctx.textAlign='center';
for(let i=0;i<word.length;i++){
const x=margin+(i+.5)*(W-2*margin)/Math.max(1,word.length);
const curLetter=writerActive&&writerIdx<writerSegments.length?writerSegments[writerIdx].letterIdx:-1;
ctx.fillStyle=i<(curLetter>=0?curLetter:writerDone?word.length:0)?'#00e676':i===curLetter?'#ffab00':'#2a3548';
ctx.fillText(word[i],x,30);
}
}
// βββββββββββββββββββββββββββββββββββββββββββββββ
// MAIN TICK + UI
// βββββββββββββββββββββββββββββββββββββββββββββββ
function autoSensors(){const t=net.time;sensorValues=[Math.sin(t*.5)>.3?1:(Math.sin(t*.5)<-.3?-1:0),Math.cos(t*.7)>.3?1:(Math.cos(t*.7)<-.3?-1:0),Math.random()<.03?1:0,Math.sin(t*2.1)>.7?1:0,Math.sin(t*.8)>.2?1:-1,Math.cos(t*1.3)>.5?1:-1];updateSensorUI()}
function updateSensorUI(){document.querySelectorAll('.sensor-btn').forEach(b=>{const i=parseInt(b.dataset.sensor),v=sensorValues[i];b.dataset.val=v;b.querySelector('b').textContent=v;b.classList.remove('active-exc','active-inh');if(v===1)b.classList.add('active-exc');else if(v===-1)b.classList.add('active-inh')})}
function tick(){
const dt=20;
if(mode==='auto')autoSensors();
// In writer mode, sensorValues are set by executeNextSegment
net.neuromod.setBaselines(parseInt($('sDA').value)/100,parseInt($('s5HT').value)/100,parseInt($('sACh').value)/100,parseInt($('sNA').value)/100);
net.simulateStep(sensorValues,dt);
const e=net.neurons.filter(n=>n.state===1).length,i=net.neurons.filter(n=>n.state===-1).length;
$('sExc').textContent=e;$('sNeu').textContent=net.N-e-i;$('sInh').textContent=i;
$('oTime').textContent=net.time.toFixed(3);$('oStep').textContent=net.step;$('oEnergy').textContent=net.energy.toFixed(2);$('oActive').textContent=e+i;$('oTotal').textContent=net.N;
if(activeTab==='brain')drawNetwork();else drawPathCanvas();
}
function resizeCanvas(){
['netCanvas','pathCanvas'].forEach(id=>{const c=$(id),p=c.parentElement;if(p.hasAttribute('data-hidden'))return;c.width=p.clientWidth;c.height=p.clientHeight});
layoutNeurons();if(activeTab==='brain')drawNetwork();else drawPathCanvas();
}
window.addEventListener('resize',resizeCanvas);
// Sensor clicks (manual)
document.querySelectorAll('.sensor-btn').forEach(b=>b.addEventListener('click',()=>{if(mode!=='manual'||writerActive)return;const i=parseInt(b.dataset.sensor);let v=parseInt(b.dataset.val);v=v===0?1:v===1?-1:0;sensorValues[i]=v;updateSensorUI()}));
$('modeManual').addEventListener('click',()=>{mode='manual';$('modeManual').classList.add('active');$('modeAuto').classList.remove('active')});
$('modeAuto').addEventListener('click',()=>{mode='auto';$('modeAuto').classList.add('active');$('modeManual').classList.remove('active')});
$('btnRun').addEventListener('click',()=>{if(running){clearInterval(simInterval);running=false;$('btnRun').textContent='βΆ Run'}else{simInterval=setInterval(tick,20);running=true;$('btnRun').textContent='βΈ Pause';log('Simulation running')}});
$('btnStep').addEventListener('click',tick);
$('btnReset').addEventListener('click',()=>{if(running){clearInterval(simInterval);running=false;$('btnRun').textContent='βΆ Run'}abortWriting();Object.assign(net,new NeuraxonNetwork(6,12,3));sensorValues=[0,0,0,0,0,0];trailHistory=[];writerPlanned=[];writerSegments=[];updateSensorUI();layoutNeurons();drawNetwork();log('Reset')});
// Sliders
$('sSize').addEventListener('input',()=>{$('vSize').textContent=$('sSize').value;refreshPreview()});
$('sWSpeed').addEventListener('input',()=>$('vWSpeed').textContent=$('sWSpeed').value);
$('sSegTime').addEventListener('input',()=>$('vSegTime').textContent=$('sSegTime').value);
$('sDA').addEventListener('input',()=>$('vDA').textContent=(parseInt($('sDA').value)/100).toFixed(2));
$('s5HT').addEventListener('input',()=>$('v5HT').textContent=(parseInt($('s5HT').value)/100).toFixed(2));
$('sACh').addEventListener('input',()=>$('vACh').textContent=(parseInt($('sACh').value)/100).toFixed(2));
$('sNA').addEventListener('input',()=>$('vNA').textContent=(parseInt($('sNA').value)/100).toFixed(2));
function refreshPreview(){const w=$('wordInput').value.trim();if(w){writerPlanned=wordToPlannedPath(w,parseInt($('sSize').value));trailHistory=[];if(activeTab==='writer')drawPathCanvas()}}
$('wordInput').addEventListener('input',refreshPreview);
$('btnWrite').addEventListener('click',startWriting);
$('btnAbort').addEventListener('click',abortWriting);
// Tabs
document.querySelectorAll('.tab').forEach(t=>t.addEventListener('click',()=>{document.querySelectorAll('.tab').forEach(x=>x.classList.remove('active'));t.classList.add('active');activeTab=t.dataset.tab;if(activeTab==='brain'){$('panelBrain').removeAttribute('data-hidden');$('panelWriter').setAttribute('data-hidden','')}else{$('panelWriter').removeAttribute('data-hidden');$('panelBrain').setAttribute('data-hidden','')}requestAnimationFrame(resizeCanvas)}));
// BLE
$('btnConnect').addEventListener('click',async()=>{
try{$('btnConnect').disabled=true;sphero=new SpheroMiniBLE();
sphero.onDisconnect=()=>{bleConnected=false;$('badge').textContent='OFFLINE';$('badge').className='conn-badge off';$('btnConnect').disabled=false;$('btnDisconnect').disabled=true;log('Disconnected')};
await sphero.connect();await sphero.setMainLED(0,255,80);await sphero.resetYaw();
bleConnected=true;$('badge').textContent='CONNECTED';$('badge').className='conn-badge on';$('btnConnect').disabled=true;$('btnDisconnect').disabled=false;
$('btnTestMotor').disabled=false;$('btnTestLED').disabled=false;
log('Sphero connected & ready!')}catch(e){log('BLE: '+e.message);$('btnConnect').disabled=false}
});
$('btnDisconnect').addEventListener('click',async()=>{if(sphero){try{await sphero.stop();await sphero.setMainLED(0,0,0)}catch(e){}await sphero.disconnect()}bleConnected=false;$('badge').textContent='OFFLINE';$('badge').className='conn-badge off';$('btnConnect').disabled=false;$('btnDisconnect').disabled=true;$('btnTestMotor').disabled=true;$('btnTestLED').disabled=true});
// Test buttons β verify BLE is really working
$('btnTestMotor').addEventListener('click',async()=>{
if(!sphero||!bleConnected)return;
log('TEST: roll forward heading=0 speed=80 for 1sβ¦');
try{
await sphero.setMainLED(255,100,0);
await sphero.roll(80,0);
await sleep(1000);
await sphero.stop();
await sphero.setMainLED(0,255,80);
log('TEST: motor OK β Sphero should have moved forward');
}catch(e){log('TEST FAIL: '+e.message)}
});
$('btnTestLED').addEventListener('click',async()=>{
if(!sphero||!bleConnected)return;
log('TEST: cycling LED colorsβ¦');
try{
await sphero.setMainLED(255,0,0);await sleep(400);
await sphero.setMainLED(0,255,0);await sleep(400);
await sphero.setMainLED(0,0,255);await sleep(400);
await sphero.setMainLED(255,255,255);await sleep(400);
await sphero.setMainLED(0,255,80);
log('TEST: LED OK');
}catch(e){log('TEST FAIL: '+e.message)}
});
// Init
requestAnimationFrame(()=>{
resizeCanvas();refreshPreview();
log(`Network: 6in β 12 hidden β 3out | ${net.synapses.length} synapses`);
log('Watts-Strogatz small-world (k=4, Ξ²=0.3)');
log('Writer: timed segments, Neuraxon modulates speed Β±30%');
log('Type a word β WRITE β Sphero traces it on the ground');
});
</script>
</body>
</html> |