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vl={bundleType:ul.bundleType,version:ul.version,rendererPackageName:ul.rendererPackageName,rendererConfig:ul.rendererConfig,overrideHookState:null,overrideHookStateDeletePath:null,overrideHookStateRenamePath:null,overrideProps:null,overridePropsDeletePath:null,overridePropsRenamePath:null,setErrorHandler:null,setSuspenseHandler:null,scheduleUpdate:null,currentDispatcherRef:ua.ReactCurrentDispatcher,findHostInstanceByFiber:function(a){a=Zb(a);return null===a?null:a.stateNode},findFiberByHostInstance:ul.findFiberByHostInstance||\nkl,findHostInstancesForRefresh:null,scheduleRefresh:null,scheduleRoot:null,setRefreshHandler:null,getCurrentFiber:null,reconcilerVersion:\"18.2.0-next-9e3b772b8-20220608\"};if(\"undefined\"!==typeof __REACT_DEVTOOLS_GLOBAL_HOOK__){var wl=__REACT_DEVTOOLS_GLOBAL_HOOK__;if(!wl.isDisabled&&wl.supportsFiber)try{kc=wl.inject(vl),lc=wl}catch(a){}}exports.__SECRET_INTERNALS_DO_NOT_USE_OR_YOU_WILL_BE_FIRED=tl;\nexports.createPortal=function(a,b){var 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React DevTools relies on it. Also make sure\n    // this message doesn't occur elsewhere in this function, or it will cause\n    // a false positive.\n    throw new Error('^_^');\n  }\n  try {\n    // Verify that the code above has been dead code eliminated (DCE'd).\n    __REACT_DEVTOOLS_GLOBAL_HOOK__.checkDCE(checkDCE);\n  } catch (err) {\n    // DevTools shouldn't crash React, no matter what.\n    // We should still report in case we break this code.\n    console.error(err);\n  }\n}\n\nif (process.env.NODE_ENV === 'production') {\n  // DCE check should happen before ReactDOM bundle executes so that\n  // DevTools can report bad minification during injection.\n  checkDCE();\n  module.exports = require('./cjs/react-dom.production.min.js');\n} else {\n  module.exports = require('./cjs/react-dom.development.js');\n}\n","/**\n * @license React\n * react-jsx-runtime.production.min.js\n *\n * Copyright (c) Facebook, Inc. and its affiliates.\n *\n * This source code is licensed under the MIT license found in the\n * LICENSE file in the root directory of this source tree.\n */\n'use strict';var f=require(\"react\"),k=Symbol.for(\"react.element\"),l=Symbol.for(\"react.fragment\"),m=Object.prototype.hasOwnProperty,n=f.__SECRET_INTERNALS_DO_NOT_USE_OR_YOU_WILL_BE_FIRED.ReactCurrentOwner,p={key:!0,ref:!0,__self:!0,__source:!0};\nfunction q(c,a,g){var b,d={},e=null,h=null;void 0!==g&&(e=\"\"+g);void 0!==a.key&&(e=\"\"+a.key);void 0!==a.ref&&(h=a.ref);for(b in a)m.call(a,b)&&!p.hasOwnProperty(b)&&(d[b]=a[b]);if(c&&c.defaultProps)for(b in a=c.defaultProps,a)void 0===d[b]&&(d[b]=a[b]);return{$$typeof:k,type:c,key:e,ref:h,props:d,_owner:n.current}}exports.Fragment=l;exports.jsx=q;exports.jsxs=q;\n","/**\n * @license React\n * react.production.min.js\n *\n * Copyright (c) Facebook, Inc. and its affiliates.\n *\n * This source code is licensed under the MIT license found in the\n * LICENSE file in the root directory of this source tree.\n */\n'use strict';var l=Symbol.for(\"react.element\"),n=Symbol.for(\"react.portal\"),p=Symbol.for(\"react.fragment\"),q=Symbol.for(\"react.strict_mode\"),r=Symbol.for(\"react.profiler\"),t=Symbol.for(\"react.provider\"),u=Symbol.for(\"react.context\"),v=Symbol.for(\"react.forward_ref\"),w=Symbol.for(\"react.suspense\"),x=Symbol.for(\"react.memo\"),y=Symbol.for(\"react.lazy\"),z=Symbol.iterator;function A(a){if(null===a||\"object\"!==typeof a)return null;a=z&&a[z]||a[\"@@iterator\"];return\"function\"===typeof a?a:null}\nvar B={isMounted:function(){return!1},enqueueForceUpdate:function(){},enqueueReplaceState:function(){},enqueueSetState:function(){}},C=Object.assign,D={};function E(a,b,e){this.props=a;this.context=b;this.refs=D;this.updater=e||B}E.prototype.isReactComponent={};\nE.prototype.setState=function(a,b){if(\"object\"!==typeof a&&\"function\"!==typeof a&&null!=a)throw Error(\"setState(...): takes an object of state variables to update or a function which returns an object of state 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=== 'object') return window;\n\t}\n})();","__webpack_require__.p = \"/classes/863.23/EECS/people/Samuel/build/\";","export default function _arrayLikeToArray(arr, len) {\n  if (len == null || len > arr.length) len = arr.length;\n  for (var i = 0, arr2 = new Array(len); i < len; i++) arr2[i] = arr[i];\n  return arr2;\n}","import arrayWithHoles from \"./arrayWithHoles.js\";\nimport iterableToArrayLimit from \"./iterableToArrayLimit.js\";\nimport unsupportedIterableToArray from \"./unsupportedIterableToArray.js\";\nimport nonIterableRest from \"./nonIterableRest.js\";\nexport default function _slicedToArray(arr, i) {\n  return arrayWithHoles(arr) || iterableToArrayLimit(arr, i) || unsupportedIterableToArray(arr, i) || nonIterableRest();\n}","export default function _arrayWithHoles(arr) {\n  if (Array.isArray(arr)) return arr;\n}","export default function _iterableToArrayLimit(r, l) {\n  var t = null == r ? null : \"undefined\" != typeof Symbol && r[Symbol.iterator] || r[\"@@iterator\"];\n  if (null != t) {\n    var e,\n      n,\n      i,\n      u,\n      a = [],\n      f = !0,\n      o = !1;\n    try {\n      if (i = (t = t.call(r)).next, 0 === l) {\n        if (Object(t) !== t) return;\n        f = !1;\n      } else for (; !(f = (e = i.call(t)).done) && (a.push(e.value), a.length !== l); f = !0);\n    } catch (r) {\n      o = !0, n = r;\n    } finally {\n      try {\n        if (!f && null != t[\"return\"] && (u = t[\"return\"](), Object(u) !== u)) return;\n      } finally {\n        if (o) throw n;\n      }\n    }\n    return a;\n  }\n}","import arrayLikeToArray from \"./arrayLikeToArray.js\";\nexport default function _unsupportedIterableToArray(o, minLen) {\n  if (!o) return;\n  if (typeof o === \"string\") return arrayLikeToArray(o, minLen);\n  var n = Object.prototype.toString.call(o).slice(8, -1);\n  if (n === \"Object\" && o.constructor) n = o.constructor.name;\n  if (n === \"Map\" || n === \"Set\") return Array.from(o);\n  if (n === \"Arguments\" || /^(?:Ui|I)nt(?:8|16|32)(?:Clamped)?Array$/.test(n)) return arrayLikeToArray(o, minLen);\n}","export default function _nonIterableRest() {\n  throw new TypeError(\"Invalid attempt to destructure non-iterable instance.\\nIn order to be iterable, non-array objects must have a [Symbol.iterator]() method.\");\n}","import React from \"react\";\nimport \"./Preview.css\";\n\nconst Preview = (props) => {\n    return (\n        <div className=\"Preview-container\" onClick={props.action}>\n            <img src={props.img} className=\"Preview-img\" alt={props.caption} />\n            <div className=\"Preview-caption\">{props.caption}</div>\n        </div>\n    )\n}\n\nexport default Preview;","import React from \"react\";\nimport Preview from \"./Preview\";\nimport './Homepage.css';\nimport dsClose from \"./photos/geo-pyramid/ds-close.webp\";\nimport ledOn from \"./photos/electronic-prod/led-on.webp\";\nimport finalFootprint from \"./photos/breakout-design/final-footprint.webp\";\nimport print_2_support from \"./photos/3dp/print_2_support.webp\";\nimport multi_site from './photos/electronic-programming/multi_site.webp';\nimport snakeHead from \"./photos/laser-snake/snakeHead.webp\";\nimport linebotAngle from './photos/fp-cad/linebotAngle.webp';\nimport fullShelf from \"./photos/cordshelf/full.webp\";\nimport tofAssembly from \"./photos/tof-test/sensor.webp\";\nimport finalCart from \"./photos/motor-test/finalCart.webp\";\nimport networkCart from \"./photos/networking/cart.webp\";\nimport finalinterface from \"./photos/interface/finalinterface.webp\";\nimport fullyPopulated from \"./photos/xiao/fullyPopulated.webp\";\n\nconst PreviewManager = (props) => {\n    return (\n        <div className=\"HP-previewContainer\">\n            <Preview img={fullyPopulated} caption=\"Week 14: How to Make a XIAO\" action={() => props.changePage('week14')} />\n            <Preview img={null} caption=\"Week 13: Machine Week\" action={() => props.changePage('week13')} />\n            <Preview img={finalinterface} caption=\"Week 12: Interface and Application Programming\" action={() => props.changePage('week12')} />\n            <Preview img={networkCart} caption=\"Week 11: Networking\" action={() => props.changePage('week11')} />\n            <Preview img={finalCart} caption=\"Week 10: Output Devices\" action={() => props.changePage('week10')} />\n            <Preview img={tofAssembly} caption=\"Week 9: Input Devices\" action={() => props.changePage('week9')} />\n            <Preview img={fullShelf} caption=\"Week 8: Large Format Machining\" action={() => props.changePage('week8')} />\n            <Preview img={dsClose} caption=\"Week 7: Molding and Casting\" action={() => props.changePage('week7')} />\n            <Preview img={ledOn} caption=\"Week 6: Electronic Production\" action={() => props.changePage('week6')} />\n            <Preview img={finalFootprint} caption=\"Week 5: Embedded Design\" action={() => props.changePage('week5')} />\n            <Preview img={print_2_support} caption=\"Week 4: 3D Scanning and Printing\" action={() => props.changePage('week4')} />\n            <Preview img={multi_site} caption=\"Week 3: Embedded Programming\" action={() => props.changePage('week3')} />\n            <Preview img={snakeHead} caption=\"Week 2: Vinyl and Laser Cutting\" action={() => props.changePage('week2')} />\n            <Preview img={linebotAngle} caption=\"Week 1: 3D CAD\" action={() => props.changePage('week1')} />\n        </div>\n    )\n}\n\nexport default PreviewManager;","import './Homepage.css';\nimport React, {useEffect, useState} from \"react\";\n\nimport headshot from './photos/headshot.webp';\nimport deck from './photos/deck.webp';\nimport PreviewManager from './PreviewManager';\n\nfunction Homepage(props) {\n  return (\n    <div className=\"HP-container\">\n      <div className=\"HP-title\">\n        Welcome to Sam's HTM(a)A Fall 2023\n      </div>\n      <div className=\"HP-module\">\n        <div className=\"HP-subtitle\">About Me</div>\n        <div className=\"HP-flex\">\n          <div className=\"HP-body HP-half\">\n            My name is Sam Bruce and I'm a current senior here at MIT. I study Electrical Engineering and Computer Science, \n            and i'm really looking forward to using my skills as well as developing a whole host of new ones in this class. \n            <br />Growing up in Annapolis, MD I spent time in my home shop with my dad building all sorts of things ranging from home \n            improvements to school projects to any fun things I could think of. I spend most of my time outside of the classroom \n            on the water with the MIT varsity sailing team and I love anything to do with boats and the water. <br />Some of my \n            favorite projects I've done have related to my passion for sailing, including building a custom hydraulic trailer that \n            stored multiple boats and could collapse on itself to load/unload. Not as much fun was hours and hours of fiberglass and gel coat work \n            to fix any damage I caused on the water. <br />During the summer of 2020, I rebuilt a pool deck with my family, which was a \n            fun way to learn more about woodworking and large(r) scale construction. While I've had exposure to many of the concepts \n            we're learning in this class, I have had little to no formal training on most of it, so I'm very excited to learn a lot \n            this semester and be able to make (almost) anything.\n          </div>\n          <div className=\"HP-photoContent HP-half\">\n            <div className=\"HP-photoObject\">\n              <img src={headshot} className=\"HP-photo\"/>\n              <div className=\"HP-caption\">Me abroad for IAP last January</div>\n            </div>\n            <div className=\"HP-photoObject\">\n              <img src={deck} className=\"HP-photo\"/>\n              <div className=\"HP-caption\">A deck I built over covid</div>\n            </div>\n          </div>\n        </div>\n      </div>\n      <PreviewManager changePage={props.changePage} />\n      \n    </div>\n  );\n}\n\nexport default Homepage;","import './weekly.css';\nimport \"./../Homepage.css\";\nimport React, {useEffect, useState} from \"react\";\n\nimport linebot from './../photos/fp-cad/linebot.webp';\nimport linebotAngle from './../photos/fp-cad/linebotAngle.webp';\nimport linebotBottom from './../photos/fp-cad/linebotBottom.webp';\nimport linebotFront from './../photos/fp-cad/linebotFront.webp';\nimport linebotSide from './../photos/fp-cad/linebotSide.webp';\nimport week1circuit from './../photos/fp-cad/week1circuit.webp';\nimport week1pcb from './../photos/fp-cad/week1pcb.webp';\nimport week1top from './../photos/fp-cad/week1top.webp';\nimport week1side from './../photos/fp-cad/week1side.webp';\nimport wheelCAD from './../photos/fp-cad/wheelCAD.webp';\nimport IRCAD from './../photos/fp-cad/IRCAD.webp';\nimport microCAD from './../photos/fp-cad/microCAD.webp';\n\nfunction Week1() {\n  return (\n    <div className=\"HP-module\">\n        <div className=\"HP-subtitle\">Week 1</div>\n        <div className=\"HP-flex\">\n          <div className=\"HP-body HP-half\">\n            During the first week of HTM(a)A we were tasked with designing something in CAD \n            software, specifically a potential final project idea. I have very linited experience with 2-D and \n            3-D CAD, so I emphasized learning different tools while I worked on my design. One of my favorite projects\n            I've done here at MIT was my final project for my microcontroller project labratory, which was a line-following robot\n            car. I loved building the project, but I never got it working quite as well as I would have liked, so for this project \n            I set out to design a better verion of the line robot as a potential project idea. <br /> <br />\n            The line-following robot functions using two photodiodes, one on each side of the front of the car, paired with \n            two LEDs to sense the line underneath it. Light is emitted by the LED, which bounces off of the ground (and the line),\n            and is reabsorbed by the photodiode. When a darker line is placed on a brighter surface, less light reflects off of the \n            line, so if one of the photodiodes absorbs more light than the other it means the line is no longer centered, and the \n            data can be used byu a microcontroller to determine how to turn the car. I started off by modeling this electrical circuit,\n            along with the motors needed to power the car, in the diagram below.\n          </div>\n          <div className=\"HP-photoContent HP-half\">\n            <div className=\"HP-photoObject\">\n              <img src={linebot} className=\"HP-medPhoto\" />\n              <div className=\"HP-caption\">My line-following robot from my previous class, and inspiration for this project</div>\n            </div>\n          </div>\n        </div>\n        <div className=\"HP-photoContainer\">\n          <img src={week1circuit} className=\"HP-largePhoto\"/>\n        </div>\n        <div className=\"HP-body\">\n          Next, now knowing what electrical components I needed to include in my design, I did a rough sketch of the layout of \n          these components, both on a fabricated PCB for housing the electrical components as well as a whole car design with \n          appropriate placement of the motors, wheels, and sensors.\n        </div>\n        <div className=\"HP-photoContainer\">\n          <img src={week1pcb} className=\"HP-largePhoto\"/>\n          <img src={week1top} className=\"HP-largePhoto\"/>\n          <img src={week1side} className=\"HP-largePhoto\"/>\n        </div>\n        <div className=\"HP-body\">\n          With my 2D inspiration for the new and improved robot car complete, I installed and configured FreeCAD to learn \n          how to model my design in three dimensions. I found my way around the different menus and tools using the demos \n          given to us and by experimenting on my own with the different capabilities of FreeCAD. One of the most useful \n          things in my design was the library of parts availiable to download and use on the internet. Using these importable \n          files I could add to my car things like microcontrollers, circuit components, and wheels without having to design \n          each part by hand. Some of the parts I used can be seen below: \n        </div>\n        <div className=\"HP-photoContainer\">\n          <img src={wheelCAD} className=\"HP-medPhoto\"/>\n          <img src={microCAD} className=\"HP-medPhoto\"/>\n          <img src={IRCAD} className=\"HP-medPhoto\"/>\n        </div>\n        <div className=\"HP-body\">\n          Putting together all of these parts along with several I made myself to house the components, I had build the first model \n          of the new and improved line-following robot car. The emphasis in the design was on maximizing component placement for \n          (planned) performance. To this end I made sure the body was small, with only 3 wheels so that it could turn very sharply. \n          Further, I placed the turning wheels as close to in line with the sensors at the front of the vehicle as possible, so that \n          when turning the sensors will stay over the line. I finally roughly modeled my PCB sketched above to be sat on top of the car \n          above the motors. I did not worry much about individual traces or wiring, as that would likely be done closer to fabrication of the \n          project. Finally, here are some renders of the final CAD drawing of my new and improved robot, enjoy!\n        </div>\n        <div className=\"HP-photoContainer\">\n          <img src={linebotAngle} className=\"HP-medPhoto\"/>\n          <img src={linebotBottom} className=\"HP-medPhoto\"/>\n          <img src={linebotFront} className=\"HP-medPhoto\"/>\n          <img src={linebotSide} className=\"HP-medPhoto\"/>\n        </div>\n      </div>\n  );\n}\n\nexport default Week1;","/**\r\n * A collection of shims that provide minimal functionality of the ES6 collections.\r\n *\r\n * These implementations are not meant to be used outside of the ResizeObserver\r\n * modules as they cover only a limited range of use cases.\r\n */\r\n/* eslint-disable require-jsdoc, valid-jsdoc */\r\nvar MapShim = (function () {\r\n    if (typeof Map !== 'undefined') {\r\n        return Map;\r\n    }\r\n    /**\r\n     * Returns index in provided array that matches the specified key.\r\n     *\r\n     * @param {Array<Array>} arr\r\n     * @param {*} key\r\n     * @returns {number}\r\n     */\r\n    function getIndex(arr, key) {\r\n        var result = -1;\r\n        arr.some(function (entry, index) {\r\n            if (entry[0] === key) {\r\n                result = index;\r\n                return true;\r\n            }\r\n            return false;\r\n        });\r\n        return result;\r\n    }\r\n    return /** @class */ (function () {\r\n        function class_1() {\r\n            this.__entries__ = [];\r\n        }\r\n        Object.defineProperty(class_1.prototype, \"size\", {\r\n            /**\r\n             * @returns {boolean}\r\n             */\r\n            get: function () {\r\n                return this.__entries__.length;\r\n            },\r\n            enumerable: true,\r\n            configurable: true\r\n        });\r\n        /**\r\n         * @param {*} key\r\n         * @returns {*}\r\n         */\r\n        class_1.prototype.get = function (key) {\r\n            var index = getIndex(this.__entries__, key);\r\n            var entry = this.__entries__[index];\r\n            return entry && entry[1];\r\n        };\r\n        /**\r\n         * @param {*} key\r\n         * @param {*} value\r\n         * @returns {void}\r\n         */\r\n        class_1.prototype.set = function (key, value) {\r\n            var index = getIndex(this.__entries__, key);\r\n            if (~index) {\r\n                this.__entries__[index][1] = value;\r\n            }\r\n            else {\r\n                this.__entries__.push([key, value]);\r\n            }\r\n        };\r\n        /**\r\n         * @param {*} key\r\n         * @returns {void}\r\n         */\r\n        class_1.prototype.delete = function (key) {\r\n            var entries = this.__entries__;\r\n            var index = getIndex(entries, key);\r\n            if (~index) {\r\n                entries.splice(index, 1);\r\n            }\r\n        };\r\n        /**\r\n         * @param {*} key\r\n         * @returns {void}\r\n         */\r\n        class_1.prototype.has = function (key) {\r\n            return !!~getIndex(this.__entries__, key);\r\n        };\r\n        /**\r\n         * @returns {void}\r\n         */\r\n        class_1.prototype.clear = function () {\r\n            this.__entries__.splice(0);\r\n        };\r\n        /**\r\n         * @param {Function} callback\r\n         * @param {*} [ctx=null]\r\n         * @returns {void}\r\n         */\r\n        class_1.prototype.forEach = function (callback, ctx) {\r\n            if (ctx === void 0) { ctx = null; }\r\n            for (var _i = 0, _a = this.__entries__; _i < _a.length; _i++) {\r\n                var entry = _a[_i];\r\n                callback.call(ctx, entry[1], entry[0]);\r\n            }\r\n        };\r\n        return class_1;\r\n    }());\r\n})();\n\n/**\r\n * Detects whether window and document objects are available in current environment.\r\n */\r\nvar isBrowser = typeof window !== 'undefined' && typeof document !== 'undefined' && window.document === document;\n\n// Returns global object of a current environment.\r\nvar global$1 = (function () {\r\n    if (typeof global !== 'undefined' && global.Math === Math) {\r\n        return global;\r\n    }\r\n    if (typeof self !== 'undefined' && self.Math === Math) {\r\n        return self;\r\n    }\r\n    if (typeof window !== 'undefined' && window.Math === Math) {\r\n        return window;\r\n    }\r\n    // eslint-disable-next-line no-new-func\r\n    return Function('return this')();\r\n})();\n\n/**\r\n * A shim for the requestAnimationFrame which falls back to the setTimeout if\r\n * first one is not supported.\r\n *\r\n * @returns {number} Requests' identifier.\r\n */\r\nvar requestAnimationFrame$1 = (function () {\r\n    if (typeof requestAnimationFrame === 'function') {\r\n        // It's required to use a bounded function because IE sometimes throws\r\n        // an \"Invalid calling object\" error if rAF is invoked without the global\r\n        // object on the left hand side.\r\n        return requestAnimationFrame.bind(global$1);\r\n    }\r\n    return function (callback) { return setTimeout(function () { return callback(Date.now()); }, 1000 / 60); };\r\n})();\n\n// Defines minimum timeout before adding a trailing call.\r\nvar trailingTimeout = 2;\r\n/**\r\n * Creates a wrapper function which ensures that provided callback will be\r\n * invoked only once during the specified delay period.\r\n *\r\n * @param {Function} callback - Function to be invoked after the delay period.\r\n * @param {number} delay - Delay after which to invoke callback.\r\n * @returns {Function}\r\n */\r\nfunction throttle (callback, delay) {\r\n    var leadingCall = false, trailingCall = false, lastCallTime = 0;\r\n    /**\r\n     * Invokes the original callback function and schedules new invocation if\r\n     * the \"proxy\" was called during current request.\r\n     *\r\n     * @returns {void}\r\n     */\r\n    function resolvePending() {\r\n        if (leadingCall) {\r\n            leadingCall = false;\r\n            callback();\r\n        }\r\n        if (trailingCall) {\r\n            proxy();\r\n        }\r\n    }\r\n    /**\r\n     * Callback invoked after the specified delay. It will further postpone\r\n     * invocation of the original function delegating it to the\r\n     * requestAnimationFrame.\r\n     *\r\n     * @returns {void}\r\n     */\r\n    function timeoutCallback() {\r\n        requestAnimationFrame$1(resolvePending);\r\n    }\r\n    /**\r\n     * Schedules invocation of the original function.\r\n     *\r\n     * @returns {void}\r\n     */\r\n    function proxy() {\r\n        var timeStamp = Date.now();\r\n        if (leadingCall) {\r\n            // Reject immediately following calls.\r\n            if (timeStamp - lastCallTime < trailingTimeout) {\r\n                return;\r\n            }\r\n            // Schedule new call to be in invoked when the pending one is resolved.\r\n            // This is important for \"transitions\" which never actually start\r\n            // immediately so there is a chance that we might miss one if change\r\n            // happens amids the pending invocation.\r\n            trailingCall = true;\r\n        }\r\n        else {\r\n            leadingCall = true;\r\n            trailingCall = false;\r\n            setTimeout(timeoutCallback, delay);\r\n        }\r\n        lastCallTime = timeStamp;\r\n    }\r\n    return proxy;\r\n}\n\n// Minimum delay before invoking the update of observers.\r\nvar REFRESH_DELAY = 20;\r\n// A list of substrings of CSS properties used to find transition events that\r\n// might affect dimensions of observed elements.\r\nvar transitionKeys = ['top', 'right', 'bottom', 'left', 'width', 'height', 'size', 'weight'];\r\n// Check if MutationObserver is available.\r\nvar mutationObserverSupported = typeof MutationObserver !== 'undefined';\r\n/**\r\n * Singleton controller class which handles updates of ResizeObserver instances.\r\n */\r\nvar ResizeObserverController = /** @class */ (function () {\r\n    /**\r\n     * Creates a new instance of ResizeObserverController.\r\n     *\r\n     * @private\r\n     */\r\n    function ResizeObserverController() {\r\n        /**\r\n         * Indicates whether DOM listeners have been added.\r\n         *\r\n         * @private {boolean}\r\n         */\r\n        this.connected_ = false;\r\n        /**\r\n         * Tells that controller has subscribed for Mutation Events.\r\n         *\r\n         * @private {boolean}\r\n         */\r\n        this.mutationEventsAdded_ = false;\r\n        /**\r\n         * Keeps reference to the instance of MutationObserver.\r\n         *\r\n         * @private {MutationObserver}\r\n         */\r\n        this.mutationsObserver_ = null;\r\n        /**\r\n         * A list of connected observers.\r\n         *\r\n         * @private {Array<ResizeObserverSPI>}\r\n         */\r\n        this.observers_ = [];\r\n        this.onTransitionEnd_ = this.onTransitionEnd_.bind(this);\r\n        this.refresh = throttle(this.refresh.bind(this), REFRESH_DELAY);\r\n    }\r\n    /**\r\n     * Adds observer to observers list.\r\n     *\r\n     * @param {ResizeObserverSPI} observer - Observer to be added.\r\n     * @returns {void}\r\n     */\r\n    ResizeObserverController.prototype.addObserver = function (observer) {\r\n        if (!~this.observers_.indexOf(observer)) {\r\n            this.observers_.push(observer);\r\n        }\r\n        // Add listeners if they haven't been added yet.\r\n        if (!this.connected_) {\r\n            this.connect_();\r\n        }\r\n    };\r\n    /**\r\n     * Removes observer from observers list.\r\n     *\r\n     * @param {ResizeObserverSPI} observer - Observer to be removed.\r\n     * @returns {void}\r\n     */\r\n    ResizeObserverController.prototype.removeObserver = function (observer) {\r\n        var observers = this.observers_;\r\n        var index = observers.indexOf(observer);\r\n        // Remove observer if it's present in registry.\r\n        if (~index) {\r\n            observers.splice(index, 1);\r\n        }\r\n        // Remove listeners if controller has no connected observers.\r\n        if (!observers.length && this.connected_) {\r\n            this.disconnect_();\r\n        }\r\n    };\r\n    /**\r\n     * Invokes the update of observers. It will continue running updates insofar\r\n     * it detects changes.\r\n     *\r\n     * @returns {void}\r\n     */\r\n    ResizeObserverController.prototype.refresh = function () {\r\n        var changesDetected = this.updateObservers_();\r\n        // Continue running updates if changes have been detected as there might\r\n        // be future ones caused by CSS transitions.\r\n        if (changesDetected) {\r\n            this.refresh();\r\n        }\r\n    };\r\n    /**\r\n     * Updates every observer from observers list and notifies them of queued\r\n     * entries.\r\n     *\r\n     * @private\r\n     * @returns {boolean} Returns \"true\" if any observer has detected changes in\r\n     *      dimensions of it's elements.\r\n     */\r\n    ResizeObserverController.prototype.updateObservers_ = function () {\r\n        // Collect observers that have active observations.\r\n        var activeObservers = this.observers_.filter(function (observer) {\r\n            return observer.gatherActive(), observer.hasActive();\r\n        });\r\n        // Deliver notifications in a separate cycle in order to avoid any\r\n        // collisions between observers, e.g. when multiple instances of\r\n        // ResizeObserver are tracking the same element and the callback of one\r\n        // of them changes content dimensions of the observed target. Sometimes\r\n        // this may result in notifications being blocked for the rest of observers.\r\n        activeObservers.forEach(function (observer) { return observer.broadcastActive(); });\r\n        return activeObservers.length > 0;\r\n    };\r\n    /**\r\n     * Initializes DOM listeners.\r\n     *\r\n     * @private\r\n     * @returns {void}\r\n     */\r\n    ResizeObserverController.prototype.connect_ = function () {\r\n        // Do nothing if running in a non-browser environment or if listeners\r\n        // have been already added.\r\n        if (!isBrowser || this.connected_) {\r\n            return;\r\n        }\r\n        // Subscription to the \"Transitionend\" event is used as a workaround for\r\n        // delayed transitions. This way it's possible to capture at least the\r\n        // final state of an element.\r\n        document.addEventListener('transitionend', this.onTransitionEnd_);\r\n        window.addEventListener('resize', this.refresh);\r\n        if (mutationObserverSupported) {\r\n            this.mutationsObserver_ = new MutationObserver(this.refresh);\r\n            this.mutationsObserver_.observe(document, {\r\n                attributes: true,\r\n                childList: true,\r\n                characterData: true,\r\n                subtree: true\r\n            });\r\n        }\r\n        else {\r\n            document.addEventListener('DOMSubtreeModified', this.refresh);\r\n            this.mutationEventsAdded_ = true;\r\n        }\r\n        this.connected_ = true;\r\n    };\r\n    /**\r\n     * Removes DOM listeners.\r\n     *\r\n     * @private\r\n     * @returns {void}\r\n     */\r\n    ResizeObserverController.prototype.disconnect_ = function () {\r\n        // Do nothing if running in a non-browser environment or if listeners\r\n        // have been already removed.\r\n        if (!isBrowser || !this.connected_) {\r\n            return;\r\n        }\r\n        document.removeEventListener('transitionend', this.onTransitionEnd_);\r\n        window.removeEventListener('resize', this.refresh);\r\n        if (this.mutationsObserver_) {\r\n            this.mutationsObserver_.disconnect();\r\n        }\r\n        if (this.mutationEventsAdded_) {\r\n            document.removeEventListener('DOMSubtreeModified', this.refresh);\r\n        }\r\n        this.mutationsObserver_ = null;\r\n        this.mutationEventsAdded_ = false;\r\n        this.connected_ = false;\r\n    };\r\n    /**\r\n     * \"Transitionend\" event handler.\r\n     *\r\n     * @private\r\n     * @param {TransitionEvent} event\r\n     * @returns {void}\r\n     */\r\n    ResizeObserverController.prototype.onTransitionEnd_ = function (_a) {\r\n        var _b = _a.propertyName, propertyName = _b === void 0 ? '' : _b;\r\n        // Detect whether transition may affect dimensions of an element.\r\n        var isReflowProperty = transitionKeys.some(function (key) {\r\n            return !!~propertyName.indexOf(key);\r\n        });\r\n        if (isReflowProperty) {\r\n            this.refresh();\r\n        }\r\n    };\r\n    /**\r\n     * Returns instance of the ResizeObserverController.\r\n     *\r\n     * @returns {ResizeObserverController}\r\n     */\r\n    ResizeObserverController.getInstance = function () {\r\n        if (!this.instance_) {\r\n            this.instance_ = new ResizeObserverController();\r\n        }\r\n        return this.instance_;\r\n    };\r\n    /**\r\n     * Holds reference to the controller's instance.\r\n     *\r\n     * @private {ResizeObserverController}\r\n     */\r\n    ResizeObserverController.instance_ = null;\r\n    return ResizeObserverController;\r\n}());\n\n/**\r\n * Defines non-writable/enumerable properties of the provided target object.\r\n *\r\n * @param {Object} target - Object for which to define properties.\r\n * @param {Object} props - Properties to be defined.\r\n * @returns {Object} Target object.\r\n */\r\nvar defineConfigurable = (function (target, props) {\r\n    for (var _i = 0, _a = Object.keys(props); _i < _a.length; _i++) {\r\n        var key = _a[_i];\r\n        Object.defineProperty(target, key, {\r\n            value: props[key],\r\n            enumerable: false,\r\n            writable: false,\r\n            configurable: true\r\n        });\r\n    }\r\n    return target;\r\n});\n\n/**\r\n * Returns the global object associated with provided element.\r\n *\r\n * @param {Object} target\r\n * @returns {Object}\r\n */\r\nvar getWindowOf = (function (target) {\r\n    // Assume that the element is an instance of Node, which means that it\r\n    // has the \"ownerDocument\" property from which we can retrieve a\r\n    // corresponding global object.\r\n    var ownerGlobal = target && target.ownerDocument && target.ownerDocument.defaultView;\r\n    // Return the local global object if it's not possible extract one from\r\n    // provided element.\r\n    return ownerGlobal || global$1;\r\n});\n\n// Placeholder of an empty content rectangle.\r\nvar emptyRect = createRectInit(0, 0, 0, 0);\r\n/**\r\n * Converts provided string to a number.\r\n *\r\n * @param {number|string} value\r\n * @returns {number}\r\n */\r\nfunction toFloat(value) {\r\n    return parseFloat(value) || 0;\r\n}\r\n/**\r\n * Extracts borders size from provided styles.\r\n *\r\n * @param {CSSStyleDeclaration} styles\r\n * @param {...string} positions - Borders positions (top, right, ...)\r\n * @returns {number}\r\n */\r\nfunction getBordersSize(styles) {\r\n    var positions = [];\r\n    for (var _i = 1; _i < arguments.length; _i++) {\r\n        positions[_i - 1] = arguments[_i];\r\n    }\r\n    return positions.reduce(function (size, position) {\r\n        var value = styles['border-' + position + '-width'];\r\n        return size + toFloat(value);\r\n    }, 0);\r\n}\r\n/**\r\n * Extracts paddings sizes from provided styles.\r\n *\r\n * @param {CSSStyleDeclaration} styles\r\n * @returns {Object} Paddings box.\r\n */\r\nfunction getPaddings(styles) {\r\n    var positions = ['top', 'right', 'bottom', 'left'];\r\n    var paddings = {};\r\n    for (var _i = 0, positions_1 = positions; _i < positions_1.length; _i++) {\r\n        var position = positions_1[_i];\r\n        var value = styles['padding-' + position];\r\n        paddings[position] = toFloat(value);\r\n    }\r\n    return paddings;\r\n}\r\n/**\r\n * Calculates content rectangle of provided SVG element.\r\n *\r\n * @param {SVGGraphicsElement} target - Element content rectangle of which needs\r\n *      to be calculated.\r\n * @returns {DOMRectInit}\r\n */\r\nfunction getSVGContentRect(target) {\r\n    var bbox = target.getBBox();\r\n    return createRectInit(0, 0, bbox.width, bbox.height);\r\n}\r\n/**\r\n * Calculates content rectangle of provided HTMLElement.\r\n *\r\n * @param {HTMLElement} target - Element for which to calculate the content rectangle.\r\n * @returns {DOMRectInit}\r\n */\r\nfunction getHTMLElementContentRect(target) {\r\n    // Client width & height properties can't be\r\n    // used exclusively as they provide rounded values.\r\n    var clientWidth = target.clientWidth, clientHeight = target.clientHeight;\r\n    // By this condition we can catch all non-replaced inline, hidden and\r\n    // detached elements. Though elements with width & height properties less\r\n    // than 0.5 will be discarded as well.\r\n    //\r\n    // Without it we would need to implement separate methods for each of\r\n    // those cases and it's not possible to perform a precise and performance\r\n    // effective test for hidden elements. E.g. even jQuery's ':visible' filter\r\n    // gives wrong results for elements with width & height less than 0.5.\r\n    if (!clientWidth && !clientHeight) {\r\n        return emptyRect;\r\n    }\r\n    var styles = getWindowOf(target).getComputedStyle(target);\r\n    var paddings = getPaddings(styles);\r\n    var horizPad = paddings.left + paddings.right;\r\n    var vertPad = paddings.top + paddings.bottom;\r\n    // Computed styles of width & height are being used because they are the\r\n    // only dimensions available to JS that contain non-rounded values. It could\r\n    // be possible to utilize the getBoundingClientRect if only it's data wasn't\r\n    // affected by CSS transformations let alone paddings, borders and scroll bars.\r\n    var width = toFloat(styles.width), height = toFloat(styles.height);\r\n    // Width & height include paddings and borders when the 'border-box' box\r\n    // model is applied (except for IE).\r\n    if (styles.boxSizing === 'border-box') {\r\n        // Following conditions are required to handle Internet Explorer which\r\n        // doesn't include paddings and borders to computed CSS dimensions.\r\n        //\r\n        // We can say that if CSS dimensions + paddings are equal to the \"client\"\r\n        // properties then it's either IE, and thus we don't need to subtract\r\n        // anything, or an element merely doesn't have paddings/borders styles.\r\n        if (Math.round(width + horizPad) !== clientWidth) {\r\n            width -= getBordersSize(styles, 'left', 'right') + horizPad;\r\n        }\r\n        if (Math.round(height + vertPad) !== clientHeight) {\r\n            height -= getBordersSize(styles, 'top', 'bottom') + vertPad;\r\n        }\r\n    }\r\n    // Following steps can't be applied to the document's root element as its\r\n    // client[Width/Height] properties represent viewport area of the window.\r\n    // Besides, it's as well not necessary as the <html> itself neither has\r\n    // rendered scroll bars nor it can be clipped.\r\n    if (!isDocumentElement(target)) {\r\n        // In some browsers (only in Firefox, actually) CSS width & height\r\n        // include scroll bars size which can be removed at this step as scroll\r\n        // bars are the only difference between rounded dimensions + paddings\r\n        // and \"client\" properties, though that is not always true in Chrome.\r\n        var vertScrollbar = Math.round(width + horizPad) - clientWidth;\r\n        var horizScrollbar = Math.round(height + vertPad) - clientHeight;\r\n        // Chrome has a rather weird rounding of \"client\" properties.\r\n        // E.g. for an element with content width of 314.2px it sometimes gives\r\n        // the client width of 315px and for the width of 314.7px it may give\r\n        // 314px. And it doesn't happen all the time. So just ignore this delta\r\n        // as a non-relevant.\r\n        if (Math.abs(vertScrollbar) !== 1) {\r\n            width -= vertScrollbar;\r\n        }\r\n        if (Math.abs(horizScrollbar) !== 1) {\r\n            height -= horizScrollbar;\r\n        }\r\n    }\r\n    return createRectInit(paddings.left, paddings.top, width, height);\r\n}\r\n/**\r\n * Checks whether provided element is an instance of the SVGGraphicsElement.\r\n *\r\n * @param {Element} target - Element to be checked.\r\n * @returns {boolean}\r\n */\r\nvar isSVGGraphicsElement = (function () {\r\n    // Some browsers, namely IE and Edge, don't have the SVGGraphicsElement\r\n    // interface.\r\n    if (typeof SVGGraphicsElement !== 'undefined') {\r\n        return function (target) { return target instanceof getWindowOf(target).SVGGraphicsElement; };\r\n    }\r\n    // If it's so, then check that element is at least an instance of the\r\n    // SVGElement and that it has the \"getBBox\" method.\r\n    // eslint-disable-next-line no-extra-parens\r\n    return function (target) { return (target instanceof getWindowOf(target).SVGElement &&\r\n        typeof target.getBBox === 'function'); };\r\n})();\r\n/**\r\n * Checks whether provided element is a document element (<html>).\r\n *\r\n * @param {Element} target - Element to be checked.\r\n * @returns {boolean}\r\n */\r\nfunction isDocumentElement(target) {\r\n    return target === getWindowOf(target).document.documentElement;\r\n}\r\n/**\r\n * Calculates an appropriate content rectangle for provided html or svg element.\r\n *\r\n * @param {Element} target - Element content rectangle of which needs to be calculated.\r\n * @returns {DOMRectInit}\r\n */\r\nfunction getContentRect(target) {\r\n    if (!isBrowser) {\r\n        return emptyRect;\r\n    }\r\n    if (isSVGGraphicsElement(target)) {\r\n        return getSVGContentRect(target);\r\n    }\r\n    return getHTMLElementContentRect(target);\r\n}\r\n/**\r\n * Creates rectangle with an interface of the DOMRectReadOnly.\r\n * Spec: https://drafts.fxtf.org/geometry/#domrectreadonly\r\n *\r\n * @param {DOMRectInit} rectInit - Object with rectangle's x/y coordinates and dimensions.\r\n * @returns {DOMRectReadOnly}\r\n */\r\nfunction createReadOnlyRect(_a) {\r\n    var x = _a.x, y = _a.y, width = _a.width, height = _a.height;\r\n    // If DOMRectReadOnly is available use it as a prototype for the rectangle.\r\n    var Constr = typeof DOMRectReadOnly !== 'undefined' ? DOMRectReadOnly : Object;\r\n    var rect = Object.create(Constr.prototype);\r\n    // Rectangle's properties are not writable and non-enumerable.\r\n    defineConfigurable(rect, {\r\n        x: x, y: y, width: width, height: height,\r\n        top: y,\r\n        right: x + width,\r\n        bottom: height + y,\r\n        left: x\r\n    });\r\n    return rect;\r\n}\r\n/**\r\n * Creates DOMRectInit object based on the provided dimensions and the x/y coordinates.\r\n * Spec: https://drafts.fxtf.org/geometry/#dictdef-domrectinit\r\n *\r\n * @param {number} x - X coordinate.\r\n * @param {number} y - Y coordinate.\r\n * @param {number} width - Rectangle's width.\r\n * @param {number} height - Rectangle's height.\r\n * @returns {DOMRectInit}\r\n */\r\nfunction createRectInit(x, y, width, height) {\r\n    return { x: x, y: y, width: width, height: height };\r\n}\n\n/**\r\n * Class that is responsible for computations of the content rectangle of\r\n * provided DOM element and for keeping track of it's changes.\r\n */\r\nvar ResizeObservation = /** @class */ (function () {\r\n    /**\r\n     * Creates an instance of ResizeObservation.\r\n     *\r\n     * @param {Element} target - Element to be observed.\r\n     */\r\n    function ResizeObservation(target) {\r\n        /**\r\n         * Broadcasted width of content rectangle.\r\n         *\r\n         * @type {number}\r\n         */\r\n        this.broadcastWidth = 0;\r\n        /**\r\n         * Broadcasted height of content rectangle.\r\n         *\r\n         * @type {number}\r\n         */\r\n        this.broadcastHeight = 0;\r\n        /**\r\n         * Reference to the last observed content rectangle.\r\n         *\r\n         * @private {DOMRectInit}\r\n         */\r\n        this.contentRect_ = createRectInit(0, 0, 0, 0);\r\n        this.target = target;\r\n    }\r\n    /**\r\n     * Updates content rectangle and tells whether it's width or height properties\r\n     * have changed since the last broadcast.\r\n     *\r\n     * @returns {boolean}\r\n     */\r\n    ResizeObservation.prototype.isActive = function () {\r\n        var rect = getContentRect(this.target);\r\n        this.contentRect_ = rect;\r\n        return (rect.width !== this.broadcastWidth ||\r\n            rect.height !== this.broadcastHeight);\r\n    };\r\n    /**\r\n     * Updates 'broadcastWidth' and 'broadcastHeight' properties with a data\r\n     * from the corresponding properties of the last observed content rectangle.\r\n     *\r\n     * @returns {DOMRectInit} Last observed content rectangle.\r\n     */\r\n    ResizeObservation.prototype.broadcastRect = function () {\r\n        var rect = this.contentRect_;\r\n        this.broadcastWidth = rect.width;\r\n        this.broadcastHeight = rect.height;\r\n        return rect;\r\n    };\r\n    return ResizeObservation;\r\n}());\n\nvar ResizeObserverEntry = /** @class */ (function () {\r\n    /**\r\n     * Creates an instance of ResizeObserverEntry.\r\n     *\r\n     * @param {Element} target - Element that is being observed.\r\n     * @param {DOMRectInit} rectInit - Data of the element's content rectangle.\r\n     */\r\n    function ResizeObserverEntry(target, rectInit) {\r\n        var contentRect = createReadOnlyRect(rectInit);\r\n        // According to the specification following properties are not writable\r\n        // and are also not enumerable in the native implementation.\r\n        //\r\n        // Property accessors are not being used as they'd require to define a\r\n        // private WeakMap storage which may cause memory leaks in browsers that\r\n        // don't support this type of collections.\r\n        defineConfigurable(this, { target: target, contentRect: contentRect });\r\n    }\r\n    return ResizeObserverEntry;\r\n}());\n\nvar ResizeObserverSPI = /** @class */ (function () {\r\n    /**\r\n     * Creates a new instance of ResizeObserver.\r\n     *\r\n     * @param {ResizeObserverCallback} callback - Callback function that is invoked\r\n     *      when one of the observed elements changes it's content dimensions.\r\n     * @param {ResizeObserverController} controller - Controller instance which\r\n     *      is responsible for the updates of observer.\r\n     * @param {ResizeObserver} callbackCtx - Reference to the public\r\n     *      ResizeObserver instance which will be passed to callback function.\r\n     */\r\n    function ResizeObserverSPI(callback, controller, callbackCtx) {\r\n        /**\r\n         * Collection of resize observations that have detected changes in dimensions\r\n         * of elements.\r\n         *\r\n         * @private {Array<ResizeObservation>}\r\n         */\r\n        this.activeObservations_ = [];\r\n        /**\r\n         * Registry of the ResizeObservation instances.\r\n         *\r\n         * @private {Map<Element, ResizeObservation>}\r\n         */\r\n        this.observations_ = new MapShim();\r\n        if (typeof callback !== 'function') {\r\n            throw new TypeError('The callback provided as parameter 1 is not a function.');\r\n        }\r\n        this.callback_ = callback;\r\n        this.controller_ = controller;\r\n        this.callbackCtx_ = callbackCtx;\r\n    }\r\n    /**\r\n     * Starts observing provided element.\r\n     *\r\n     * @param {Element} target - Element to be observed.\r\n     * @returns {void}\r\n     */\r\n    ResizeObserverSPI.prototype.observe = function (target) {\r\n        if (!arguments.length) {\r\n            throw new TypeError('1 argument required, but only 0 present.');\r\n        }\r\n        // Do nothing if current environment doesn't have the Element interface.\r\n        if (typeof Element === 'undefined' || !(Element instanceof Object)) {\r\n            return;\r\n        }\r\n        if (!(target instanceof getWindowOf(target).Element)) {\r\n            throw new TypeError('parameter 1 is not of type \"Element\".');\r\n        }\r\n        var observations = this.observations_;\r\n        // Do nothing if element is already being observed.\r\n        if (observations.has(target)) {\r\n            return;\r\n        }\r\n        observations.set(target, new ResizeObservation(target));\r\n        this.controller_.addObserver(this);\r\n        // Force the update of observations.\r\n        this.controller_.refresh();\r\n    };\r\n    /**\r\n     * Stops observing provided element.\r\n     *\r\n     * @param {Element} target - Element to stop observing.\r\n     * @returns {void}\r\n     */\r\n    ResizeObserverSPI.prototype.unobserve = function (target) {\r\n        if (!arguments.length) {\r\n            throw new TypeError('1 argument required, but only 0 present.');\r\n        }\r\n        // Do nothing if current environment doesn't have the Element interface.\r\n        if (typeof Element === 'undefined' || !(Element instanceof Object)) {\r\n            return;\r\n        }\r\n        if (!(target instanceof getWindowOf(target).Element)) {\r\n            throw new TypeError('parameter 1 is not of type \"Element\".');\r\n        }\r\n        var observations = this.observations_;\r\n        // Do nothing if element is not being observed.\r\n        if (!observations.has(target)) {\r\n            return;\r\n        }\r\n        observations.delete(target);\r\n        if (!observations.size) {\r\n            this.controller_.removeObserver(this);\r\n        }\r\n    };\r\n    /**\r\n     * Stops observing all elements.\r\n     *\r\n     * @returns {void}\r\n     */\r\n    ResizeObserverSPI.prototype.disconnect = function () {\r\n        this.clearActive();\r\n        this.observations_.clear();\r\n        this.controller_.removeObserver(this);\r\n    };\r\n    /**\r\n     * Collects observation instances the associated element of which has changed\r\n     * it's content rectangle.\r\n     *\r\n     * @returns {void}\r\n     */\r\n    ResizeObserverSPI.prototype.gatherActive = function () {\r\n        var _this = this;\r\n        this.clearActive();\r\n        this.observations_.forEach(function (observation) {\r\n            if (observation.isActive()) {\r\n                _this.activeObservations_.push(observation);\r\n            }\r\n        });\r\n    };\r\n    /**\r\n     * Invokes initial callback function with a list of ResizeObserverEntry\r\n     * instances collected from active resize observations.\r\n     *\r\n     * @returns {void}\r\n     */\r\n    ResizeObserverSPI.prototype.broadcastActive = function () {\r\n        // Do nothing if observer doesn't have active observations.\r\n        if (!this.hasActive()) {\r\n            return;\r\n        }\r\n        var ctx = this.callbackCtx_;\r\n        // Create ResizeObserverEntry instance for every active observation.\r\n        var entries = this.activeObservations_.map(function (observation) {\r\n            return new ResizeObserverEntry(observation.target, observation.broadcastRect());\r\n        });\r\n        this.callback_.call(ctx, entries, ctx);\r\n        this.clearActive();\r\n    };\r\n    /**\r\n     * Clears the collection of active observations.\r\n     *\r\n     * @returns {void}\r\n     */\r\n    ResizeObserverSPI.prototype.clearActive = function () {\r\n        this.activeObservations_.splice(0);\r\n    };\r\n    /**\r\n     * Tells whether observer has active observations.\r\n     *\r\n     * @returns {boolean}\r\n     */\r\n    ResizeObserverSPI.prototype.hasActive = function () {\r\n        return this.activeObservations_.length > 0;\r\n    };\r\n    return ResizeObserverSPI;\r\n}());\n\n// Registry of internal observers. If WeakMap is not available use current shim\r\n// for the Map collection as it has all required methods and because WeakMap\r\n// can't be fully polyfilled anyway.\r\nvar observers = typeof WeakMap !== 'undefined' ? new WeakMap() : new MapShim();\r\n/**\r\n * ResizeObserver API. Encapsulates the ResizeObserver SPI implementation\r\n * exposing only those methods and properties that are defined in the spec.\r\n */\r\nvar ResizeObserver = /** @class */ (function () {\r\n    /**\r\n     * Creates a new instance of ResizeObserver.\r\n     *\r\n     * @param {ResizeObserverCallback} callback - Callback that is invoked when\r\n     *      dimensions of the observed elements change.\r\n     */\r\n    function ResizeObserver(callback) {\r\n        if (!(this instanceof ResizeObserver)) {\r\n            throw new TypeError('Cannot call a class as a function.');\r\n        }\r\n        if (!arguments.length) {\r\n            throw new TypeError('1 argument required, but only 0 present.');\r\n        }\r\n        var controller = ResizeObserverController.getInstance();\r\n        var observer = new ResizeObserverSPI(callback, controller, this);\r\n        observers.set(this, observer);\r\n    }\r\n    return ResizeObserver;\r\n}());\r\n// Expose public methods of ResizeObserver.\r\n[\r\n    'observe',\r\n    'unobserve',\r\n    'disconnect'\r\n].forEach(function (method) {\r\n    ResizeObserver.prototype[method] = function () {\r\n        var _a;\r\n        return (_a = observers.get(this))[method].apply(_a, arguments);\r\n    };\r\n});\n\nvar index = (function () {\r\n    // Export existing implementation if available.\r\n    if (typeof global$1.ResizeObserver !== 'undefined') {\r\n        return global$1.ResizeObserver;\r\n    }\r\n    return ResizeObserver;\r\n})();\n\nexport default index;\n","/**\n * The Ease class provides a collection of easing functions for use with tween.js.\n */\nvar Easing = {\n    Linear: {\n        None: function (amount) {\n            return amount;\n        },\n    },\n    Quadratic: {\n        In: function (amount) {\n            return amount * amount;\n        },\n        Out: function (amount) {\n            return amount * (2 - amount);\n        },\n        InOut: function (amount) {\n            if ((amount *= 2) < 1) {\n                return 0.5 * amount * amount;\n            }\n            return -0.5 * (--amount * (amount - 2) - 1);\n        },\n    },\n    Cubic: {\n        In: function (amount) {\n            return amount * amount * amount;\n        },\n        Out: function (amount) {\n            return --amount * amount * amount + 1;\n        },\n        InOut: function (amount) {\n            if ((amount *= 2) < 1) {\n                return 0.5 * amount * amount * amount;\n            }\n            return 0.5 * ((amount -= 2) * amount * amount + 2);\n        },\n    },\n    Quartic: {\n        In: function (amount) {\n            return amount * amount * amount * amount;\n        },\n        Out: function (amount) {\n            return 1 - --amount * amount * amount * amount;\n        },\n        InOut: function (amount) {\n            if ((amount *= 2) < 1) {\n                return 0.5 * amount * amount * amount * amount;\n            }\n            return -0.5 * ((amount -= 2) * amount * amount * amount - 2);\n        },\n    },\n    Quintic: {\n        In: function (amount) {\n            return amount * amount * amount * amount * amount;\n        },\n        Out: function (amount) {\n            return --amount * amount * amount * amount * amount + 1;\n        },\n        InOut: function (amount) {\n            if ((amount *= 2) < 1) {\n                return 0.5 * amount * amount * amount * amount * amount;\n            }\n            return 0.5 * ((amount -= 2) * amount * amount * amount * amount + 2);\n        },\n    },\n    Sinusoidal: {\n        In: function (amount) {\n            return 1 - Math.cos((amount * Math.PI) / 2);\n        },\n        Out: function (amount) {\n            return Math.sin((amount * Math.PI) / 2);\n        },\n        InOut: function (amount) {\n            return 0.5 * (1 - Math.cos(Math.PI * amount));\n        },\n    },\n    Exponential: {\n        In: function (amount) {\n            return amount === 0 ? 0 : Math.pow(1024, amount - 1);\n        },\n        Out: function (amount) {\n            return amount === 1 ? 1 : 1 - Math.pow(2, -10 * amount);\n        },\n        InOut: function (amount) {\n            if (amount === 0) {\n                return 0;\n            }\n            if (amount === 1) {\n                return 1;\n            }\n            if ((amount *= 2) < 1) {\n                return 0.5 * Math.pow(1024, amount - 1);\n            }\n            return 0.5 * (-Math.pow(2, -10 * (amount - 1)) + 2);\n        },\n    },\n    Circular: {\n        In: function (amount) {\n            return 1 - Math.sqrt(1 - amount * amount);\n        },\n        Out: function (amount) {\n            return Math.sqrt(1 - --amount * amount);\n        },\n        InOut: function (amount) {\n            if ((amount *= 2) < 1) {\n                return -0.5 * (Math.sqrt(1 - amount * amount) - 1);\n            }\n            return 0.5 * (Math.sqrt(1 - (amount -= 2) * amount) + 1);\n        },\n    },\n    Elastic: {\n        In: function (amount) {\n            if (amount === 0) {\n                return 0;\n            }\n            if (amount === 1) {\n                return 1;\n            }\n            return -Math.pow(2, 10 * (amount - 1)) * Math.sin((amount - 1.1) * 5 * Math.PI);\n        },\n        Out: function (amount) {\n            if (amount === 0) {\n                return 0;\n            }\n            if (amount === 1) {\n                return 1;\n            }\n            return Math.pow(2, -10 * amount) * Math.sin((amount - 0.1) * 5 * Math.PI) + 1;\n        },\n        InOut: function (amount) {\n            if (amount === 0) {\n                return 0;\n            }\n            if (amount === 1) {\n                return 1;\n            }\n            amount *= 2;\n            if (amount < 1) {\n                return -0.5 * Math.pow(2, 10 * (amount - 1)) * Math.sin((amount - 1.1) * 5 * Math.PI);\n            }\n            return 0.5 * Math.pow(2, -10 * (amount - 1)) * Math.sin((amount - 1.1) * 5 * Math.PI) + 1;\n        },\n    },\n    Back: {\n        In: function (amount) {\n            var s = 1.70158;\n            return amount * amount * ((s + 1) * amount - s);\n        },\n        Out: function (amount) {\n            var s = 1.70158;\n            return --amount * amount * ((s + 1) * amount + s) + 1;\n        },\n        InOut: function (amount) {\n            var s = 1.70158 * 1.525;\n            if ((amount *= 2) < 1) {\n                return 0.5 * (amount * amount * ((s + 1) * amount - s));\n            }\n            return 0.5 * ((amount -= 2) * amount * ((s + 1) * amount + s) + 2);\n        },\n    },\n    Bounce: {\n        In: function (amount) {\n            return 1 - Easing.Bounce.Out(1 - amount);\n        },\n        Out: function (amount) {\n            if (amount < 1 / 2.75) {\n                return 7.5625 * amount * amount;\n            }\n            else if (amount < 2 / 2.75) {\n                return 7.5625 * (amount -= 1.5 / 2.75) * amount + 0.75;\n            }\n            else if (amount < 2.5 / 2.75) {\n                return 7.5625 * (amount -= 2.25 / 2.75) * amount + 0.9375;\n            }\n            else {\n                return 7.5625 * (amount -= 2.625 / 2.75) * amount + 0.984375;\n            }\n        },\n        InOut: function (amount) {\n            if (amount < 0.5) {\n                return Easing.Bounce.In(amount * 2) * 0.5;\n            }\n            return Easing.Bounce.Out(amount * 2 - 1) * 0.5 + 0.5;\n        },\n    },\n};\n\nvar now;\n// Include a performance.now polyfill.\n// In node.js, use process.hrtime.\n// eslint-disable-next-line\n// @ts-ignore\nif (typeof self === 'undefined' && typeof process !== 'undefined' && process.hrtime) {\n    now = function () {\n        // eslint-disable-next-line\n        // @ts-ignore\n        var time = process.hrtime();\n        // Convert [seconds, nanoseconds] to milliseconds.\n        return time[0] * 1000 + time[1] / 1000000;\n    };\n}\n// In a browser, use self.performance.now if it is available.\nelse if (typeof self !== 'undefined' && self.performance !== undefined && self.performance.now !== undefined) {\n    // This must be bound, because directly assigning this function\n    // leads to an invocation exception in Chrome.\n    now = self.performance.now.bind(self.performance);\n}\n// Use Date.now if it is available.\nelse if (Date.now !== undefined) {\n    now = Date.now;\n}\n// Otherwise, use 'new Date().getTime()'.\nelse {\n    now = function () {\n        return new Date().getTime();\n    };\n}\nvar now$1 = now;\n\n/**\n * Controlling groups of tweens\n *\n * Using the TWEEN singleton to manage your tweens can cause issues in large apps with many components.\n * In these cases, you may want to create your own smaller groups of tween\n */\nvar Group = /** @class */ (function () {\n    function Group() {\n        this._tweens = {};\n        this._tweensAddedDuringUpdate = {};\n    }\n    Group.prototype.getAll = function () {\n        var _this = this;\n        return Object.keys(this._tweens).map(function (tweenId) {\n            return _this._tweens[tweenId];\n        });\n    };\n    Group.prototype.removeAll = function () {\n        this._tweens = {};\n    };\n    Group.prototype.add = function (tween) {\n        this._tweens[tween.getId()] = tween;\n        this._tweensAddedDuringUpdate[tween.getId()] = tween;\n    };\n    Group.prototype.remove = function (tween) {\n        delete this._tweens[tween.getId()];\n        delete this._tweensAddedDuringUpdate[tween.getId()];\n    };\n    Group.prototype.update = function (time, preserve) {\n        if (time === void 0) { time = now$1(); }\n        if (preserve === void 0) { preserve = false; }\n        var tweenIds = Object.keys(this._tweens);\n        if (tweenIds.length === 0) {\n            return false;\n        }\n        // Tweens are updated in \"batches\". If you add a new tween during an\n        // update, then the new tween will be updated in the next batch.\n        // If you remove a tween during an update, it may or may not be updated.\n        // However, if the removed tween was added during the current batch,\n        // then it will not be updated.\n        while (tweenIds.length > 0) {\n            this._tweensAddedDuringUpdate = {};\n            for (var i = 0; i < tweenIds.length; i++) {\n                var tween = this._tweens[tweenIds[i]];\n                var autoStart = !preserve;\n                if (tween && tween.update(time, autoStart) === false && !preserve) {\n                    delete this._tweens[tweenIds[i]];\n                }\n            }\n            tweenIds = Object.keys(this._tweensAddedDuringUpdate);\n        }\n        return true;\n    };\n    return Group;\n}());\n\n/**\n *\n */\nvar Interpolation = {\n    Linear: function (v, k) {\n        var m = v.length - 1;\n        var f = m * k;\n        var i = Math.floor(f);\n        var fn = Interpolation.Utils.Linear;\n        if (k < 0) {\n            return fn(v[0], v[1], f);\n        }\n        if (k > 1) {\n            return fn(v[m], v[m - 1], m - f);\n        }\n        return fn(v[i], v[i + 1 > m ? m : i + 1], f - i);\n    },\n    Bezier: function (v, k) {\n        var b = 0;\n        var n = v.length - 1;\n        var pw = Math.pow;\n        var bn = Interpolation.Utils.Bernstein;\n        for (var i = 0; i <= n; i++) {\n            b += pw(1 - k, n - i) * pw(k, i) * v[i] * bn(n, i);\n        }\n        return b;\n    },\n    CatmullRom: function (v, k) {\n        var m = v.length - 1;\n        var f = m * k;\n        var i = Math.floor(f);\n        var fn = Interpolation.Utils.CatmullRom;\n        if (v[0] === v[m]) {\n            if (k < 0) {\n                i = Math.floor((f = m * (1 + k)));\n            }\n            return fn(v[(i - 1 + m) % m], v[i], v[(i + 1) % m], v[(i + 2) % m], f - i);\n        }\n        else {\n            if (k < 0) {\n                return v[0] - (fn(v[0], v[0], v[1], v[1], -f) - v[0]);\n            }\n            if (k > 1) {\n                return v[m] - (fn(v[m], v[m], v[m - 1], v[m - 1], f - m) - v[m]);\n            }\n            return fn(v[i ? i - 1 : 0], v[i], v[m < i + 1 ? m : i + 1], v[m < i + 2 ? m : i + 2], f - i);\n        }\n    },\n    Utils: {\n        Linear: function (p0, p1, t) {\n            return (p1 - p0) * t + p0;\n        },\n        Bernstein: function (n, i) {\n            var fc = Interpolation.Utils.Factorial;\n            return fc(n) / fc(i) / fc(n - i);\n        },\n        Factorial: (function () {\n            var a = [1];\n            return function (n) {\n                var s = 1;\n                if (a[n]) {\n                    return a[n];\n                }\n                for (var i = n; i > 1; i--) {\n                    s *= i;\n                }\n                a[n] = s;\n                return s;\n            };\n        })(),\n        CatmullRom: function (p0, p1, p2, p3, t) {\n            var v0 = (p2 - p0) * 0.5;\n            var v1 = (p3 - p1) * 0.5;\n            var t2 = t * t;\n            var t3 = t * t2;\n            return (2 * p1 - 2 * p2 + v0 + v1) * t3 + (-3 * p1 + 3 * p2 - 2 * v0 - v1) * t2 + v0 * t + p1;\n        },\n    },\n};\n\n/**\n * Utils\n */\nvar Sequence = /** @class */ (function () {\n    function Sequence() {\n    }\n    Sequence.nextId = function () {\n        return Sequence._nextId++;\n    };\n    Sequence._nextId = 0;\n    return Sequence;\n}());\n\nvar mainGroup = new Group();\n\n/**\n * Tween.js - Licensed under the MIT license\n * https://github.com/tweenjs/tween.js\n * ----------------------------------------------\n *\n * See https://github.com/tweenjs/tween.js/graphs/contributors for the full list of contributors.\n * Thank you all, you're awesome!\n */\nvar Tween = /** @class */ (function () {\n    function Tween(_object, _group) {\n        if (_group === void 0) { _group = mainGroup; }\n        this._object = _object;\n        this._group = _group;\n        this._isPaused = false;\n        this._pauseStart = 0;\n        this._valuesStart = {};\n        this._valuesEnd = {};\n        this._valuesStartRepeat = {};\n        this._duration = 1000;\n        this._initialRepeat = 0;\n        this._repeat = 0;\n        this._yoyo = false;\n        this._isPlaying = false;\n        this._reversed = false;\n        this._delayTime = 0;\n        this._startTime = 0;\n        this._easingFunction = Easing.Linear.None;\n        this._interpolationFunction = Interpolation.Linear;\n        this._chainedTweens = [];\n        this._onStartCallbackFired = false;\n        this._id = Sequence.nextId();\n        this._isChainStopped = false;\n        this._goToEnd = false;\n    }\n    Tween.prototype.getId = function () {\n        return this._id;\n    };\n    Tween.prototype.isPlaying = function () {\n        return this._isPlaying;\n    };\n    Tween.prototype.isPaused = function () {\n        return this._isPaused;\n    };\n    Tween.prototype.to = function (properties, duration) {\n        // TODO? restore this, then update the 07_dynamic_to example to set fox\n        // tween's to on each update. That way the behavior is opt-in (there's\n        // currently no opt-out).\n        // for (const prop in properties) this._valuesEnd[prop] = properties[prop]\n        this._valuesEnd = Object.create(properties);\n        if (duration !== undefined) {\n            this._duration = duration;\n        }\n        return this;\n    };\n    Tween.prototype.duration = function (d) {\n        this._duration = d;\n        return this;\n    };\n    Tween.prototype.start = function (time) {\n        if (this._isPlaying) {\n            return this;\n        }\n        // eslint-disable-next-line\n        this._group && this._group.add(this);\n        this._repeat = this._initialRepeat;\n        if (this._reversed) {\n            // If we were reversed (f.e. using the yoyo feature) then we need to\n            // flip the tween direction back to forward.\n            this._reversed = false;\n            for (var property in this._valuesStartRepeat) {\n                this._swapEndStartRepeatValues(property);\n                this._valuesStart[property] = this._valuesStartRepeat[property];\n            }\n        }\n        this._isPlaying = true;\n        this._isPaused = false;\n        this._onStartCallbackFired = false;\n        this._isChainStopped = false;\n        this._startTime = time !== undefined ? (typeof time === 'string' ? now$1() + parseFloat(time) : time) : now$1();\n        this._startTime += this._delayTime;\n        this._setupProperties(this._object, this._valuesStart, this._valuesEnd, this._valuesStartRepeat);\n        return this;\n    };\n    Tween.prototype._setupProperties = function (_object, _valuesStart, _valuesEnd, _valuesStartRepeat) {\n        for (var property in _valuesEnd) {\n            var startValue = _object[property];\n            var startValueIsArray = Array.isArray(startValue);\n            var propType = startValueIsArray ? 'array' : typeof startValue;\n            var isInterpolationList = !startValueIsArray && Array.isArray(_valuesEnd[property]);\n            // If `to()` specifies a property that doesn't exist in the source object,\n            // we should not set that property in the object\n            if (propType === 'undefined' || propType === 'function') {\n                continue;\n            }\n            // Check if an Array was provided as property value\n            if (isInterpolationList) {\n                var endValues = _valuesEnd[property];\n                if (endValues.length === 0) {\n                    continue;\n                }\n                // handle an array of relative values\n                endValues = endValues.map(this._handleRelativeValue.bind(this, startValue));\n                // Create a local copy of the Array with the start value at the front\n                _valuesEnd[property] = [startValue].concat(endValues);\n            }\n            // handle the deepness of the values\n            if ((propType === 'object' || startValueIsArray) && startValue && !isInterpolationList) {\n                _valuesStart[property] = startValueIsArray ? [] : {};\n                // eslint-disable-next-line\n                for (var prop in startValue) {\n                    // eslint-disable-next-line\n                    // @ts-ignore FIXME?\n                    _valuesStart[property][prop] = startValue[prop];\n                }\n                _valuesStartRepeat[property] = startValueIsArray ? [] : {}; // TODO? repeat nested values? And yoyo? And array values?\n                // eslint-disable-next-line\n                // @ts-ignore FIXME?\n                this._setupProperties(startValue, _valuesStart[property], _valuesEnd[property], _valuesStartRepeat[property]);\n            }\n            else {\n                // Save the starting value, but only once.\n                if (typeof _valuesStart[property] === 'undefined') {\n                    _valuesStart[property] = startValue;\n                }\n                if (!startValueIsArray) {\n                    // eslint-disable-next-line\n                    // @ts-ignore FIXME?\n                    _valuesStart[property] *= 1.0; // Ensures we're using numbers, not strings\n                }\n                if (isInterpolationList) {\n                    // eslint-disable-next-line\n                    // @ts-ignore FIXME?\n                    _valuesStartRepeat[property] = _valuesEnd[property].slice().reverse();\n                }\n                else {\n                    _valuesStartRepeat[property] = _valuesStart[property] || 0;\n                }\n            }\n        }\n    };\n    Tween.prototype.stop = function () {\n        if (!this._isChainStopped) {\n            this._isChainStopped = true;\n            this.stopChainedTweens();\n        }\n        if (!this._isPlaying) {\n            return this;\n        }\n        // eslint-disable-next-line\n        this._group && this._group.remove(this);\n        this._isPlaying = false;\n        this._isPaused = false;\n        if (this._onStopCallback) {\n            this._onStopCallback(this._object);\n        }\n        return this;\n    };\n    Tween.prototype.end = function () {\n        this._goToEnd = true;\n        this.update(Infinity);\n        return this;\n    };\n    Tween.prototype.pause = function (time) {\n        if (time === void 0) { time = now$1(); }\n        if (this._isPaused || !this._isPlaying) {\n            return this;\n        }\n        this._isPaused = true;\n        this._pauseStart = time;\n        // eslint-disable-next-line\n        this._group && this._group.remove(this);\n        return this;\n    };\n    Tween.prototype.resume = function (time) {\n        if (time === void 0) { time = now$1(); }\n        if (!this._isPaused || !this._isPlaying) {\n            return this;\n        }\n        this._isPaused = false;\n        this._startTime += time - this._pauseStart;\n        this._pauseStart = 0;\n        // eslint-disable-next-line\n        this._group && this._group.add(this);\n        return this;\n    };\n    Tween.prototype.stopChainedTweens = function () {\n        for (var i = 0, numChainedTweens = this._chainedTweens.length; i < numChainedTweens; i++) {\n            this._chainedTweens[i].stop();\n        }\n        return this;\n    };\n    Tween.prototype.group = function (group) {\n        this._group = group;\n        return this;\n    };\n    Tween.prototype.delay = function (amount) {\n        this._delayTime = amount;\n        return this;\n    };\n    Tween.prototype.repeat = function (times) {\n        this._initialRepeat = times;\n        this._repeat = times;\n        return this;\n    };\n    Tween.prototype.repeatDelay = function (amount) {\n        this._repeatDelayTime = amount;\n        return this;\n    };\n    Tween.prototype.yoyo = function (yoyo) {\n        this._yoyo = yoyo;\n        return this;\n    };\n    Tween.prototype.easing = function (easingFunction) {\n        this._easingFunction = easingFunction;\n        return this;\n    };\n    Tween.prototype.interpolation = function (interpolationFunction) {\n        this._interpolationFunction = interpolationFunction;\n        return this;\n    };\n    Tween.prototype.chain = function () {\n        var tweens = [];\n        for (var _i = 0; _i < arguments.length; _i++) {\n            tweens[_i] = arguments[_i];\n        }\n        this._chainedTweens = tweens;\n        return this;\n    };\n    Tween.prototype.onStart = function (callback) {\n        this._onStartCallback = callback;\n        return this;\n    };\n    Tween.prototype.onUpdate = function (callback) {\n        this._onUpdateCallback = callback;\n        return this;\n    };\n    Tween.prototype.onRepeat = function (callback) {\n        this._onRepeatCallback = callback;\n        return this;\n    };\n    Tween.prototype.onComplete = function (callback) {\n        this._onCompleteCallback = callback;\n        return this;\n    };\n    Tween.prototype.onStop = function (callback) {\n        this._onStopCallback = callback;\n        return this;\n    };\n    /**\n     * @returns true if the tween is still playing after the update, false\n     * otherwise (calling update on a paused tween still returns true because\n     * it is still playing, just paused).\n     */\n    Tween.prototype.update = function (time, autoStart) {\n        if (time === void 0) { time = now$1(); }\n        if (autoStart === void 0) { autoStart = true; }\n        if (this._isPaused)\n            return true;\n        var property;\n        var elapsed;\n        var endTime = this._startTime + this._duration;\n        if (!this._goToEnd && !this._isPlaying) {\n            if (time > endTime)\n                return false;\n            if (autoStart)\n                this.start(time);\n        }\n        this._goToEnd = false;\n        if (time < this._startTime) {\n            return true;\n        }\n        if (this._onStartCallbackFired === false) {\n            if (this._onStartCallback) {\n                this._onStartCallback(this._object);\n            }\n            this._onStartCallbackFired = true;\n        }\n        elapsed = (time - this._startTime) / this._duration;\n        elapsed = this._duration === 0 || elapsed > 1 ? 1 : elapsed;\n        var value = this._easingFunction(elapsed);\n        // properties transformations\n        this._updateProperties(this._object, this._valuesStart, this._valuesEnd, value);\n        if (this._onUpdateCallback) {\n            this._onUpdateCallback(this._object, elapsed);\n        }\n        if (elapsed === 1) {\n            if (this._repeat > 0) {\n                if (isFinite(this._repeat)) {\n                    this._repeat--;\n                }\n                // Reassign starting values, restart by making startTime = now\n                for (property in this._valuesStartRepeat) {\n                    if (!this._yoyo && typeof this._valuesEnd[property] === 'string') {\n                        this._valuesStartRepeat[property] =\n                            // eslint-disable-next-line\n                            // @ts-ignore FIXME?\n                            this._valuesStartRepeat[property] + parseFloat(this._valuesEnd[property]);\n                    }\n                    if (this._yoyo) {\n                        this._swapEndStartRepeatValues(property);\n                    }\n                    this._valuesStart[property] = this._valuesStartRepeat[property];\n                }\n                if (this._yoyo) {\n                    this._reversed = !this._reversed;\n                }\n                if (this._repeatDelayTime !== undefined) {\n                    this._startTime = time + this._repeatDelayTime;\n                }\n                else {\n                    this._startTime = time + this._delayTime;\n                }\n                if (this._onRepeatCallback) {\n                    this._onRepeatCallback(this._object);\n                }\n                return true;\n            }\n            else {\n                if (this._onCompleteCallback) {\n                    this._onCompleteCallback(this._object);\n                }\n                for (var i = 0, numChainedTweens = this._chainedTweens.length; i < numChainedTweens; i++) {\n                    // Make the chained tweens start exactly at the time they should,\n                    // even if the `update()` method was called way past the duration of the tween\n                    this._chainedTweens[i].start(this._startTime + this._duration);\n                }\n                this._isPlaying = false;\n                return false;\n            }\n        }\n        return true;\n    };\n    Tween.prototype._updateProperties = function (_object, _valuesStart, _valuesEnd, value) {\n        for (var property in _valuesEnd) {\n            // Don't update properties that do not exist in the source object\n            if (_valuesStart[property] === undefined) {\n                continue;\n            }\n            var start = _valuesStart[property] || 0;\n            var end = _valuesEnd[property];\n            var startIsArray = Array.isArray(_object[property]);\n            var endIsArray = Array.isArray(end);\n            var isInterpolationList = !startIsArray && endIsArray;\n            if (isInterpolationList) {\n                _object[property] = this._interpolationFunction(end, value);\n            }\n            else if (typeof end === 'object' && end) {\n                // eslint-disable-next-line\n                // @ts-ignore FIXME?\n                this._updateProperties(_object[property], start, end, value);\n            }\n            else {\n                // Parses relative end values with start as base (e.g.: +10, -3)\n                end = this._handleRelativeValue(start, end);\n                // Protect against non numeric properties.\n                if (typeof end === 'number') {\n                    // eslint-disable-next-line\n                    // @ts-ignore FIXME?\n                    _object[property] = start + (end - start) * value;\n                }\n            }\n        }\n    };\n    Tween.prototype._handleRelativeValue = function (start, end) {\n        if (typeof end !== 'string') {\n            return end;\n        }\n        if (end.charAt(0) === '+' || end.charAt(0) === '-') {\n            return start + parseFloat(end);\n        }\n        else {\n            return parseFloat(end);\n        }\n    };\n    Tween.prototype._swapEndStartRepeatValues = function (property) {\n        var tmp = this._valuesStartRepeat[property];\n        var endValue = this._valuesEnd[property];\n        if (typeof endValue === 'string') {\n            this._valuesStartRepeat[property] = this._valuesStartRepeat[property] + parseFloat(endValue);\n        }\n        else {\n            this._valuesStartRepeat[property] = this._valuesEnd[property];\n        }\n        this._valuesEnd[property] = tmp;\n    };\n    return Tween;\n}());\n\nvar VERSION = '18.6.4';\n\n/**\n * Tween.js - Licensed under the MIT license\n * https://github.com/tweenjs/tween.js\n * ----------------------------------------------\n *\n * See https://github.com/tweenjs/tween.js/graphs/contributors for the full list of contributors.\n * Thank you all, you're awesome!\n */\nvar nextId = Sequence.nextId;\n/**\n * Controlling groups of tweens\n *\n * Using the TWEEN singleton to manage your tweens can cause issues in large apps with many components.\n * In these cases, you may want to create your own smaller groups of tweens.\n */\nvar TWEEN = mainGroup;\n// This is the best way to export things in a way that's compatible with both ES\n// Modules and CommonJS, without build hacks, and so as not to break the\n// existing API.\n// https://github.com/rollup/rollup/issues/1961#issuecomment-423037881\nvar getAll = TWEEN.getAll.bind(TWEEN);\nvar removeAll = TWEEN.removeAll.bind(TWEEN);\nvar add = TWEEN.add.bind(TWEEN);\nvar remove = TWEEN.remove.bind(TWEEN);\nvar update = TWEEN.update.bind(TWEEN);\nvar exports = {\n    Easing: Easing,\n    Group: Group,\n    Interpolation: Interpolation,\n    now: now$1,\n    Sequence: Sequence,\n    nextId: nextId,\n    Tween: Tween,\n    VERSION: VERSION,\n    getAll: getAll,\n    removeAll: removeAll,\n    add: add,\n    remove: remove,\n    update: update,\n};\n\nexport default exports;\nexport { Easing, Group, Interpolation, Sequence, Tween, VERSION, add, getAll, nextId, now$1 as now, remove, removeAll, update };\n","import React, { ReactNode } from 'react';\nimport {\n    ButtonClick,\n    FadeProps,\n    IndicatorPropsType,\n    Responsive,\n    SlideProps,\n    TweenEasingFn,\n    ZoomProps,\n} from './types';\nimport { Easing } from '@tweenjs/tween.js';\n\nexport const getStartingIndex = (children: ReactNode, defaultIndex?: number): number => {\n    if (defaultIndex && defaultIndex < React.Children.count(children)) {\n        return defaultIndex;\n    }\n    return 0;\n};\n\nexport const getResponsiveSettings = (\n    wrapperWidth: number,\n    responsive?: Array<Responsive>\n): Responsive | undefined => {\n    if (typeof window !== 'undefined' && Array.isArray(responsive)) {\n        return responsive.find((each) => each.breakpoint <= wrapperWidth);\n    }\n    return;\n};\n\nconst EASING_METHODS: { [key: string]: TweenEasingFn } = {\n    linear: Easing.Linear.None,\n    ease: Easing.Quadratic.InOut,\n    'ease-in': Easing.Quadratic.In,\n    'ease-out': Easing.Quadratic.Out,\n    cubic: Easing.Cubic.InOut,\n    'cubic-in': Easing.Cubic.In,\n    'cubic-out': Easing.Cubic.Out,\n};\n\nexport const getEasing = (easeMethod?: string): TweenEasingFn => {\n    if (easeMethod) {\n        return EASING_METHODS[easeMethod];\n    }\n    return EASING_METHODS.linear;\n};\n\nexport const showPreviousArrow = (\n    { prevArrow, infinite }: FadeProps | SlideProps | ZoomProps,\n    currentIndex: number,\n    moveSlides: ButtonClick\n): ReactNode => {\n    const isDisabled = currentIndex <= 0 && !infinite;\n    const props = {\n        'data-type': 'prev',\n        'aria-label': 'Previous Slide',\n        disabled: isDisabled,\n        onClick: moveSlides,\n    };\n    if (prevArrow) {\n        return React.cloneElement(prevArrow, {\n            className: `${prevArrow.props.className || ''} nav ${isDisabled ? 'disabled' : ''}`,\n            ...props,\n        });\n    }\n    const className = `nav default-nav ${isDisabled ? 'disabled' : ''}`;\n    return (\n        <button type=\"button\" className={className} {...props}>\n            <svg width=\"24\" height=\"24\" viewBox=\"0 0 24 24\">\n                <path d=\"M16.67 0l2.83 2.829-9.339 9.175 9.339 9.167-2.83 2.829-12.17-11.996z\" />\n            </svg>\n        </button>\n    );\n};\n\nexport const showNextArrow = (\n    properties: FadeProps | SlideProps | ZoomProps,\n    currentIndex: number,\n    moveSlides: ButtonClick\n) => {\n    const { nextArrow, infinite, children } = properties;\n    let slidesToScroll = 1;\n    if ('slidesToScroll' in properties) {\n        slidesToScroll = properties.slidesToScroll || 1;\n    }\n    const isDisabled = currentIndex >= React.Children.count(children) - slidesToScroll && !infinite;\n    const props = {\n        'data-type': 'next',\n        'aria-label': 'Next Slide',\n        disabled: isDisabled,\n        onClick: moveSlides,\n    };\n    if (nextArrow) {\n        return React.cloneElement(nextArrow, {\n            className: `${nextArrow.props.className || ''} nav ${isDisabled ? 'disabled' : ''}`,\n            ...props,\n        });\n    }\n    const className = `nav default-nav ${isDisabled ? 'disabled' : ''}`;\n    return (\n        <button type=\"button\" className={className} {...props}>\n            <svg width=\"24\" height=\"24\" viewBox=\"0 0 24 24\">\n                <path d=\"M5 3l3.057-3 11.943 12-11.943 12-3.057-3 9-9z\" />\n            </svg>\n        </button>\n    );\n};\n\nconst showDefaultIndicator = (\n    isCurrentPageActive: boolean,\n    key: number,\n    indicatorProps: IndicatorPropsType\n) => {\n    return (\n        <li key={key}>\n            <button\n                type=\"button\"\n                className={`each-slideshow-indicator ${isCurrentPageActive ? 'active' : ''}`}\n                {...indicatorProps}\n            />\n        </li>\n    );\n};\n\nconst showCustomIndicator = (\n    isCurrentPageActive: boolean,\n    key: number,\n    indicatorProps: any,\n    eachIndicator: any\n) => {\n    return React.cloneElement(eachIndicator, {\n        className: `${eachIndicator.props.className} ${isCurrentPageActive ? 'active' : ''}`,\n        key,\n        ...indicatorProps,\n    });\n};\n\nexport const showIndicators = (\n    props: FadeProps | SlideProps | ZoomProps,\n    currentIndex: number,\n    navigate: ButtonClick,\n    responsiveSettings?: Responsive\n): ReactNode => {\n    const { children, indicators } = props;\n    let slidesToScroll = 1;\n    if (responsiveSettings) {\n        slidesToScroll = responsiveSettings?.settings.slidesToScroll;\n    } else if ('slidesToScroll' in props) {\n        slidesToScroll = props.slidesToScroll || 1;\n    }\n    const pages = Math.ceil(React.Children.count(children) / slidesToScroll);\n    return (\n        <ul className=\"indicators\">\n            {Array.from({ length: pages }, (_, key) => {\n                const indicatorProps: IndicatorPropsType = {\n                    'data-key': key,\n                    'aria-label': `Go to slide ${key + 1}`,\n                    onClick: navigate,\n                };\n                const isCurrentPageActive =\n                    Math.floor((currentIndex + slidesToScroll - 1) / slidesToScroll) === key;\n                if (typeof indicators === 'function') {\n                    return showCustomIndicator(\n                        isCurrentPageActive,\n                        key,\n                        indicatorProps,\n                        indicators(key)\n                    );\n                }\n                return showDefaultIndicator(isCurrentPageActive, key, indicatorProps);\n            })}\n        </ul>\n    );\n};\n","export const defaultProps = {\n  duration: 5000,\n  transitionDuration: 1000,\n  defaultIndex: 0,\n  infinite: true,\n  autoplay: true,\n  indicators: false,\n  arrows: true,\n  pauseOnHover: true,\n  easing: 'linear',\n  canSwipe: true,\n  cssClass: '',\n  responsive: [],\n};\n","import React, {\n    useState,\n    useRef,\n    useEffect,\n    useMemo,\n    useImperativeHandle,\n    useCallback,\n} from 'react';\nimport ResizeObserver from 'resize-observer-polyfill';\nimport { Group, Tween } from '@tweenjs/tween.js';\nimport {\n    getEasing,\n    getStartingIndex,\n    showIndicators,\n    showNextArrow,\n    showPreviousArrow,\n} from './helpers';\nimport { ButtonClick, SlideshowRef, ZoomProps } from './types';\nimport { defaultProps } from './props';\n\nexport const FadeZoom = React.forwardRef<SlideshowRef, ZoomProps>((props, ref) => {\n    const [index, setIndex] = useState<number>(\n        getStartingIndex(props.children, props.defaultIndex)\n    );\n    const wrapperRef = useRef<HTMLDivElement>(null);\n    const innerWrapperRef = useRef<any>(null);\n    const tweenGroup = useRef(new Group());\n    const timeout = useRef<NodeJS.Timeout>();\n    const resizeObserver = useRef<any>();\n    const childrenCount = useMemo(() => React.Children.count(props.children), [props.children]);\n\n    const applyStyle = useCallback(() => {\n        if (innerWrapperRef.current && wrapperRef.current) {\n            const wrapperWidth = wrapperRef.current.clientWidth;\n            const fullwidth = wrapperWidth * childrenCount;\n            innerWrapperRef.current.style.width = `${fullwidth}px`;\n            for (let index = 0; index < innerWrapperRef.current.children.length; index++) {\n                const eachDiv = innerWrapperRef.current.children[index];\n                if (eachDiv) {\n                    eachDiv.style.width = `${wrapperWidth}px`;\n                    eachDiv.style.left = `${index * -wrapperWidth}px`;\n                    eachDiv.style.display = `block`;\n                }\n            }\n        }\n    }, [wrapperRef, innerWrapperRef, childrenCount]);\n\n    const initResizeObserver = useCallback(() => {\n        if (wrapperRef.current) {\n            resizeObserver.current = new ResizeObserver((entries) => {\n                if (!entries) return;\n                applyStyle();\n            });\n            resizeObserver.current.observe(wrapperRef.current);\n        }\n    }, [wrapperRef, applyStyle]);\n\n    const play = useCallback(() => {\n        const { autoplay, children, duration, infinite } = props;\n        if (\n            autoplay &&\n            React.Children.count(children) > 1 &&\n            (infinite || index < React.Children.count(children) - 1)\n        ) {\n            timeout.current = setTimeout(moveNext, duration);\n        }\n        // eslint-disable-next-line react-hooks/exhaustive-deps\n    }, [props, index]);\n\n    useEffect(() => {\n        initResizeObserver();\n        return () => {\n            tweenGroup.current.removeAll();\n            clearTimeout(timeout.current);\n            removeResizeObserver();\n        };\n    }, [initResizeObserver, tweenGroup]);\n\n    useEffect(() => {\n        clearTimeout(timeout.current);\n        play();\n    }, [index, props.autoplay, play]);\n\n    useEffect(() => {\n        applyStyle();\n    }, [childrenCount, applyStyle]);\n\n    useImperativeHandle(ref, () => ({\n        goNext: () => {\n            moveNext();\n        },\n        goBack: () => {\n            moveBack();\n        },\n        goTo: (index: number, options?: { skipTransition?: boolean }) => {\n            if (options?.skipTransition) {\n                setIndex(index);\n            } else {\n                moveTo(index);\n            }\n        },\n    }));\n\n    const removeResizeObserver = () => {\n        if (resizeObserver.current && wrapperRef.current) {\n            resizeObserver.current.unobserve(wrapperRef.current);\n        }\n    };\n\n    const pauseSlides = () => {\n        if (props.pauseOnHover) {\n            clearTimeout(timeout.current);\n        }\n    };\n\n    const startSlides = () => {\n        const { pauseOnHover, autoplay, duration } = props;\n        if (pauseOnHover && autoplay) {\n            timeout.current = setTimeout(() => moveNext(), duration);\n        }\n    };\n\n    const moveNext = () => {\n        const { children, infinite } = props;\n        if (!infinite && index === React.Children.count(children) - 1) {\n            return;\n        }\n        transitionSlide((index + 1) % React.Children.count(children));\n    };\n\n    const moveBack = () => {\n        const { children, infinite } = props;\n        if (!infinite && index === 0) {\n            return;\n        }\n        transitionSlide(index === 0 ? React.Children.count(children) - 1 : index - 1);\n    };\n\n    const preTransition: ButtonClick = (event) => {\n        const { currentTarget } = event;\n        if (currentTarget.dataset.type === 'prev') {\n            moveBack();\n        } else {\n            moveNext();\n        }\n    };\n\n    const animate = () => {\n        requestAnimationFrame(animate);\n        tweenGroup.current.update();\n    };\n\n    const transitionSlide = (newIndex: number) => {\n        const existingTweens = tweenGroup.current.getAll();\n        if (!existingTweens.length) {\n            if (!innerWrapperRef.current?.children[newIndex]) {\n                newIndex = 0;\n            }\n            clearTimeout(timeout.current);\n            const value = { opacity: 0, scale: 1 };\n\n            animate();\n\n            const tween = new Tween(value, tweenGroup.current)\n                .to({ opacity: 1, scale: props.scale }, props.transitionDuration)\n                .onUpdate((value) => {\n                    if (!innerWrapperRef.current) {\n                        return;\n                    }\n                    innerWrapperRef.current.children[newIndex].style.opacity = value.opacity;\n                    innerWrapperRef.current.children[index].style.opacity = 1 - value.opacity;\n                    innerWrapperRef.current.children[\n                        index\n                    ].style.transform = `scale(${value.scale})`;\n                });\n            tween.easing(getEasing(props.easing));\n            tween.onStart(() => {\n                if (typeof props.onStartChange === 'function') {\n                    props.onStartChange(index, newIndex);\n                }\n            });\n            tween.onComplete(() => {\n                if (innerWrapperRef.current) {\n                    setIndex(newIndex);\n                    innerWrapperRef.current.children[index].style.transform = `scale(1)`;\n                }\n                if (typeof props.onChange === 'function') {\n                    props.onChange(index, newIndex);\n                }\n            });\n            tween.start();\n        }\n    };\n\n    const moveTo = (gotoIndex: number) => {\n        if (gotoIndex !== index) {\n            transitionSlide(gotoIndex);\n        }\n    };\n\n    const navigate: ButtonClick = (event) => {\n        const { currentTarget } = event;\n        if (!currentTarget.dataset.key) {\n            return;\n        }\n        if (parseInt(currentTarget.dataset.key) !== index) {\n            moveTo(parseInt(currentTarget.dataset.key));\n        }\n    };\n\n    return (\n        <div dir=\"ltr\" aria-roledescription=\"carousel\">\n            <div\n                className={`react-slideshow-container ${props.cssClass || ''}`}\n                onMouseEnter={pauseSlides}\n                onMouseOver={pauseSlides}\n                onMouseLeave={startSlides}\n            >\n                {props.arrows && showPreviousArrow(props, index, preTransition)}\n                <div\n                    className={`react-slideshow-fadezoom-wrapper ${props.cssClass}`}\n                    ref={wrapperRef}\n                >\n                    <div className=\"react-slideshow-fadezoom-images-wrap\" ref={innerWrapperRef}>\n                        {(React.Children.map(props.children, (thisArg) => thisArg) || []).map(\n                            (each, key) => (\n                                <div\n                                    style={{\n                                        opacity: key === index ? '1' : '0',\n                                        zIndex: key === index ? '1' : '0',\n                                    }}\n                                    data-index={key}\n                                    key={key}\n                                    aria-roledescription=\"slide\"\n                                    aria-hidden={key === index ? 'false' : 'true'}\n                                >\n                                    {each}\n                                </div>\n                            )\n                        )}\n                    </div>\n                </div>\n                {props.arrows && showNextArrow(props, index, preTransition)}\n            </div>\n            {props.indicators && showIndicators(props, index, navigate)}\n        </div>\n    );\n});\n\nFadeZoom.defaultProps = defaultProps;\n","import React from 'react';\nimport { FadeZoom } from './fadezoom';\nimport { defaultProps } from './props';\nimport { FadeProps, SlideshowRef } from './types';\n\nexport const Fade = React.forwardRef<SlideshowRef, FadeProps>((props, ref) => {\n    return <FadeZoom {...props} scale={1} ref={ref} />;\n});\n\nFade.defaultProps = defaultProps;\n","import React from 'react';\nimport { FadeZoom } from './fadezoom';\nimport { defaultProps } from './props';\nimport { SlideshowRef, ZoomProps } from './types';\n\nexport const Zoom = React.forwardRef<SlideshowRef, ZoomProps>((props, ref) => {\n    return <FadeZoom {...props} ref={ref} />;\n});\n\nZoom.defaultProps = defaultProps;\n","import React, {\n    useState,\n    useRef,\n    useEffect,\n    useMemo,\n    useImperativeHandle,\n    useCallback,\n} from 'react';\nimport ResizeObserver from 'resize-observer-polyfill';\nimport { Group, Tween } from '@tweenjs/tween.js';\nimport {\n    getEasing,\n    getResponsiveSettings,\n    getStartingIndex,\n    showIndicators,\n    showNextArrow,\n    showPreviousArrow,\n} from './helpers';\nimport { ButtonClick, SlideshowRef, SlideProps } from './types';\nimport { defaultProps } from './props';\n\nexport const Slide = React.forwardRef<SlideshowRef, SlideProps>((props, ref) => {\n    const [index, setIndex] = useState(getStartingIndex(props.children, props.defaultIndex));\n    const [wrapperWidth, setWrapperWidth] = useState<number>(0);\n    const wrapperRef = useRef<HTMLDivElement>(null);\n    const innerWrapperRef = useRef<any>(null);\n    const tweenGroup = useRef(new Group());\n    const responsiveSettings = useMemo(\n        () => getResponsiveSettings(wrapperWidth, props.responsive),\n        [wrapperWidth, props.responsive]\n    );\n    const slidesToScroll = useMemo(() => {\n        if (responsiveSettings) {\n            return responsiveSettings.settings.slidesToScroll;\n        }\n        return props.slidesToScroll || 1;\n    }, [responsiveSettings, props.slidesToScroll]);\n    const slidesToShow = useMemo(() => {\n        if (responsiveSettings) {\n            return responsiveSettings.settings.slidesToShow;\n        }\n        return props.slidesToShow || 1;\n    }, [responsiveSettings, props.slidesToShow]);\n    const childrenCount = useMemo(() => React.Children.count(props.children), [props.children]);\n    const eachChildWidth = useMemo(() => wrapperWidth / slidesToShow, [wrapperWidth, slidesToShow]);\n    const timeout = useRef<NodeJS.Timeout>();\n    const resizeObserver = useRef<any>();\n    let startingClientX: number;\n    let dragging: boolean = false;\n    let distanceSwiped: number = 0;\n\n    const applyStyle = useCallback(() => {\n        if (innerWrapperRef.current) {\n            const fullwidth = wrapperWidth * innerWrapperRef.current.children.length;\n            innerWrapperRef.current.style.width = `${fullwidth}px`;\n            for (let index = 0; index < innerWrapperRef.current.children.length; index++) {\n                const eachDiv = innerWrapperRef.current.children[index];\n                if (eachDiv) {\n                    eachDiv.style.width = `${eachChildWidth}px`;\n                    eachDiv.style.display = `block`;\n                }\n            }\n        }\n    }, [wrapperWidth, eachChildWidth]);\n\n    const initResizeObserver = useCallback(() => {\n        if (wrapperRef.current) {\n            resizeObserver.current = new ResizeObserver((entries) => {\n                if (!entries) return;\n                setWidth();\n            });\n            resizeObserver.current.observe(wrapperRef.current);\n        }\n    }, [wrapperRef]);\n\n    const play = useCallback(() => {\n        const { autoplay, infinite, duration } = props;\n        if (autoplay && (infinite || index < childrenCount - 1)) {\n            timeout.current = setTimeout(moveNext, duration);\n        }\n        // eslint-disable-next-line react-hooks/exhaustive-deps\n    }, [props, childrenCount, index]);\n\n    useEffect(() => {\n        applyStyle();\n    }, [wrapperWidth, applyStyle]);\n\n    useEffect(() => {\n        initResizeObserver();\n        return () => {\n            tweenGroup.current.removeAll();\n            clearTimeout(timeout.current);\n            removeResizeObserver();\n        };\n    }, [wrapperRef, initResizeObserver, tweenGroup]);\n\n    useEffect(() => {\n        clearTimeout(timeout.current);\n        play();\n    }, [index, wrapperWidth, props.autoplay, play]);\n\n    useImperativeHandle(ref, () => ({\n        goNext: () => {\n            moveNext();\n        },\n        goBack: () => {\n            moveBack();\n        },\n        goTo: (index: number, options?: { skipTransition?: boolean }) => {\n            if (options?.skipTransition) {\n                setIndex(index);\n            } else {\n                moveTo(index);\n            }\n        },\n    }));\n\n    const removeResizeObserver = () => {\n        if (resizeObserver && wrapperRef.current) {\n            resizeObserver.current.unobserve(wrapperRef.current);\n        }\n    };\n\n    const pauseSlides = () => {\n        if (props.pauseOnHover) {\n            clearTimeout(timeout.current);\n        }\n    };\n\n    const swipe = (event: React.MouseEvent | React.TouchEvent) => {\n        if (props.canSwipe && dragging) {\n            let clientX;\n            if (window.TouchEvent && event.nativeEvent instanceof TouchEvent) {\n                clientX = event.nativeEvent.touches[0].pageX;\n            } else if (event.nativeEvent instanceof MouseEvent) {\n                clientX = event.nativeEvent.clientX;\n            }\n            if (clientX && startingClientX) {\n                let translateValue = eachChildWidth * (index + getOffset());\n                const distance = clientX - startingClientX;\n                if (!props.infinite && index === childrenCount - slidesToScroll && distance < 0) {\n                    // if it is the last and infinite is false and you're swiping left\n                    // then nothing happens\n                    return;\n                }\n                if (!props.infinite && index === 0 && distance > 0) {\n                    // if it is the first and infinite is false and you're swiping right\n                    // then nothing happens\n                    return;\n                }\n                distanceSwiped = distance;\n                translateValue -= distanceSwiped;\n                innerWrapperRef.current.style.transform = `translate(-${translateValue}px)`;\n            }\n        }\n    };\n\n    const moveNext = () => {\n        if (!props.infinite && index === childrenCount - slidesToScroll) {\n            return;\n        }\n        const nextIndex = calculateIndex(index + slidesToScroll);\n        transitionSlide(nextIndex);\n    };\n\n    const moveBack = () => {\n        if (!props.infinite && index === 0) {\n            return;\n        }\n        let previousIndex = index - slidesToScroll;\n        if (previousIndex % slidesToScroll) {\n            previousIndex = Math.ceil(previousIndex / slidesToScroll) * slidesToScroll;\n        }\n        transitionSlide(previousIndex);\n    };\n\n    const goToSlide: ButtonClick = ({ currentTarget }) => {\n        if (!currentTarget.dataset.key) {\n            return;\n        }\n        const datasetKey = parseInt(currentTarget.dataset.key);\n        moveTo(datasetKey * slidesToScroll);\n    };\n\n    const moveTo = (index: number) => {\n        transitionSlide(calculateIndex(index));\n    };\n\n    const calculateIndex = (nextIndex: number): number => {\n        if (nextIndex < childrenCount && nextIndex + slidesToScroll > childrenCount) {\n            if ((childrenCount - slidesToScroll) % slidesToScroll) {\n                return childrenCount - slidesToScroll;\n            }\n            return nextIndex;\n        }\n        return nextIndex;\n    };\n\n    const startSlides = () => {\n        if (dragging) {\n            endSwipe();\n        } else if (props.pauseOnHover && props.autoplay) {\n            timeout.current = setTimeout(moveNext, props.duration);\n        }\n    };\n\n    const moveSlides: ButtonClick = ({ currentTarget: { dataset } }) => {\n        if (dataset.type === 'next') {\n            moveNext();\n        } else {\n            moveBack();\n        }\n    };\n\n    const renderPreceedingSlides = () => {\n        return React.Children.toArray(props.children)\n            .slice(-slidesToShow)\n            .map((each, index) => (\n                <div\n                    data-index={index - slidesToShow}\n                    aria-roledescription=\"slide\"\n                    aria-hidden=\"true\"\n                    key={index - slidesToShow}\n                >\n                    {each}\n                </div>\n            ));\n    };\n\n    const renderTrailingSlides = () => {\n        if (!props.infinite && slidesToShow === slidesToScroll) {\n            return;\n        }\n        return React.Children.toArray(props.children)\n            .slice(0, slidesToShow)\n            .map((each, index) => (\n                <div\n                    data-index={childrenCount + index}\n                    aria-roledescription=\"slide\"\n                    aria-hidden=\"true\"\n                    key={childrenCount + index}\n                >\n                    {each}\n                </div>\n            ));\n    };\n\n    const setWidth = () => {\n        if (wrapperRef.current) {\n            setWrapperWidth(wrapperRef.current.clientWidth);\n        }\n    };\n\n    const startSwipe = (event: React.MouseEvent | React.TouchEvent) => {\n        if (props.canSwipe) {\n            if (window.TouchEvent && event.nativeEvent instanceof TouchEvent) {\n                startingClientX = event.nativeEvent.touches[0].pageX;\n            } else if (event.nativeEvent instanceof MouseEvent) {\n                startingClientX = event.nativeEvent.clientX;\n            }\n            clearTimeout(timeout.current);\n            dragging = true;\n        }\n    };\n\n    const endSwipe = () => {\n        if (props.canSwipe) {\n            dragging = false;\n            if (Math.abs(distanceSwiped) / wrapperWidth > 0.2) {\n                if (distanceSwiped < 0) {\n                    moveNext();\n                } else {\n                    moveBack();\n                }\n            } else {\n                if (Math.abs(distanceSwiped) > 0) {\n                    transitionSlide(index, 300);\n                }\n            }\n        }\n    };\n\n    const animate = () => {\n        requestAnimationFrame(animate);\n        tweenGroup.current.update();\n    };\n\n    const transitionSlide = (toIndex: number, animationDuration?: number) => {\n        const transitionDuration = animationDuration || props.transitionDuration;\n        const currentIndex = index;\n        const existingTweens = tweenGroup.current.getAll();\n        if (!wrapperRef.current) {\n            return;\n        }\n        const childWidth = wrapperRef.current.clientWidth / slidesToShow;\n        if (!existingTweens.length) {\n            clearTimeout(timeout.current);\n            const value = {\n                margin: -childWidth * (currentIndex + getOffset()) + distanceSwiped,\n            };\n            const tween = new Tween(value, tweenGroup.current)\n                .to({ margin: -childWidth * (toIndex + getOffset()) }, transitionDuration)\n                .onUpdate((value) => {\n                    if (innerWrapperRef.current) {\n                        innerWrapperRef.current.style.transform = `translate(${value.margin}px)`;\n                    }\n                });\n            tween.easing(getEasing(props.easing));\n\n            animate();\n\n            let newIndex = toIndex;\n            if (newIndex < 0) {\n                newIndex = childrenCount - slidesToScroll;\n            } else if (newIndex >= childrenCount) {\n                newIndex = 0;\n            }\n\n            tween.onStart(() => {\n                if (typeof props.onStartChange === 'function') {\n                    props.onStartChange(index, newIndex);\n                }\n            });\n\n            tween.onComplete(() => {\n                distanceSwiped = 0;\n                if (typeof props.onChange === 'function') {\n                    props.onChange(index, newIndex);\n                }\n                setIndex(newIndex);\n            });\n\n            tween.start();\n        }\n    };\n\n    const isSlideActive = (key: number) => {\n        return key < index + slidesToShow && key >= index;\n    };\n\n    const getOffset = (): number => {\n        if (!props.infinite) {\n            return 0;\n        }\n        return slidesToShow;\n    };\n\n    const style = {\n        transform: `translate(-${(index + getOffset()) * eachChildWidth}px)`,\n    };\n    return (\n        <div dir=\"ltr\" aria-roledescription=\"carousel\">\n            <div\n                className=\"react-slideshow-container\"\n                onMouseEnter={pauseSlides}\n                onMouseOver={pauseSlides}\n                onMouseLeave={startSlides}\n                onMouseDown={startSwipe}\n                onMouseUp={endSwipe}\n                onMouseMove={swipe}\n                onTouchStart={startSwipe}\n                onTouchEnd={endSwipe}\n                onTouchCancel={endSwipe}\n                onTouchMove={swipe}\n            >\n                {props.arrows && showPreviousArrow(props, index, moveSlides)}\n                <div\n                    className={`react-slideshow-wrapper slide ${props.cssClass || ''}`}\n                    ref={wrapperRef}\n                >\n                    <div className=\"images-wrap\" style={style} ref={innerWrapperRef}>\n                        {props.infinite && renderPreceedingSlides()}\n                        {(React.Children.map(props.children, (thisArg) => thisArg) || []).map(\n                            (each, key) => {\n                                const isThisSlideActive = isSlideActive(key);\n                                return (\n                                    <div\n                                        data-index={key}\n                                        key={key}\n                                        className={isThisSlideActive ? 'active' : ''}\n                                        aria-roledescription=\"slide\"\n                                        aria-hidden={isThisSlideActive ? 'false' : 'true'}\n                                    >\n                                        {each}\n                                    </div>\n                                );\n                            }\n                        )}\n                        {renderTrailingSlides()}\n                    </div>\n                </div>\n                {props.arrows && showNextArrow(props, index, moveSlides)}\n            </div>\n            {props.indicators && showIndicators(props, index, goToSlide, responsiveSettings)}\n        </div>\n    );\n});\n\nSlide.defaultProps = defaultProps;\n","import React from \"react\";\nimport \"./../Homepage.css\";\nimport \"./weekly.css\";\n\nimport 'react-slideshow-image/dist/styles.css';\nimport { Slide } from 'react-slideshow-image';\n\nimport boatSvg from \"./../photos/vinyl-boat/boat-svg.webp\";\nimport redBoatSvg from \"./../photos/vinyl-boat/red-boat-svg.webp\";\nimport whiteBoatSvg from \"./../photos/vinyl-boat/white-boat-svg.webp\";\nimport redVinyl from \"./../photos/vinyl-boat/red-vinyl.webp\";\nimport whitevinyl from \"./../photos/vinyl-boat/white_vinyl.webp\";\nimport redCutout from \"./../photos/vinyl-boat/red-cutout.webp\";\nimport whiteCutout from \"./../photos/vinyl-boat/white-cutout.webp\";\nimport bottle from \"./../photos/vinyl-boat/bottle.webp\";\nimport chamfer from \"./../photos/laser-snake/chamfer.webp\";\nimport constraints from \"./../photos/laser-snake/constraints.webp\";\nimport finalBody from \"./../photos/laser-snake/finalBody.webp\";\nimport finalBodyCAD from \"./../photos/laser-snake/finalBodyCAD.webp\";\nimport fullsnake from \"./../photos/laser-snake/fullsnake.webp\";\nimport headCAD from \"./../photos/laser-snake/headCAD.webp\";\nimport joint from \"./../photos/laser-snake/joint.webp\";\nimport jointBend from \"./../photos/laser-snake/jointBend.webp\";\nimport laser from \"./../photos/laser-snake/laser.webp\";\nimport loose from \"./../photos/laser-snake/loose.webp\";\nimport originalBody from \"./../photos/laser-snake/originalBody.webp\";\nimport sidebend from \"./../photos/laser-snake/sidebend.webp\";\nimport snakeHead from \"./../photos/laser-snake/snakeHead.webp\";\nimport snakeTail from \"./../photos/laser-snake/snakeTail.webp\";\nimport tailCAD from \"./../photos/laser-snake/tailCAD.webp\";\nimport upbend from \"./../photos/laser-snake/upbend.webp\";\nconst snakeSlide1 = [{image: finalBodyCAD, caption: \"CAD for the new body piece\"},\n                     {image: finalBody, caption: \"new body piece\"},\n                     {image: joint, caption: \"snug joint connection\"},\n                     {image: jointBend, caption: \"body piece flexing\"},\n                     {image: headCAD, caption: \"CAD for the snake head\"},\n                     {image: tailCAD, caption: \"CAD for the snake tail\"}];\nconst snakeSlide2 = [{image: laser, caption: \"Laser cutting all my pieces\"},\n                     {image: snakeHead, caption: \"snake head\"},\n                     {image: snakeTail, caption: \"snake tail\"},\n                     {image: fullsnake, caption: \"full snake assembly\"},\n                     {image: sidebend, caption: \"snake bending to the side\"},\n                     {image: upbend, caption: \"snake bending up\"}];\n\nconst Week2 = (props) => {\n    return (\n        <div className=\"HP-module\">\n        <div className=\"HP-subtitle\">Week 2</div>\n        <div className=\"HP-flex\">\n          <div className=\"HP-body HP-half\">\n            In the second week of the class we had several assignments. The first was to create this website (hi everybody). The next task was to get into the shop \n            for the first time and learn about vinyl cutting and laser cutting. I decided to attack the vinyl cutting first, since I had a sticker idea \n            in mind that I wanted to make for my water bottle. Keeping with my theme of boats, I set out to design and cut out a MIT sailboat. \n            I first worked on my 2D CAD skills to design a boat to my liking with Inkscape (pictured right). With my design complete, I needed to figure out how \n            to get my multi-color design out of the vinyl cutter. The first step I took was to create two new SVG files, one with just the red parts from the boat, \n            the other with the rest, which I'd color white. Now, with the two different parts of the boat mapped out, I loaded my SVG files one by one and \n            fed the right color vinyl into the cutter and made the parts of my boat. Here are some pictures of the vinyl after the print, both before and after removing \n            the excess vinyl around the cut.\n          </div>\n          <div className=\"HP-photoContent HP-half\">\n            <div className=\"HP-photoObject\">\n              <img src={boatSvg} className=\"HP-medPhoto\" />\n              <div className=\"HP-caption\">The initial boat sticker design</div>\n            </div>\n            <div className=\"HP-flex\">\n              <div className=\"HP-photoObject\">\n                <img src={redBoatSvg} className=\"HP-scalePhoto\" />\n                <div className=\"HP-caption\">The red part of the sticker</div>\n              </div>\n              <div className=\"HP-photoObject\">\n                <img src={whiteBoatSvg} className=\"HP-scalePhoto\" />\n                <div className=\"HP-caption\">The white part of the sticker</div>\n              </div>\n            </div>\n          </div>\n        </div>\n        <div className=\"HP-photoContainer\">\n          <div className=\"HP-photoObjectCenter\">\n            <img src={whitevinyl} className=\"HP-smallPhoto\" />\n          </div>\n          <div className=\"HP-photoObjectCenter\">\n            <img src={redVinyl} className=\"HP-smallPhoto\" />\n          </div>\n          <div className=\"HP-photoObjectCenter\">\n            <img src={whiteCutout} className=\"HP-smallPhoto\" />\n          </div>\n          <div className=\"HP-photoObjectCenter\">\n            <img src={redCutout} className=\"HP-smallPhoto\" />\n          </div>\n        </div>\n        <div className=\"HP-body\">\n          Once the sticker was printed out and the excess vinyl was removed, all that was left was putting the sticker where it belonged, on my water bottle. \n          I transferred the sticker to some transfer paper to make it easier to keep track of the orientation and spacing of all the small pieces, and I applied \n          first the white and then the red cutouts of my boat sticker. Here is the final result.\n        </div>\n        <div className=\"HP-photoContainer\">\n            <img src={bottle} className=\"HP-medPhoto\" />\n        </div>\n        <div className=\"HP-body\">\n          My next and final task for the week was to create a parametric design for a laser cut construction set that can be assembled in different ways. As I've \n          mentioned before, my CAD skills have a lot of room for improvement, so my goal for the project was to get a better understanding and more practice with \n          CAD sketches. In class we learned about the different types of joints that we could use for creating our pieces to fit together, and the most straightforward \n          of these pieces was the chamfer joint, a joint where the slot has a small bezel to get the parts lined up as they slide into place. Before I could start creating \n          my parts, however, our section as a group characterized some of the things about the laser cutter so we could appropriately cut. We determined through testing \n          on pieces of cardboard that the ideal settings to cut all the way through is 100% power, 15% speed, and 500 DPI. The laser also has a 0.11mm kerf and the joint clearance \n          in the test was 0.23\". For cutting only part way through the carboard for flexing, you can increase the speed to {\">\"} 25%. Equipped with my laser knowledge, \n          I began CADing. <br /> <br />\n        </div>\n        <div className=\"HP-flex\">\n          <div className=\"HP-body HP-half\">\n            For my project I decided to build a snake out of a head, tail, and multiple body pieces with joints on both ends that could be put together to form a body of \n            arbitrary length. Further, I wanted to score the body pieces so that the snake could bend, making it more interesting to play with than just a rigid cardboard \n            body. First I made an initial design of the body piece, with no scoring, just to get the chamfers designed and the length about right. I designed this piece \n            (and all my pieces for this project) using parametric design: constraints on parts of the sketch to allow me to change the whole sketch with just a number \n            or two on a spreadsheet. Once I was satisfied with the size of the body piece, I added in the score lines, initially four across the mid section of the piece. \n            To test this initial design, I decided to cut two of them and see what it looked like in my hands. It turned out that the joint size was too large, and the pieces \n            didn't fit snugly together. I also realized that the orientation of the cardboard mattered for my goals, as cutting the scores along the corregation didn't affect \n            the rigidity of the piece much at all, but scoring in parallel with the corregation allowed the piece to bend a bit, which is the ultimate goal for the snake.\n          </div>\n          <div className=\"HP-photoContent HP-half\">\n            <div className=\"HP-photoObject\">\n              <img src={chamfer} className=\"HP-smallPhotoVert\" />\n              <div className=\"HP-caption\">The first design of the chamfer body piece</div>\n            </div>\n            <div className=\"HP-photoObject\">\n              <img src={constraints} className=\"HP-smallPhotoVert\" />\n              <div className=\"HP-caption\">The body piece with constraints visible</div>\n            </div>\n          </div>\n        </div>\n        <div className=\"HP-photoContainer\">\n          <div className=\"HP-photoObjectCenter\">\n            <img src={originalBody} className=\"HP-smallPhoto\" />\n          </div>\n          <div className=\"HP-photoObjectCenter\">\n            <img src={loose} className=\"HP-smallPhoto\" />\n          </div>\n        </div>\n        <div className=\"HP-body\">\n          With this new information I went back to the drawing board and designed new pieces to test in the laser cutter. I used measuerments from my first failed test to realize \n          that my dimensions in FreeCAD, while proportional to the ones cut, were not the same, so I measured the oversized joint and used the proportion of free space to cardboard \n          to determine a new slot width for my joint. Additionally I designed a head and a tail for my snake, and added more scores to the body pieces for better flexibility.\n           I then printed two more of the body pieces, and to my joy they came together snugly with a good fit. Below are some images of my designs on the CAD and the printed pieces.\n        </div>\n        <div className=\"HP-slide\">\n          <Slide>\n              {snakeSlide1.map((image) => <div className=\"HP-slideDiv\" key={image.caption}>\n                  <div className=\"HP-photoObject\">\n                    <img src={image.image} className=\"HP-slidePhoto\"/>\n                    <div className=\"HP-caption\">{image.caption}</div>\n                  </div>\n                </div>)}\n            </Slide>\n        </div>\n        <div className=\"HP-body\">\n          Finally, I printed all the pieces for my snake. Knowing what I know now, and with my new and improved CAD skills, with extra \n          time I would have loved to make pieces with different designs, shapes, and bends for the body so that the snake could be more interesting than a straight line, and I would \n          have added even more score lines to improve the flexibility even further, but I am happy that I was able to build the first version of my cardboard snake. \n          Here are some photos of the completed snake\n        </div>\n        <div className=\"HP-slide\">\n          <Slide>\n            {snakeSlide2.map((image) => <div className=\"HP-slideDiv\" key={image.caption}>\n                <div className=\"HP-photoObject\">\n                  <img src={image.image} className=\"HP-slidePhoto\"/>\n                  <div className=\"HP-caption\">{image.caption}</div>\n                </div>\n              </div>)}\n          </Slide>\n        </div>\n      </div>\n    )\n}\n\nexport default Week2;","import './Navbar.css';\nimport React, { useContext } from \"react\";\n\nfunction Navbar(props) {\n    return (\n    <>\n      <div className=\"Navbar-container\">\n          <a href={`/classes/863.23/EECS/people/Samuel/`} className=\"Navbar-link\">Home</a>\n          <div className=\"Navbar-link\" onClick={() => props.setMenu(!props.menu)}>Weekly Assignments</div>\n          <a href={`https://fab.cba.mit.edu/classes/863.23/EECS/people/Group/`} className=\"Navbar-link\">Group Assignments</a>\n          <div className=\"Navbar-link\" onClick={() => props.setPage('final')}>Final Project</div>\n      </div>\n      <div className=\"Navbar-spacer\"/>\n    </>\n  );\n}\n\nexport const Navmenu =  [{id: \"week1\", label: \"Week 1\"}, \n                        {id: \"week2\", label: \"Week 2\"},\n                        {id: \"week3\", label: \"Week 3\"},\n                        {id: \"week4\", label: \"Week 4\"},\n                        {id: \"week5\", label: \"Week 5\"},\n                        {id: \"week6\", label: \"Week 6\"},\n                        {id: 'week7', label: \"Week 7\"},\n                        {id: 'week8', label: \"Week 8\"},\n                        {id: 'week9', label: \"Week 9\"},\n                        {id: 'week10', label: \"Week 10\"},\n                        {id: 'week11', label: \"Week 11\"},\n                        {id: 'week12', label: \"Week 12\"},\n                        {id: 'week13', label: \"Week 13\"},\n                        {id: 'week14', label: \"Week 14\"}\n                      ];\n\nexport default Navbar;","import React from \"react\";\nimport \"./../Homepage.css\";\nimport \"./weekly.css\";\n\nimport 'react-slideshow-image/dist/styles.css';\nimport { Slide } from 'react-slideshow-image';\n\nimport API_endpoint from './../photos/electronic-programming/API_endpoint.webp';\nimport connection from './../photos/electronic-programming/connection.webp';\nimport esp32 from './../photos/electronic-programming/esp32.webp';\nimport example_code from './../photos/electronic-programming/example_code.webp';\nimport moved_permanently from './../photos/electronic-programming/moved_permanently.webp';\nimport multi_site from './../photos/electronic-programming/multi_site.webp';\nimport no_connection from './../photos/electronic-programming/no_connection.webp';\nimport status_codes from './../photos/electronic-programming/status_codes.webp';\nimport whoami from './../photos/electronic-programming/whoami.webp';\nimport cleopage from './../photos/electronic-programming/cleo-page.webp';\nimport esp32_pins from './../photos/electronic-programming/esp32_pins.webp';\nimport led_on from './../photos/electronic-programming/led_on.webp';\nimport led_off from './../photos/electronic-programming/led_off.webp';\nimport led_setup from './../photos/electronic-programming/led_setup.webp';\nimport led_loop from './../photos/electronic-programming/led_loop.webp';\nimport off_code from './../photos/electronic-programming/off_code.webp';\n\nconst codeSlide1 = [{image: no_connection, caption: \"Code and Serial messages with no connection\"},\n                     {image: status_codes, caption: \"WiFi status codes to debug connection\"},\n                     {image: connection, caption: \"Code and Serial messages once conneciton successful\"},\n                     {image: moved_permanently, caption: \"301 error code with HTTP header\"},\n                     {image: whoami, caption: \"Successful site ping after bug fixes\"},];\nconst codeSlide2 = [{image: esp32_pins, caption: \"ESP32 with soldered pins\"},\n                     {image: led_setup, caption: \"Setup code for LED operation\"},\n                     {image: led_loop, caption: \"Logic for turning LED on and off\"},\n                     {image: led_on, caption: \"LED on when site is live\"},\n                     {image: off_code, caption: \"Fake endpoint added to test unresponsive site\"},\n                     {image: led_off, caption: \"LED off when site is unresponsive\"}];\n\nconst Week3 = (props) => {\n    return (\n      <div className=\"HP-module\">\n        <div className=\"HP-subtitle\">Week 3</div>\n        <div className=\"HP-flex\">\n          <div className=\"HP-body HP-half\">\n            For my next project I've been tasked with programming a microcontroller to do <span style={{fontStyle:\"italic\"}}>something</span>. \n            After being given a list of possible microcontrollers to use and their respective pros and cons, I honed in on the ESP32-C3 XIAO board, \n            specificlly because of it's low barrier to entry and it's wifi capabilities. When we were introduced to our assignment, program a microcontroller \n            which we can communicate to over serial connection, I immediately thought of a small WiFi enabled task that would be very helpful in \n            my day to day life: a website checker! This would be fairly useless to most people, however I currently run a startup, and part of that \n            startup is a website. Occasionally, for various reasons, the website goes down, so I set out to program the microcontroller to ping my \n            website once a minute and tell me if it is up/down. So, with my motivation set, I gathered my board and a radio antenna for signal strength \n            and began looking through the datasheet to figure out how it operates.\n          </div>\n          <div className=\"HP-photoContent HP-half\">\n            <div className=\"HP-photoObject\">\n              <img src={cleopage} className=\"HP-medPhoto\" />\n              <div className=\"HP-caption\">My website for my company</div>\n            </div>\n            <div className=\"HP-photoObject\">\n              <img src={esp32} className=\"HP-medPhoto\"/>\n              <div className=\"HP-caption\">The esp32 with a radio antenna</div>\n            </div>\n          </div>\n        </div>\n        <div className=\"HP-body\">\n          The ESP32 datasheet outlined the inner functionality of the microcontroller, which is an incredibly complex and capable chip. With so many \n          features, it was important to comb through the datasheet for the important and relevant information, as reading the entire thing is infeasible \n          for a human. I learned about the memory types, usage, processor architecture, chip offerings, and more to allow me to understand where to begin \n          my development. My next step was to talk to the board over serial conection, which I decided to do in Arduino because of my familiarity with C \n          and the ease of use with the Arduino toolchain. I went into the Arduino library settings and added a library for ESP32 boards, which included our \n          ESP32-C3 XIAO board. Next, I burned the bootloader to the chip to allow communication and program upload, and finally \n          uploaded our provided \"hello.ino\" code and was happy to see it worked out of the box. I could now talk to the microcontroller!\n        </div>\n        <div className=\"HP-flex\">\n          <div className=\"HP-body HP-half\">\n            Now that I could upload programs and communicate over serial, it wa time to configure the WiFi for the microcontroller. Thankfully, Arduino comes \n            built in with many examples for using your device. I opened two of these programs: one demonstrated a simple WiFi connection, the other how to \n            make a http request over the WiFi once connected. I used this code as a starting point, and modified it to connect to my MIT WiFi and make a \n            GET request to my website, which would hopefully respond with a 200 status code if successful. I ran into a couple of bugs here. First I could \n            not get the WiFi to connect. I troubleshooted this by printing out the WiFi status code, an object build into the ESP32 WiFi.h module on Arduino. \n            This wasn't helpful at first, as it only responded in numbers, so I found the translation to what the codes meant online. This revealed that \n            the network wasn't being found, which led to me realizing I had spelled it wrong in my code (annoying strict-casing). Now that I could connect \n            to WiFi, I still could not reach my website. Instead I found a 301 status code, with the message that my site had moved permanently. This was \n            due to using HTTP instead of HTTPS, which was a simple fix once found. \n          </div>\n          <div className=\"HP-photoContent HP-half\">\n            <div className=\"HP-photoObject\">\n              <img src={example_code} className=\"HP-medPhoto\" />\n              <div className=\"HP-caption\">Example WiFi code from Arduino</div>\n            </div>\n          </div>\n        </div>\n        <Slide>\n          {codeSlide1.map((image) => <div className=\"HP-slideDiv\" key={image.caption}>\n              <div className=\"HP-photoObject\">\n                <img src={image.image} className=\"HP-slidePhotoLarge\"/>\n                <div className=\"HP-caption\">{image.caption}</div>\n              </div>\n            </div>)}\n        </Slide>\n        <div className=\"HP-flex\">\n          <div className=\"HP-photoContent HP-half\">\n            <div className=\"HP-photoObject\">\n              <img src={API_endpoint} className=\"HP-medPhoto\" style={{marginTop:\"20px\"}}/>\n              <div className=\"HP-caption\">New server API endpoint</div>\n            </div>\n            <div className=\"HP-photoObject\">\n              <img src={multi_site} className=\"HP-medPhoto\"/>\n              <div className=\"HP-caption\">Multiple sites being pinged by input</div>\n            </div>\n          </div>\n          <div className=\"HP-body HP-half\">\n            Now that I could successfully connect to my website, the next step was to create a dedicated way to do so. I went into my server codebase, written \n            in JavaScript, and added in a new API endpoint called \"status\" that would simply return a 200 status if the request made it to the server, a simple \n            and efficient way to ping the server and test if it is running. I added this new API endpoint to my server, and to the servers of two other sites \n            linked to my company, a testing site and a development site. I then modified my code to accept serial input to the microcontroller to allow me to \n            switch the site I was pinging based on the character entered. When a new site is chosen, the controller automatically pings the new site to check status. \n            If no new input is recieved, the controller will ping the server selected last once a minute to ensure continued uptime. A sample output of the switching site code can be seen below.\n          </div>\n        </div>\n        <div className=\"HP-body\">\n          <br/><br/>The final step in my site checker was to create a physical device that could display the status of the selected site, since I didn't want to be checking \n          a serial interface every minute for the status. If I wanted that I could just refresh my webpage every minute!. I set out to build a simple circuit \n          with a LED, which would be lit when the site is active, off when the site is unresponsive. I first soldered pins onto my ESP32 so that I could access \n          the GPIO pins to power the LED. Next, I built a siple circuit with a GPIO pin (Pin 2) connected to the positive lead of a LED, which is in series with \n          a 1k Ohm resistor to limit current, and finally connected back to the chip's ground. This circuit allows me to write a value to the GPIO pin to turn the \n          LED on or off depending on my logic. Using yet another Arduino ESP32 example, I figured out how to use the ESP32 to write to a LED and triggered the \n          changes of the pin to my site status. With the LED code integrated into my WiFi status program, I now had a small circuit that can sit on my desk and \n          let me know if my website is up or down.\n        </div>\n        <div style={{marginTop: \"40px\"}} />\n        <Slide>\n          {codeSlide2.map((image) => <div className=\"HP-slideDiv\" key={image.caption}>\n              <div className=\"HP-photoObject\">\n                <img src={image.image} className=\"HP-slidePhotoLarge\"/>\n                <div className=\"HP-caption\">{image.caption}</div>\n              </div>\n            </div>)}\n        </Slide>\n      </div>\n    )\n}\n\nexport default Week3;","import React, { useEffect, useState } from 'react';\nimport './SlideMenu.css';\n\nconst SlideMenu = (props) => {\n    const [load, setLoad] = useState(false);\n    useEffect(() => {\n        if(props.menu){\n            document.getElementById('slideMenu').style.transform = 'translateX(250px)';\n        }\n        else if (load){\n            document.getElementById('slideMenu').style.transform = 'translateX(-250px)';\n        }\n        setLoad(true);\n    },[props.menu])\n    return (\n        <div id='slideMenu' className=\"SM-container\">\n            <div className=\"SM-X\" onClick={() => props.setMenu(false)}>X</div>\n            <div className=\"SM-options\">\n                {props.navmenu.map((option) => (<div key={option.id} className=\"SM-option\" onClick={() => {props.setPage(option.id);props.setMenu(false)}}>\n                    {option.label}\n                </div>))} \n            </div>\n        </div>\n    )\n}\n\nexport default SlideMenu;","import './weekly.css';\nimport \"./../Homepage.css\";\nimport React, {useEffect, useState} from \"react\";\n\nimport linebot from './../photos/fp-cad/linebot.webp';\nimport linebotAngle from './../photos/fp-cad/linebotAngle.webp';\nimport linebotBottom from './../photos/fp-cad/linebotBottom.webp';\nimport linebotFront from './../photos/fp-cad/linebotFront.webp';\nimport linebotSide from './../photos/fp-cad/linebotSide.webp';\nimport week1circuit from './../photos/fp-cad/week1circuit.webp';\nimport week1pcb from './../photos/fp-cad/week1pcb.webp';\nimport week1top from './../photos/fp-cad/week1top.webp';\nimport week1side from './../photos/fp-cad/week1side.webp';\nimport wheelCAD from './../photos/fp-cad/wheelCAD.webp';\nimport IRCAD from './../photos/fp-cad/IRCAD.webp';\nimport microCAD from './../photos/fp-cad/microCAD.webp';\n\nimport badMount from \"./../photos/final/badMount.webp\";\nimport imuPrint from \"./../photos/final/imuPrint.webp\";\nimport newWeight from \"./../photos/final/newWeight.webp\";\nimport sw from \"./../photos/final/switch.webp\";\nimport body from \"./../photos/final/body.webp\";\nimport imuWarning from \"./../photos/final/imuWarning.webp\";\nimport noWeight from \"./../photos/final/noWeight.mp4\";\nimport topCut from \"./../photos/final/topCut.webp\";\nimport bottomGlue from \"./../photos/final/bottomGlue.webp\";\nimport mainBrd from \"./../photos/final/mainBrd.webp\";\nimport nose from \"./../photos/final/nose.webp\";\nimport topPlaced from \"./../photos/final/topPlaced.webp\";\nimport bottomPanel from \"./../photos/final/bottomPanel.webp\";\nimport mainSch from \"./../photos/final/mainSch.webp\";\nimport placedSwitch from \"./../photos/final/placedSwitch.webp\";\nimport wiring from \"./../photos/final/wiring.webp\";\nimport chassisCAD from \"./../photos/final/chassisCAD.webp\";\nimport milledBoard from \"./../photos/final/milledBoard.webp\";\nimport populated from \"./../photos/final/populated.webp\";\nimport withWeight from \"./../photos/final/withWeight.mp4\";\nimport connector from \"./../photos/final/connector.webp\";\nimport motorMount from \"./../photos/final/motorMount.webp\";\nimport rearWing from \"./../photos/final/rearWing.webp\";\nimport firstDrive from \"./../photos/final/firstDrive.mp4\";\nimport newJumper from \"./../photos/final/newJumper.webp\";\nimport rp2040pins from \"./../photos/final/rp2040pins.webp\";\nimport imuMount from \"./../photos/final/imuMount.webp\";\nimport newMount from \"./../photos/final/newMount.webp\";\nimport splitCAD from \"./../photos/final/splitCAD.webp\";\n\nimport finalController from \"./../code/final/final-controller.ino\";\nimport finalRp2040 from \"./../code/final/two-board-test-rp2040.ino\";\nimport wifiHelper from \"./../code/final/wifiHelper.h.txt\";\n\nimport chassisBase from \"./../models/final/chassis-base v2.f3d\";\nimport chassisTop from \"./../models/final/chassis-top v5.dxf\";\nimport chassis from \"./../models/final/chassis.f3d\";\nimport connectorSch from \"./../models/final/connector.sch\";\nimport connectorBrd from \"./../models/final/connector.brd\";\nimport masterBoardSch from \"./../models/final/master_board.sch\";\nimport masterBoardBrd from \"./../models/final/master_board.brd\";\nimport motorCircuitSch from \"./../models/final/Motor_Circuit.sch\";\nimport motorCircuitBrd from \"./../models/final/Motor_Circuit.brd\";\nimport usbcSch from \"./../models/final/USBC-breakout.sch\";\nimport usbcBrd from \"./../models/final/USBC-breakout.brd\";\n\nfunction Final(props) {\n  return (\n    <div className=\"HP-module\">\n      <div className=\"HP-subtitle\">Final Project - Robot Cart (with sensors)</div>\n      <div className=\"HP-body\">\n        The inspiration for this project came from one of my previous classes here at MIT where I built a line following robot. My initial goal for that project,\n        however, was to create a robot cart that could map it's surroundings using only sensors contained on the robot. This was too ambitious for that class, \n        so I looked to try again in a new class with more preparation and more resources. The goal for the project was to design, create, and assemble most of the \n        parts of the cart and the enclosed circuity, giving it a fun look, being able to control it wirelessly, and finally to collect data and build a map of the \n        room as it drives around. The main questions I looked to answer were what are the important considerations when trying to build a self-contained robot \n        car, as well as is it possible to accurately map a room with just acceleration and linear distance data around the cart. \n      </div>\n      <div className=\"HP-spacer\" />\n      <div className=\"HP-subtitle\">Previous Work</div>\n      <div className=\"HP-body\">\n        Through the first 13 weeks of the class I tested many of the subsystems used in this project. I used many of these processes in this project, and if you \n        would like to visit the pages describing in more detail parts of the project they can be found here: \n        <span onClick={() => props.changePage('week3')} className=\"weekly-pageLink\">Wifi on the ESP32-C3</span>,\n        <span onClick={() => props.changePage('week9')} className=\"weekly-pageLink\">VL53L1X distance sensors and ESP32-C3 webservers</span>,\n        <span onClick={() => props.changePage('week10')} className=\"weekly-pageLink\">brushless motor controller</span>, \n        <span onClick={() => props.changePage('week11')} className=\"weekly-pageLink\">connecting microcontrollers</span>, \n        <span onClick={() => props.changePage('week12')} className=\"weekly-pageLink\">building an interface</span>, and \n        <span onClick={() => props.changePage('week13')} className=\"weekly-pageLink\">fabricating a XIAO</span>\n      </div>\n      <div className=\"HP-spacer\" />\n      <div className=\"HP-body\" >\n        Throughout the whole project I used arduino for programming, and Fusion360 for CAD and electronic design. \n        All the schematics, CAD files, and code used in the project can be found at the bottom of the page. \n        Also, since there a lot of components used in this project, all of the datasheets can be found at the end of the final project decumentation. \n      </div>\n      <div className=\"HP-subtitle\">The Final Push</div>\n      <div className=\"HP-body\">\n        With a lot of the initial work done (above) to try out many of these components needed for the project, the goal for the final push was to \n        create a housing for the project and integrate all of the different functionalities, finally using the sensors to build up the map of the room. \n        I started by creating a new main controller board, based around the ESP32-C3, whose purpose is to host a webserver for recieving commands and displaying \n        data, communicate drive commands to the rp2040 motor controller circuit designed in week 13 (see above), and manage the two main sensors: the \n        VL53L1X distance sensor and an accelerometer. I also wanted the circuit to be able to power from a 9V battery, as that is the eventual power source for \n        the self contained cart. I initially wanted to use a buck-boost converter to control the 9V down to 3.3V with minimal power waste, however the \n        converters on hand could only handle inputs up to 6V, and the ESP32-C3 battery pins reccomend {\">\"}3.3V input, so I opted to use a 5V regulator instead. \n        With all of these parts in mind, I designed a schematic and routed a compact board to fulfill the functionality.\n      </div>\n      <div className=\"HP-photoContainer\">\n          <div className=\"HP-photoObject\">\n              <img src={mainSch} className=\"HP-largePhoto\"/>\n              <div className=\"HP-caption\">Controller Board Schematic</div>\n          </div>\n          <div className=\"HP-photoObject\">\n              <img src={mainBrd} className=\"HP-largePhoto\"/>\n              <div className=\"HP-caption\">Controller Board Footprint</div>\n          </div>\n      </div>\n      <div className=\"HP-photoContainer\">\n          <div className=\"HP-photoObject\">\n              <img src={milledBoard} className=\"HP-largePhoto\"/>\n              <div className=\"HP-caption\">Controller Board Milled</div>\n          </div>\n          <div className=\"HP-photoObject\">\n              <img src={populated} className=\"HP-largePhoto\"/>\n              <div className=\"HP-caption\">Controller Board Populated</div>\n          </div>\n      </div>\n      <div className=\"HP-body\">\n        I initially opted to place an ADXL343 3-axis accelerometer on the circuit to measure the change in position, planning on calculating the distance between \n        the accelerometer and the distance sensor to roughly esitmate movement. What I failed to remember when designing, however, is that the cart can turn, meaning \n        4 axes were needed to specify acceleration, not just x,y, and z. Realizing this, I opted to use a BNO085, a 9-axis IMU with onboard sensor fusion, a very \n        powerful sensor which could help tremendously with calculating the change in position of the car. Since the BNO085 was available in a breakout board, I \n        opted to keep the original board, ignoring the 3-axis IMU, and instead work with the BNO085 over I2C, which was already speced on the board for the VL53L1X.\n        There was one issue however: \n      </div>\n      <div className=\"HP-photoContainer\">\n          <div className=\"HP-photoObject\">\n              <img src={imuWarning} className=\"HP-largePhoto\"/>\n              <div className=\"HP-caption\">BNO085 Datasheet Warning</div>\n          </div>\n      </div>\n      <div className=\"HP-body\">\n        Since the pesky sensor didn't like to play nice over I2C with my board or the other sensor, I chose to istead interface with it over UART. The ESP32C3 comes \n        equipped with 3 hardware serial interfaces: 1 for USB serial (computer connection), and two more for chip interfacing. One of these interfaces was intended for \n        rp2040 communication, but the other was open for use with the IMU. I used two GPIO pins (9 and 10) not used by the board yet and soldered on a connector, allowing \n        a TX/RX connection to the IMU. The configure the IMU for serial communication instead of I2C one of the configuration pins (D1) also needed to be pulled high, \n        so I also designed a very tiny 5x2 connector for 5 3.3V pins and 5 GND pins for my sensors. \n      </div>\n      <div className=\"HP-photoContainer\">\n          <div className=\"HP-photoObject\">\n              <img src={newJumper} className=\"HP-largePhoto\"/>\n              <div className=\"HP-caption\">Controller Board With extra Connector</div>\n          </div>\n          <div className=\"HP-photoObject\">\n              <img src={connector} className=\"HP-largePhoto\"/>\n              <div className=\"HP-caption\">Power and Ground Connector</div>\n          </div>\n      </div>\n      <div className=\"HP-body\">\n        Plugging this all in, and using the library example code for the sensor, I got the BNO085 to print data to the serial console. I did, however, have to \n        unplug the interrupt pin from the ESP32 circuit, as with it plugged in the speed of the processor tanked significantly likely due to the frequency of \n        interrupts caused by the sensor. \n      </div>\n      <div className=\"HP-photoContainer\">\n          <div className=\"HP-photoObject\">\n              <img src={imuPrint} className=\"HP-largePhoto\"/>\n              <div className=\"HP-caption\">BNO085 Output</div>\n          </div>\n      </div>\n      <div className=\"HP-body\">\n        With the IMU reading successfully, the next task was to connect the rp2040 based motor controller board to the new board using another \n        serial port. An important note here is that while both using the <a href=\"https://www.arduino.cc/reference/en/language/functions/communication/serial/ \">Arduino Serial library</a>, \n        the programming for hardware serial on both boards \n        varies significantly. The ESP allows you to pass in pins to the Serial constructor to assign functionality, and any pin can be used, \n        while in the rp2040 the pins must be delared before, and only very specific pins can be used for each Serial interface. Using the wrong pins \n        will not cause a compiler error, but will cause the rp2040 to crash at runtime, which can be difficult to diagnose and recover. Also, as a sanity check, \n        connect board A's RX to board B's TX and vice versa, not RX-RX and TX-TX. I opted to use \n        pins 20 and 21, as while making my XIAO these were the most convenient to breakout: \n      </div>\n      <div className=\"HP-photoContainer\">\n          <div className=\"HP-photoObject\">\n              <img src={rp2040pins} className=\"HP-largePhoto\"/>\n              <div className=\"HP-caption\">RP2040 Pin Specification 20-21</div>\n          </div>\n      </div>\n      <div className=\"HP-body\">\n        With the two boards connected and sensors configured, it was time to make the chassis for the car. I am a big fan of F1, so I decided it would be fun to design \n        the car to look like an F1 car, to the best of my poor CAD ability. I designed the chassis around my board sizes, which I knew from their fabrication, as well as \n        two 9V batteries. I decided to give myself a lot of room inside the body of the car in case I needed more unforseen electronics, as well as hollowing out the nose \n        to allow wires to pass through it. These wires were needed to configure the sensors, which would sit on the front wing of the car, as well as the motors, which are \n        mounted on either side of the front wing. To fully drive the car, I planned on adding a castor wheen underneath to move the center of rotation when turning to \n        between the two front wheels, or right where the sensors are, to make the calculations easier for sensor fusion later. To this end, I added two fake back wheels to \n        complete the F1 car look as well as a rear wing. I also added small slots in the front wing to mount the motors through, using acrylic mounts I had leftover \n        from a previous project. I then split the model into 3 parts to fit onto the EDS printer beds (nose, body, and rear wing), making sure the \n        ground plane stayed flat for easy additive printing, and started the jobs. I printed the body section in black PLA on the Stratysys F120, and the nose and rear wing \n        on the Sindoh 3DWOX1 in red PLA. The nose also printed support inside to hold up the wire chamber, which was easily removed after the fact with tweezers. \n      </div>\n      <div className=\"HP-photoContainer\">\n          <div className=\"HP-photoObject\">\n              <img src={chassisCAD} className=\"HP-largePhoto\"/>\n              <div className=\"HP-caption\">Chassis assembly CAD</div>\n          </div>\n          <div className=\"HP-photoObject\">\n              <img src={splitCAD} className=\"HP-largePhoto\"/>\n              <div className=\"HP-caption\">Chassis Split into Two Trays</div>\n          </div>\n      </div>\n      <div className=\"HP-photoContainer\">\n          <div className=\"HP-photoObject\">\n              <img src={body} className=\"HP-largePhoto\"/>\n              <div className=\"HP-caption\">Printed body</div>\n          </div>\n          <div className=\"HP-photoObject\">\n              <img src={nose} className=\"HP-largePhoto\"/>\n              <div className=\"HP-caption\">Printed nose</div>\n          </div>\n      </div>\n      <div className=\"HP-body\">\n        With the parts printed, the next step was to attach the motors. The original acrylic pieces to mount the motors, however, were too short given the thickness \n        of the front wing. Luckily, this was an easy fix as I simply cut new ones out of acrylic on the laser cutter in EDS and mounted the motors.\n      </div>\n      <div className=\"HP-photoContainer\">\n          <div className=\"HP-photoObject\">\n              <img src={badMount} className=\"HP-largePhoto\"/>\n              <div className=\"HP-caption\">Original Motor Mounts</div>\n          </div>\n          <div className=\"HP-photoObject\">\n              <img src={newMount} className=\"HP-largePhoto\"/>\n              <div className=\"HP-caption\">New Motor Mounts</div>\n          </div>\n          <div className=\"HP-photoObject\">\n              <img src={motorMount} className=\"HP-largePhoto\"/>\n              <div className=\"HP-caption\">Mounted Motor</div>\n          </div>\n      </div>\n      <div className=\"HP-body\">\n        Next I added the third wheel to the body of the car so that it could fully stant. To add the wheel I first found a centered position in the tapered area of the \n        car and drilled 4 holes in the PLA for the mounting screws. I used standoffs to get the wheel to the right height and to allow the screws to screw in from both sides, \n        as threading PLA is not reasonable. Then, to combine the nose and the body together, I cut out a supporting piece of acrylic to serve as a floorboard for the two \n        pieces, in the shape of a T to increase connected surface area for the two pieces before superglueing them to each other at the joint as well as both pieces to the \n        floorboard. \n      </div>\n      <div className=\"HP-photoContainer\">\n          <div className=\"HP-photoObject\">\n              <img src={bottomPanel} className=\"HP-largePhoto\"/>\n              <div className=\"HP-caption\">Floorboard supporting piece</div>\n          </div>\n          <div className=\"HP-photoObject\">\n              <img src={bottomGlue} className=\"HP-largePhoto\"/>\n              <div className=\"HP-caption\">Nose and body glued together</div>\n          </div>\n      </div>\n      <div className=\"HP-body\">\n        I added another small piece of acrylic to the tapered area of the body on the inside to contain the two 9V batteries, and placed them inside the body. I also \n        placed the two main circuits inside, and connected them together so the car could drive. After connecting the serial lines between the two boards, both boards \n        to 9V power, and the rp2040 board to the motors, I was able to finally see my car drive!\n      </div>\n      <div className=\"HP-photoContainer\">\n          <div className=\"HP-photoObject\">\n              <video src={firstDrive} controls className=\"HP-video\"/>\n              <div className=\"HP-caption\">First Car Drive</div>\n          </div>\n      </div>\n      <div className=\"HP-body\">\n        Next, so that I didnt have to disconnect the batteries every time I wanted to drive the car, I decided to add a switch on the 9V power input. \n        I first soldered both 9V positive and GND terminals to the V+ and GND lines of the switch, respectively, and soldered an out power line and ground line. \n        I then drilled another, much larger, hole in the chassis to house the switch and used a bolt to hold it in place.  \n      </div>\n      <div className=\"HP-photoContainer\">\n          <div className=\"HP-photoObject\">\n              <img src={sw} className=\"HP-largePhoto\"/>\n              <div className=\"HP-caption\">Power switch wiring</div>\n          </div>\n          <div className=\"HP-photoObject\">\n              <img src={placedSwitch} className=\"HP-largePhoto\"/>\n              <div className=\"HP-caption\">Placed power switch</div>\n          </div>\n      </div>\n      <div className=\"HP-body\">\n        To continue with the drilling theme, I then decided to mount the sensors to the front wing of the car. I managed to fit all ~10 wires to control both \n        sensors through the nose of the car, and organized them into each IC. I laid all of the VL53L1X wires flat on the wing, and mounted the IMU above them, \n        making sure to center the sensor on the wing, by drilling holes in the wing and bolting the IMU to the wing using standoffs to allow the wiring to pass \n        beneath. \n      </div>\n      <div className=\"HP-photoContainer\">\n          <div className=\"HP-photoObject\">\n              <img src={imuMount} className=\"HP-largePhoto\"/>\n              <div className=\"HP-caption\">Mounted sensors on the wing</div>\n          </div>\n          <div className=\"HP-photoObject\">\n              <img src={wiring} className=\"HP-largePhoto\"/>\n              <div className=\"HP-caption\">Wiring in the body</div>\n          </div>\n      </div>\n      <div className=\"HP-body\">\n        After the wiring was done, I finished the chassis of the car by adding the rear wing of the car, again using superglue to lock it into place. \n      </div>\n      <div className=\"HP-photoContainer\">\n          <div className=\"HP-photoObject\">\n              <img src={rearWing} className=\"HP-largePhoto\"/>\n              <div className=\"HP-caption\">Car with rear wing</div>\n          </div>\n      </div>\n      <div className=\"HP-body\">\n        With the body of the car complete, it was time to fully enclose the car. I accomplished this by laser cutting another piece of acrylic to seal the body \n        cavity. I exported my body sketch from Fusion360, which gave me issues due to their spline format. To fix that, I found this <a href=\"https://apps.autodesk.com/FUSION/en/Detail/Index?id=4611814297957846949&appLang=en&os=Mac&autostart=true\">\n        nice fusion extension</a> to handle DXF conversions to fairly good curve quality. With the top cut out of tinted black acrylic (to match the red and black theme), \n        I mounted the acrylic to the body by drilling four holes in the corners of the chassis walls, and then added slightly smaller screws to the matching spots in \n        the acrylic, effectively forming four alignment pegs which can be slid in and out to place and remove the cover. Note, drilling through acrylic is prone to \n        cracking, however I found reasonable success even close to the edge with slow speeds, sharp bits, and even tapping the holes for screw threads at the end. \n      </div>\n      <div className=\"HP-photoContainer\">\n          <div className=\"HP-photoObject\">\n              <img src={topCut} className=\"HP-largePhoto\"/>\n              <div className=\"HP-caption\">Cutting the top panel</div>\n          </div>\n          <div className=\"HP-photoObject\">\n              <img src={topPlaced} className=\"HP-largePhoto\"/>\n              <div className=\"HP-caption\">Mounted top panel</div>\n          </div>\n      </div>\n      <div className=\"HP-body\">\n        Now that the car was fully assembled and driveable, it was time for some quality testing. First off, the motors produced a very healthy amount of torque, \n        more than enough for the considerably large and heavy car, and posed no concerns. The center of weight, however, was fairly far back, causing the front wheels, \n        while grippy, to slip aggressively when driving and ruin most of the forward effort provided by the motors. To fix this, I decided to weight the front of the car \n        aggressively, bringing the center of mass forward and increasing the normal force between the wheels and the ground so that the wheels would have more friction \n        and could move the car more effectively. To weight it, I found a block of roto281, a castable metal, lying around in about the right wieght and dimensions. \n        Instead of adding new holes to the chassis, I decided to make use of the BNO085 mounts and drilled holes in the weight to match the screw positions of the sensor, \n        tapping the holes, and finally removing the nuts on the BNO085 mount and instead securing them by screwing them into the metal weight. This actually turned \n        out to be a very effective weight, and the car could drive much more effectively. \n      </div>\n      <div className=\"HP-photoContainer\">\n          <div className=\"HP-photoObject\">\n              <img src={newWeight} className=\"HP-largePhoto\"/>\n              <div className=\"HP-caption\">Front wing with weight</div>\n          </div>\n      </div>\n      <div className=\"HP-photoObject\">\n          <video src={noWeight} controls className=\"HP-video\"/>\n          <div className=\"HP-caption\">Car drive without weight</div>\n      </div>\n      <div className=\"HP-photoObject\">\n          <video src={withWeight} controls className=\"HP-video\"/>\n          <div className=\"HP-caption\">Car drive with added weight</div>\n      </div>\n      <div className=\"HP-subtitle\">Ode to ESP32C3</div>\n      <div className=\"HP-body\">\n        Over the course of this project, specifically in this last week, I've had lots of time eaten up by the strage quirks and outright bugs of this \n        microcontroller. To spare you the time that I've wasted, I'll explain a few of them here and the (if known) fixes. Disclaimer, all of these issues are \n        with the Arduino ESP32C3 specification, at the time of writing this (12/18/23). The first issue deals with the USB Serial port. For whatever reason, \n        the Arduino board library defaults to turning off the \"USB CDC on Boot\" feature when you first open the board, which is responsible for opening the Serial \n        connection over USB to talk to the microcontroller. If you upload code which prints/recieves Serial commands you will not see it unless you turn this option on. \n        The bigger issue, however, arises if your program crashes at runtime with this option disabled. If you have the USB CDC turned off on Boot, and your program crashes, \n        you will be unable to flash new code to the microcontroller. When the program crashes, you have to put it into boot mode to become responsive (stop crashing), \n        however if the USB connection is turned off for boot, new code cannot be uploaded (you will see an error saying the controller is in the wrong boot mode). To fix this, \n        you can use the strapping pins to your advantage. Connect GPIO8 to 3.3V and GPIO 9 to GND, unplug the board and plug it back in, and now code will be able to be \n        uploaded. To re-enable the USB CDC, however, you have to upload code as described, unstrap the two pins, then reupload code one the controller (hopefully) \n        hasn't crashed with the option enabled in the tool menu.\n      </div>\n      <div className=\"HP-body\">\n        The next flat out bug in the ESP32C3 driver code comes from the I2C implementation. As documented extensively on this site, I've worked with the VL53L1X all semester.\n        That is why I was very surprised during integration when I plugged the sensor in and was unable to turn it on. I switched it to the development board featured in week 9,\n        uploaded the code from that week, and still no luck. I swapped the microcontroller again, swapped out the sensor, and rewired the circuit with extra  \n        resistors to pullup the I2C lines, and still no luck. I even tried a breadboard implementation connecting only 3.3V, GND, SDA, and SCL using the example code \n        given as part of the VL53L1X package, to no avail. Upon using the oscilloscope, it seemed like something was wrong with the SCL line. I was able to fix the code, \n        and discover the sensor by making two bizarre changes: first I explicity declared the I2C pins in the Wire() constructor, which were the defaults anyways, and I \n        explicitly set the SCL line as an output using pinMode(7, OUTPUT), which should be a no-op before intializing I2C. These two changes, however, made the code work. \n        What is strangest, however, is after it worked I was able to remove the changes and the code still worked. Moving this fix over to my main program, I found the same \n        behavior: code cannot find sensor, add in two changes, code can find sensor, remove changes, code can still find sensor. This pattern leads me to believe there is a \n        compiler error translating the Arduino code to the assembly for the ESP32-C3, but I am really not sure where that kind of undefined behaviour could arise. Anyways, \n        these two bugs caused me considerable headaches, so hopefully this can help you solve then faster than I did. \n      </div>\n      <div className=\"HP-subtitle\">Files, Code, and Datasheets</div>\n      <div className=\"HP-body\">\n        <a href=\"https://www.espressif.com/sites/default/files/documentation/esp32-c3_datasheet_en.pdf\">ESP32-C3</a><br/>\n        <a href=\"https://wiki.seeedstudio.com/XIAO_ESP32C3_Getting_Started/\">ESP32-C3 XIAO</a><br/>\n        <a href=\"https://datasheets.raspberrypi.com/rp2040/hardware-design-with-rp2040.pdf\">RP2040</a><br/>\n        <a href=\"https://cdn-learn.adafruit.com/downloads/pdf/adafruit-9-dof-orientation-imu-fusion-breakout-bno085.pdf\">BNO085 IMU</a><br/>\n        <a href=\"https://www.pololu.com/product-info-merged/3415\">VL53L1X TOF sensor</a><br/>\n        <a href=\"https://www.ti.com/lit/ds/symlink/drv8847.pdf?HQS=dis-dk-null-digikeymode-dsf-pf-null-wwe&ts=1702266677058\">DRV8847 Dual H-Bridge</a><br/>\n        <a href=\"https://www.analog.com/media/en/technical-documentation/data-sheets/ADXL343.pdf\">ADXL343 IMU</a><br/>\n        <br/>\n        <a href=\"https://wiki.seeedstudio.com/XIAO_ESP32C3_Pin_Multiplexing/\">ESP32C3 Serial</a><br/>\n        <br />\n        <a href={finalController} download=\"final-controller.ino\">ESP32C3 Code</a><br />\n        <a href={finalRp2040} download=\"final-rp2040.ino\">RP2040 Code</a><br />\n        <a href={wifiHelper} download=\"wifiHelper.h\">Wifi Server Code</a><br />\n        <br />\n        <a href={masterBoardSch} download=\"controller_board.sch\">Controller Board Schematic</a><br />\n        <a href={masterBoardBrd} download=\"controller_board.brd\">Controller Board Footprint</a><br />\n        <a href={motorCircuitSch} download=\"motor_circuit.sch\">Motor Board Schematic</a><br />\n        <a href={motorCircuitBrd} download=\"motor_circuit.brd\">Motor Board Footprint</a><br />\n        <a href={usbcSch} download=\"usbc.sch\">USB-C Breakout Schematic</a><br />\n        <a href={usbcBrd} download=\"usbc.brd\">USB-C Breakout Footprint</a><br />\n        <a href={connectorSch} download=\"connector.sch\">Connector Schematic</a><br />\n        <a href={connectorBrd} download=\"connector.brd\">Connector Footprint</a><br />\n        <br/>\n        <a href={chassis} download=\"chassis.f3d\">Chassis CAD</a><br />\n        <a href={chassisBase} download=\"chassis_base.f3d\">Chassis Base</a><br />\n        <a href={chassisTop} download=\"chassis_top.dxf\">Chassis Top DXF</a><br />\n      </div>\n      <div className=\"HP-spacer\" /><div className=\"HP-spacer\" />\n        <div className=\"HP-subtitle\">Final Project Ideas</div>\n        <div className=\"HP-flex\">\n          <div className=\"HP-body HP-half\">\n            During the first week of HTM(a)A we were tasked with designing something in CAD \n            software, specifically a potential final project idea. I have very linited experience with 2-D and \n            3-D CAD, so I emphasized learning different tools while I worked on my design. One of my favorite projects\n            I've done here at MIT was my final project for my microcontroller project labratory, which was a line-following robot\n            car. I loved building the project, but I never got it working quite as well as I would have liked, so for this project \n            I set out to design a better verion of the line robot as a potential project idea. <br /> <br />\n            The line-following robot functions using two photodiodes, one on each side of the front of the car, paired with \n            two LEDs to sense the line underneath it. Light is emitted by the LED, which bounces off of the ground (and the line),\n            and is reabsorbed by the photodiode. When a darker line is placed on a brighter surface, less light reflects off of the \n            line, so if one of the photodiodes absorbs more light than the other it means the line is no longer centered, and the \n            data can be used byu a microcontroller to determine how to turn the car. I started off by modeling this electrical circuit,\n            along with the motors needed to power the car, in the diagram below.\n          </div>\n          <div className=\"HP-photoContent HP-half\">\n            <div className=\"HP-photoObject\">\n              <img src={linebot} className=\"HP-medPhoto\" />\n              <div className=\"HP-caption\">My line-following robot from my previous class, and inspiration for this project</div>\n            </div>\n          </div>\n        </div>\n        <div className=\"HP-photoContainer\">\n          <img src={week1circuit} className=\"HP-largePhoto\"/>\n        </div>\n        <div className=\"HP-body\">\n          Next, now knowing what electrical components I needed to include in my design, I did a rough sketch of the layout of \n          these components, both on a fabricated PCB for housing the electrical components as well as a whole car design with \n          appropriate placement of the motors, wheels, and sensors.\n        </div>\n        <div className=\"HP-photoContainer\">\n          <img src={week1pcb} className=\"HP-largePhoto\"/>\n          <img src={week1top} className=\"HP-largePhoto\"/>\n          <img src={week1side} className=\"HP-largePhoto\"/>\n        </div>\n        <div className=\"HP-body\">\n          With my 2D inspiration for the new and improved robot car complete, I installed and configured FreeCAD to learn \n          how to model my design in three dimensions. I found my way around the different menus and tools using the demos \n          given to us and by experimenting on my own with the different capabilities of FreeCAD. One of the most useful \n          things in my design was the library of parts availiable to download and use on the internet. Using these importable \n          files I could add to my car things like microcontrollers, circuit components, and wheels without having to design \n          each part by hand. Some of the parts I used can be seen below: \n        </div>\n        <div className=\"HP-photoContainer\">\n          <img src={wheelCAD} className=\"HP-medPhoto\"/>\n          <img src={microCAD} className=\"HP-medPhoto\"/>\n          <img src={IRCAD} className=\"HP-medPhoto\"/>\n        </div>\n        <div className=\"HP-body\">\n          Putting together all of these parts along with several I made myself to house the components, I had build the first model \n          of the new and improved line-following robot car. The emphasis in the design was on maximizing component placement for \n          (planned) performance. To this end I made sure the body was small, with only 3 wheels so that it could turn very sharply. \n          Further, I placed the turning wheels as close to in line with the sensors at the front of the vehicle as possible, so that \n          when turning the sensors will stay over the line. I finally roughly modeled my PCB sketched above to be sat on top of the car \n          above the motors. I did not worry much about individual traces or wiring, as that would likely be done closer to fabrication of the \n          project. Finally, here are some renders of the final CAD drawing of my new and improved robot, enjoy!\n        </div>\n        <div className=\"HP-photoContainer\">\n          <img src={linebotAngle} className=\"HP-medPhoto\"/>\n          <img src={linebotBottom} className=\"HP-medPhoto\"/>\n          <img src={linebotFront} className=\"HP-medPhoto\"/>\n          <img src={linebotSide} className=\"HP-medPhoto\"/>\n        </div>\n        <div className=\"HP-spacer\" />\n        <div className=\"HP-subtitle\">New Ideas</div>\n        <div className=\"HP-body\">\n          Modify the lineBot design to scan a room using a LiDAR sensor or a TOF camera. Instead of following a line around a room make a \n          controllable robot cart that scans it's surroundings using a sensor/camera and map the distance to objects on a display for the user. \n          Ideally this map can build on itself as the robot navigates a room to build a 2D image of the room layout.\n        </div>\n        <div className=\"HP-spacer\" />\n        <div className=\"HP-spacer\" />\n    </div>\n  );\n}\n\nexport default Final;","import React from \"react\";\nimport \"./../Homepage.css\";\nimport \"./weekly.css\";\n\nimport 'react-slideshow-image/dist/styles.css';\nimport { Slide } from 'react-slideshow-image';\n\nimport model from \"./../models/ship_in_bottle.glb\";\nimport print_1_stl from \"./../models/ship_in_a_bottle.stl\";\nimport print_2_stl from \"./../models/ship_in_bottle_short.stl\";\n\nimport bottle_cut from \"./../photos/3dp/bottle_cut.webp\";\nimport bottle_hex_one from \"./../photos/3dp/bottle_hex_one.webp\";\nimport bottle_hex from \"./../photos/3dp/bottle_hex.webp\";\n\nimport boat_cad from \"./../photos/3dp/boat_cad.webp\";\nimport hull_cad from \"./../photos/3dp/hull_cad.webp\";\n\nimport bottle_hex_ship from \"./../photos/3dp/bottle_hex_ship.webp\";\nimport bottle_hex_ship_2 from \"./../photos/3dp/bottle_hex_ship_2.webp\";\n\nimport print_1_cad from \"./../photos/3dp/print_1_cad.webp\";\nimport print_1_progress from \"./../photos/3dp/print_1_progress.webp\";\nimport print_1_done from \"./../photos/3dp/print_1_done.webp\";\nimport print_1_angle from \"./../photos/3dp/print_1_angle.webp\";\nimport print_1_front from \"./../photos/3dp/print_1_front.webp\";\nimport print_1_error from \"./../photos/3dp/print_1_error.webp\";\n\nimport print_2_cad from \"./../photos/3dp/print_2_cad.webp\";\nimport print_error from \"./../photos/3dp/print_error.webp\";\nimport print_2_progress from \"./../photos/3dp/print_2_progress.webp\";\nimport print_2_done from \"./../photos/3dp/print_2_done.webp\";\nimport print_2_front from \"./../photos/3dp/print_2_front.webp\";\nimport print_2_support from \"./../photos/3dp/print_2_support.webp\";\n\nimport mouse_top from \"./../photos/3dp/mouse_top.webp\";\nimport mouse_side from \"./../photos/3dp/mouse_side.webp\";\n\nconst model2 = \"https://www.dropbox.com/scl/fi/a1nb99bqf7oswomvh9yaz/mouse_mesh.glb?rlkey=c5ecuicl3vdi6fgywpy7uuwrj&raw=1\";\n\nconst slide1 = [{image: print_1_cad, caption: \"CAD for first print\"},\n                {image: print_1_progress, caption: \"Progress on first print\"},\n                {image: print_1_done, caption: \"Finished first print\"},\n                {image: print_1_angle, caption: \"Angle view of first print\"},\n                {image: print_1_front, caption: \"Front view of first print\"},\n                {image: print_1_error, caption: \"View of unsupported print material\"},];\n\nconst slide2 = [{image: print_2_cad, caption: \"CAD for final model\"},\n                {image: print_error, caption: \"Printing error, misalignment\"},\n                {image: print_2_progress, caption: \"Progress on retried print\"},\n                {image: print_2_done, caption: \"Finished final print\"},\n                {image: print_2_front, caption: \"Bottom view of print with support material\"},\n                {image: print_2_support, caption: \"Final printed model with removed support material\"},];\n\n\nconst Week4 = (props) => {\n    return (\n      <div className=\"HP-module\">\n        <div className=\"HP-subtitle\">Week 4</div>\n        <div className=\"HP-body\">\n            In this week we learned about 3D printing and scanning. As I've mentioned in previous weeks, my CAD skills are very beginner so I was looking \n            forward to working on designing my print. The goal for the assignment this week is to make something that cannot be made subtractively, or a print \n            that can only be done by printing, not by cutting or milling. With my passion for sailing, I immediately thought of a classic example of a non-subtractive \n            object: a ship in a bottle. Using this idea as inspiration, I began cadding my design.\n        </div>\n        <div className=\"HP-spacer\" />\n        <div className=\"HP-flex\">\n            <div className=\"HP-half HP-body\">\n                The first thing I did was design the \"bottle\". I decided the best way to make a visually interesting print (since printing materials are usually opaque), \n                was to cut out pieces from the bottle assembly so that you can see inside from all sides, as well as leaving the ends open for a better view. I started by \n                making the general shape, rounding the edges of a rectangular prism and removing the middle to leave space for the ship. Next I sketched the cutout design \n                for the sides of the prism, for which i decided to use hexagons due to their nice properties when making an array. I made an array of these hexagons and extruded them,\n                finally cutting them from the prism to make the new face design. I then recreated this extrusion in the correct orientation for each face of the prism, and cut them \n                out to make the complete prism shape.\n            </div>\n            <div className=\"HP-photoContent HP-half\">\n                <div className=\"HP-photoObject\">\n                    <img src={bottle_cut} className=\"HP-smallPhoto\" style={{marginTop:\"20px\"}}/>\n                    <div className=\"HP-caption\">Bottle shape cutout</div>\n                </div>\n                <div className=\"HP-flex\">\n                    <div className=\"HP-photoObject\">\n                        <img src={bottle_hex_one} className=\"HP-scalePhoto\" />\n                        <div className=\"HP-caption\">Hex cutout on one face</div>\n                    </div>\n                    <div className=\"HP-photoObject\">\n                        <img src={bottle_hex} className=\"HP-scalePhoto\" />\n                        <div className=\"HP-caption\">Hex cutout on all faces</div>\n                    </div>\n                </div>\n            </div>\n        </div>\n        <div className=\"HP-spacer\" />\n        <div className=\"HP-flex\">\n            <div className=\"HP-photoContent HP-half\">\n                <div className=\"HP-photoObject\">\n                    <img src={hull_cad} className=\"HP-smallPhoto\" style={{marginTop:\"20px\"}}/>\n                    <div className=\"HP-caption\">CAD design of the hull</div>\n                </div>\n                <div className=\"HP-photoObject\">\n                    <img src={boat_cad} className=\"HP-smallPhoto\"/>\n                    <div className=\"HP-caption\">CAD design of the boat</div>\n                </div>\n            </div>\n            <div className=\"HP-half HP-body\">\n                The next step in the design was to make the \"ship\". I wanted to keep the ship fairly simple so that it could serve as structural support to the top face of the \n                bottle when being printed (this actually was not the case, but it was the motivation). I made a simple sketch of the hull, extruded it, and added some simple shapes to \n                model the sails. Once the simplified ship was built, I added it inside of the bottle housing, making sure it was aligned so that the bottom was rooted in the bottom face \n                of the bottle and the top of the mast was in the top face (as support). Once the assembly was combined, I decided to add support to the ends of the bottle assembly so that \n                the edges would be sturdier in a print. I made a new cut of the same hollow rectangular prism without the hex lattice, and added a small section on both ends to improve \n                the structural integrity. \n            </div>\n        </div>\n        <div className=\"HP-photoContainer\">\n            <div className=\"HP-photoObject\">\n                <img src={bottle_hex_ship} className=\"HP-medPhoto\"/>\n                <div className=\"HP-caption\">CAD design of the assembly with hex design</div>\n            </div>\n            <div className=\"HP-photoObject\">\n                <img src={bottle_hex_ship_2} className=\"HP-medPhoto\"/>\n                <div className=\"HP-caption\">CAD design of the assembly with extra support</div>\n            </div>\n        </div>\n        <div className=\"HP-body\">\n            At this point I was almost ready to print and test my first design. While analyzing my design for potential faults, however, I realized that the hexagon design would \n            mean that the printer could not print in straight lines across the entire assembly, specifically on the top, and could not take advantage of the bridging stability when \n            connecting a strand between two supports. I figured that this meant the design was bound to fail under gravity while printing, and settled on changing out the hexagons for \n            diamonds, as a diamond pattern would allow strands to stretch unbent between both sides, making the bridging properties (theoretically) ensure proper printing. Because of \n            a nice parametric design in my CAD project, it was actually very easy to make this change, and soon I had another model made with diamond cutouts, all ready to print. The \n            STL file of this design can be found <a href={print_1_stl}>here</a>. I used the Prusa printer, with no supports, and let the job execute. Once the print was done, I found an almost \n            successful print waiting for me. The main problem was the lack of support on the top of the bottle structure, as while I expected the printer to print straight lines across the \n            top of the object, it instead tried to zig-zag between the bends of the diamonds. This led to a lack of support, and the top, while still existing, was a spaghetti mess. Here \n            are some pictured of the new diamond cutout design and the partially failed print. \n        </div>\n        <div className=\"HP-spacer\" />\n        <Slide>\n          {slide1.map((image) => <div className=\"HP-slideDiv\" key={image.caption}>\n              <div className=\"HP-photoObject\">\n                <img src={image.image} className=\"HP-slidePhotoLarge\"/>\n                <div className=\"HP-caption\">{image.caption}</div>\n              </div>\n            </div>)}\n        </Slide>\n        <div className=\"HP-spacer\" />\n        <div className=\"HP-body\">\n            With the failure of the first print, I decided that instead of brainstorming ways to prevent the top of the bottle from collapsing and making spaghetti \n            when printing, I could just print the design with the open ends of the bottle on the top and the bottom. This way I would not have to worry about making a \n            face of the bottle stretching across any gap. I could build the bottle and the ship in this way and it should fix the issues with very minimal design change. \n            The only changes needed was a small angle change to the back of the boat to prevent a 90 degree overhang and a slight shift of the boat position so that \n            the mast would be supported by the top of the bottle in the new orientation. To fix the latter issue I made the bottle slightly shorter, and the whole print \n            slightly larger to compensate. I then reprinted the design, which initially failed (seemingly due to printer alignment, see photo below). I restarted the job with the same file, \n            and it came out successfully!. The updated CAD file can be found <a href={print_2_stl}>here</a> and below \n            are some photos of the new print as well as an interactive model of the final design. \n        </div>\n        <div className=\"HP-spacer\" />\n        <Slide>\n          {slide2.map((image) => <div className=\"HP-slideDiv\" key={image.caption}>\n              <div className=\"HP-photoObject\">\n                <img src={image.image} className=\"HP-slidePhotoLarge\"/>\n                <div className=\"HP-caption\">{image.caption}</div>\n              </div>\n            </div>)}\n        </Slide>\n        <div style={{display: \"flex\", justifyContent:\"center\"}}>\n            <model-viewer src={model} camera-controls shadow-intensity=\"2\" exposure=\"0.49\" class=\"weekly-model\"/>\n        </div>\n        <div className=\"HP-spacer\" />\n        <div className=\"HP-body\">\n            The second goal for the week was to scan something using the 3D scanner and obtain a model of it. For this assignment \n            I tried scanning several things, with varying degrees of success. I first tried to scan my class ring, which turned out \n            to be too small to be accurately picked up by the scanner. Next I tried to scan my whole hand, which also didn't work well \n            as I could not keep my hand still enough for the scanner or rotate it well enough. This led to the scan calibration failing \n            and my hand was a blurry mess on the software. Finally, opting for simplicity, I scanned a computer mouse. This turned out to be \n            the right size and complexity, and the scanner did a good job of modeling the mouse. Below are some images of the scan, and the \n            file of the scan can be found <a href={model2} >here</a>.\n        </div>\n        <div className=\"HP-photoContainer\">\n            <div className=\"HP-photoObject\">\n                <img src={mouse_side} className=\"HP-medPhoto\"/>\n                <div className=\"HP-caption\">Side view of scanned mouse</div>\n            </div>\n            <div className=\"HP-photoObject\">\n                <img src={mouse_top} className=\"HP-medPhoto\"/>\n                <div className=\"HP-caption\">Top view of scanned mouse</div>\n            </div>\n        </div>\n      </div>\n    )\n}\n\nexport default Week4;","import React from \"react\";\nimport \"./../Homepage.css\";\nimport \"./weekly.css\";\n\n//import breakoutSVG from \"./../photos/breakout-design/breakout-design-F_Cu.svg\";\nimport final3d from \"./../photos/breakout-design/final-3d.webp\";\nimport finalFootprint from \"./../photos/breakout-design/final-footprint.webp\";\nimport finalSch from \"./../photos/breakout-design/final-sch.webp\";\nimport firstFootprint from \"./../photos/breakout-design/first-footprint.webp\";\nimport firstSch from \"./../photos/breakout-design/first-sch.webp\";\nimport portFootprint from \"./../photos/breakout-design/port-footprint.webp\";\nimport portSch from \"./../photos/breakout-design/port-sch.webp\";\n\nconst Week5 = (props) => {\n    return (\n      <div className=\"HP-module\">\n        <div className=\"HP-subtitle\">Week 5</div>\n        <div className=\"HP-body\">\n            For this week, I built on my week 3 assignment (embedded programing) and worked on my circuit design. \n            My goal for the week was to design a breakout board for an embedded controller, of which I chose the board \n            I was programming on, the XIAO ESP32-C3. While this board is already slightly broken out, it still had opporotunities \n            to build a development board around it while minimizing difficulty due to the already present USB-C interface, which \n            was nice due to my little experience in electrical design tools. While I had designed circuits before, I had never \n            designed one on my computer, and especially not a printed circuit using EDA tools so my goal for the week was \n            to learn these tools. I decided to use KiCAD for my design and analysis, and I started by finding schematics and \n            footprints for my ESP32, which I found on DigiKey. I imported these specs and began designing my board. I first added \n            a LED to the power output of the board so that you can tell when the board is on, putting it in series with a current limiting resistor. \n            This simple task let me get a feel for the software, and the simple design is below.\n        </div>\n        <div className=\"HP-photoContainer\">\n            <div className=\"HP-photoObject\">\n                <img src={firstSch} className=\"HP-medPhoto\"/>\n                <div className=\"HP-caption\">Schematic of ESP32 and LED</div>\n            </div>\n            <div className=\"HP-photoObject\">\n                <img src={firstFootprint} className=\"HP-medPhoto\"/>\n                <div className=\"HP-caption\">Footprint of ESP32 and LED</div>\n            </div>\n        </div>\n        <div className=\"HP-body\">\n            Next, to continue adding functionality of my development board, I added some ports to access the digital GPIO pins as well as the I2C interface. \n            In the first port, labeled J1, I added ports for all 11 GPIO pins on the XIAO board as well as 3.3v and GND for easy connection. I looked around \n            at several different socket types for footprints, and eventually found a simple one that looked like it would work well, a 13 port 2.0mm socket \n            connector. I used the same connector, but a 5 pin version, to connect 3.3v, 5v, GND, SDA, and SCL for I2c (found the pins for SDA and SCL on the schematic). \n            At this point I had a lot of traces across my footprint needed to connect all the sockets, so I got creative with routing traces underneath the ESP32 and \n            the sockets, and using the smart capabilities of the route tool to auto route traces was very useful. Here are some more photos of my updated board \n            with the ports.\n        </div>\n        <div className=\"HP-photoContainer\">\n            <div className=\"HP-photoObject\">\n                <img src={portSch} className=\"HP-medPhoto\"/>\n                <div className=\"HP-caption\">Schematic of ESP32 with ports</div>\n            </div>\n            <div className=\"HP-photoObject\">\n                <img src={portFootprint} className=\"HP-medPhoto\"/>\n                <div className=\"HP-caption\">Footprint of ESP32 with ports</div>\n            </div>\n        </div>\n        <div className=\"HP-body\">\n            I then decided I wanted to add to my board some switches and buttons so I could modify the behaviour of my processor manually during runtime, a programmable user input. \n            I used the last two GPIO pins on the board, D9 and D10, for these special purposes. On both pins I put switches that in one configuration routed the pin to the \n            port as previously described for GPIO usage. When the D9 switch is flipped, the port then routes to a button, which is pulled low to ground by a resistor when not pressed, \n            and pulled to 3.3v when pressed. The D10 pin when switched away from GPIO usage connects to ground. I imagine this might be useful if you connected the port to some input logic \n            and wanted to turn off the part of the system or if you were drawing current from the pin and wanted a way to disconnect the subsystem. The button could be useful for any \n            real-time user input. With these additions, routing the traces became increasingly difficult without extra components or using extra space. After some time I found a layout \n            and route map that allowed every connection to be made successfully, and rendered the output in 3d. {/*The traces schematic can be found <a download href={\"/src/photos/breakout-design/breakout-design-F_Cu.svg\"}>here</a>.*/}\n        </div>\n        <div className=\"HP-photoContainer\">\n            <div className=\"HP-photoObject\">\n                <img src={finalSch} className=\"HP-medPhoto\"/>\n                <div className=\"HP-caption\">Schematic with extra functionality</div>\n            </div>\n            <div className=\"HP-photoObject\">\n                <img src={finalFootprint} className=\"HP-medPhoto\"/>\n                <div className=\"HP-caption\">Footprint with extra functionality</div>\n            </div>\n            <div className=\"HP-photoObject\">\n                <img src={final3d} className=\"HP-medPhoto\"/>\n                <div className=\"HP-caption\">3d model of the development board</div>\n            </div>\n        </div>\n        <div className=\"HP-body\">\n            At this point I had made a reasonably useful development board for helping interface with the controller. My next steps would be to add in some more real-time customizable \n            features (think jumper pins, etc.) or to try making a breakout board for a less friendly processor, but I ran out of time to build my board after taking a long time to learn the \n            software. I hope in a few weeks that I can use these skills to design and print a functional PCB. Given extra time I also think it would be a good idea to add bypass capacitors \n            around the power and GND lines (probably already in the XIAO chip but good practice), and a debounce capacitor for the button, and I will make these changes before printing my board \n            eventually.\n        </div>\n      </div>\n    )\n}\n\nexport default Week5;","import React from \"react\";\nimport \"./../Homepage.css\";\nimport \"./weekly.css\";\n\nimport 'react-slideshow-image/dist/styles.css';\nimport { Slide } from 'react-slideshow-image';\n\nimport footprintOriginal from \"./../photos/electronic-prod/footprint-original.webp\";\nimport footprintLed from \"./../photos/electronic-prod/footprint-led.webp\";\nimport schLed from \"./../photos/electronic-prod/sch-led.webp\";\nimport footprintNewSwitch from \"./../photos/electronic-prod/footprint-newswitch.webp\";\nimport schNewSwitch from \"./../photos/electronic-prod/sch-newswitch.webp\";\nimport footprintNewBoard from \"./../photos/electronic-prod/footprint-newboard.webp\";\nimport schNewBoard from \"./../photos/electronic-prod/sch-newboard.webp\";\n\nimport footprint from \"./../photos/electronic-prod/footprint.webp\";\nimport milling from \"./../photos/electronic-prod/milling.webp\";\nimport traceBoard from \"./../photos/electronic-prod/trace-board.webp\";\n\nimport espsolder from \"./../photos/electronic-prod/esp-solder.webp\";\nimport fullsolder from \"./../photos/electronic-prod/full-solder.webp\";\n\nimport pinMap from \"./../photos/electronic-prod/pin_map.webp\";\nimport strappingPins from \"./../photos/electronic-prod/strapping-pins.webp\";\nimport ledOff from \"./../photos/electronic-prod/led-off.webp\";\nimport ledOn from \"./../photos/electronic-prod/led-on.webp\";\n\nimport sketch from \"./../photos/electronic-prod/wifi_sketch_pcb.ino\";\n\nimport demo from \"./../photos/electronic-prod/demo.mp4\";\n\nconst slide1 = [[{image: footprintOriginal, caption: \"Original Footprint\"}],\n                [{image: schLed, caption: \"Schematic with new LED\"},{image: footprintLed, caption: \"Footprint with new LED\"}],\n                [{image: schNewSwitch, caption: \"Schematic with updated switches\"}, {image: footprintNewSwitch, caption: \"Footprint with updated switches\"}],\n                [{image: schNewBoard, caption: \"Schematic with updated ESP32\"}, {image: footprintNewBoard, caption: \"Footprint with updated ESP32\"}]\n            ];\n\nconst Week6 = (props) => {\n    return (\n      <div className=\"HP-module\">\n        <div className=\"HP-subtitle\">Week 6</div>\n        <div className=\"HP-body\">\n            In this week of HTM(A)A, we built on our electronic design from last week and moved on to electronic production, or building PCBs. Making PCBs was \n            one of the first parts of the class that caught my eye, so I was really looking forward to getting to learn how it was done. Before I could print \n            my circuit board from <span onClick={() => props.changePage('week5')} className=\"weekly-pageLink\">Week 5</span>, however, I had to make some edits. \n            First, I wanted to add to my board a second, user configurable, LED so that I could use my program from \n            <span onClick={() => props.changePage('week3')} className=\"weekly-pageLink\">Week 3</span> and have an LED track whether or not my startup site was live. \n            Once I added the new LED, I realized that the parts I used for the footprints were not part of the KiCad Fab library for the class, rather just \n            the default KiCad libraries, and would not be guaranteed to be in stock for my PCB. To fix this, I went through all of the LED, resistor, switch, and \n            button components and reconfigured them for the Fab class footprints. I then realized that my esp32C3 XIAO board footprint was also made for a \n            through hole component, not the surfce mount part I was using, so I changed that footprint and cleaned up my traces so that I was finally ready to \n            mill my board.\n        </div>\n        <Slide>\n          {slide1.map((images, i) => (<div className=\"HP-slideDiv\" key={i}>\n            {images.map((image) => <div className=\"HP-photoObject\" key={image.caption}>\n                <img src={image.image} className=\"HP-slidePhotoSmall\"/>\n                <div className=\"HP-caption\">{image.caption}</div>\n              </div>)}\n            </div>)\n          )}\n        </Slide>\n        <div className=\"HP-spacer\" />\n        <div className=\"HP-flexCenter\">\n            <div className=\"HP-half HP-body\">\n                With the board design now finished, I exported the gerber file to print on the mill (SVG <a download href={footprint}>here</a>). The milling \n                process was surprisingly short, but unfortunaltely the tools I used were rather dull, which you will later see was a problem.\n            </div>\n            <div className=\"HP-photoContent HP-half\">\n                <div className=\"HP-photoObject\">\n                    <img src={milling} className=\"HP-smallPhoto\" style={{marginTop:\"20px\"}}/>\n                    <div className=\"HP-caption\">Milling the PCB</div>\n                </div>\n                <div className=\"HP-photoObject\">\n                    <img src={traceBoard} className=\"HP-smallPhoto\"/>\n                    <div className=\"HP-caption\">Complete milling of the board</div>\n                </div>\n            </div>\n        </div>\n        <div className=\"HP-spacer\" />\n        <div className=\"HP-body\">\n            With the milling of the board done, the traces were a little fuzzy on the edges so I did my best with low grit sandpaper and \n            tweezers to clean up the traces so that the paths were not shorted to one another and were connected properly. Once this was done, I moved on to soldering. \n            To solder the board I tried both traditional iron soldering and paste/hot air soldering. With some advice I found that for the larger components (ESP32), \n            iron soldering was much easier as once one pad was set I could quickly do the rest and the board would not move. For the small 1206mm components (resistors and LEDs), \n            paste and hot air soldering was much easier, as placing these small components was quite difficult especially with the coffee I had beforehand (I would not reccomend). \n            For the switches and buttons I used a combination of both methods, but generally paste and hot air was again easier for these components.\n        </div>\n        <div className=\"HP-photoContainer\" style={{alignItems:\"center\", justifyContent:\"space-evenly\"}}>\n            <div className=\"HP-photoObject\">\n                <img src={espsolder} className=\"HP-medPhoto\"/>\n                <div className=\"HP-caption\">PCB with ESP32 soldered with iron</div>\n            </div>\n            <div className=\"HP-photoObject\">\n                <img src={fullsolder} className=\"HP-medPhoto\"/>\n                <div className=\"HP-caption\">PCB with all components soldered, mix of hot air and iron</div>\n            </div>\n        </div>\n        <div className=\"HP-spacer\" />\n        <div className=\"HP-body\">\n            Now that I had the board soldered and ready to go, I began to run into the infamous bugs with circuit design. I checked all of my pins and traces carefully for \n            continuity and made sure there were no unwanted shorts between pins of the ESP32. Once satisfied, I plugged in the microcontroller and burned the bootloader along \n            with the echo script from week 3 and was relieved to see the ESP32 responded to me as expected. One issue, however, was that the LEDs were extremely dim. Another issue \n            was that, upon further testing with digital inputs, the input to GPIO pin 9, the pin connected to the left switch that connected to the button when in the 'up' configuration, \n            was always reading a digital 1 regardless of the button state. From the schematic you can see that the button connects the pin to 3.3v, so that it should read high when pressed, \n            but was also pulled low so that it should read 0v when not pressed, or low. As it turns out, both of these issues were caused by the same mistake. Looking at the photo above closely  \n            you can see that the resistors connected to the LEDs and the button were '1004', or 1MOhm resistors, not the 1KOhm intended. Once I realized this mistake I removed the resistors \n            using the solder remove tool (very useful!) and replaced the components with the correct 1KOhm resistors. \n        </div>\n        <div className=\"HP-spacer\" />\n        <div className=\"HP-body\">\n            With the hardware finally correct, I plugged my board back in and found that I was unable to communicate with it in any way. Regardless of any bootload, program, or other reset method \n            I tried the board would not respond to my programs. On the plus side, however, the power LED was now nice and bright. After lots of connectivity testing and head scratching, Anthony and I found the issue. \n            The ESP32C3, hidden in the datasheet, has a few special pins designated as 'strapping pins', pins that when put in a certain state on reset put the board into different operating modes. \n            When no components are connected, the pins will automatically be configured for downloading and running programs, but you can manually adjust the pins for certain behaviors. \n        </div>\n        <div className=\"HP-flex\">\n            <div className=\"HP-photoContent HP-half\">\n                <div className=\"HP-photoObject\">\n                    <img src={pinMap} className=\"HP-medPhoto\" style={{marginTop:\"20px\"}}/>\n                    <div className=\"HP-caption\">ESP32C3 XIAO pinout</div>\n                </div>\n                <div className=\"HP-photoObject\">\n                    <img src={strappingPins} className=\"HP-medPhoto\"/>\n                    <div className=\"HP-caption\">Strapping pin configuration</div>\n                </div>\n            </div>\n            <div className=\"HP-body HP-half\">\n                Looking through the datasheet, the three strapping pins were GPIO 2, GPIO 8, and GPIO 9 (of course 2 of the 3 pins I assigned special functionality to). GPIO 2 needs to be a digital 1 on reset, \n                GPIO 9 needs to be a 0, and GPIO 8 nees to be a 1 as well. I was not using GPIO 8, but the other two were actively being pulled by my circuit. I didn't have any issues the first time \n                around likely due to my exceptionally large resistors being overcome in functionality by the chip internals. I then removed the resistor from GPIO 2, disconnecting the LED from the \n                circuit and letting the pin float to it's default, as well as configuring the switch on GPIO 9 to float the pin. This still didn't work however. With more help from Anthony we found \n                that the traces made by the dull mill tool actually left some residue that I didn't catch in my cleaning process, and the GPIO 9 was being shorted to a different trace, preventing the \n                strapping pins from being in the correct configuration. After a bit more board cleanup, we tried again and the board finally worked again. \n            </div>\n        </div>\n        <div className=\"HP-spacer\" />\n        <div className=\"HP-body\">\n            With the board finally working, I made some small edits to my site pinging code from week 3, changing it so that the LED on GPIO 2 turned on with a successful ping (the \n            resistor actually wasn't affecting the strapping pin functionality, and was put back in place to allow the LED to function). I also configured the code so that a button press \n            with the left switch in the up configuration would trigger an instant site ping. Now I could press a button to ping my site, or let it run on it's own, and see the resut visually on \n            my board! My board also has several pins on it, allowing for external connections which can also trigger a site refresh with the left switch in the down configuration. The code can \n            be found <a download href={sketch}>here</a>. My main takeaways from this debugging: use a sharp mill and read your datasheets!\n        </div>\n        <div className=\"HP-photoContainer\" style={{alignItems:\"center\", justifyContent:\"space-evenly\"}}>\n            <div className=\"HP-photoObject\">\n                <img src={ledOn} className=\"HP-medPhoto\"/>\n                <div className=\"HP-caption\">Final PCB with site pinged successfully</div>\n            </div>\n            <div className=\"HP-photoObject\">\n                <img src={ledOff} className=\"HP-medPhoto\"/>\n                <div className=\"HP-caption\">Final PCB with site ping failure</div>\n            </div>\n        </div>\n        <div className=\"HP-spacer\" />\n        <video src={demo} preload=\"auto\" controls className=\"HP-video\"/>\n      </div>\n    )\n}\n\nexport default Week6;","import React from \"react\";\nimport \"./../Homepage.css\";\nimport \"./weekly.css\";\n\nimport 'react-slideshow-image/dist/styles.css';\nimport { Slide } from 'react-slideshow-image';\n\nimport inspoSide from \"./../photos/geo-pyramid/inspo-side.webp\";\nimport inspoTop from \"./../photos/geo-pyramid/inspo-top.webp\";\nimport onelayer from \"./../photos/geo-pyramid/1layer.webp\";\nimport model from \"./../photos/geo-pyramid/model.webp\";\nimport blockModel from \"./../photos/geo-pyramid/block-model.webp\";\nimport toolpath from \"./../photos/geo-pyramid/toolpath.webp\";\nimport stlmodel from \"./../models/twisted_pyramid_sam.stl\";\nimport waxSide from \"./../photos/geo-pyramid/wax-side.webp\";\nimport waxTop from \"./../photos/geo-pyramid/wax-top.webp\";\nimport siliconePour from \"./../photos/geo-pyramid/silicone-pour.webp\";\nimport bubbleMold from \"./../photos/geo-pyramid/bubble-mold.webp\";\nimport newMold from \"./../photos/geo-pyramid/new-mold.webp\";\nimport dsPour from \"./../photos/geo-pyramid/ds-pour.webp\";\nimport dsSide from \"./../photos/geo-pyramid/ds-side.webp\";\nimport dsTop from \"./../photos/geo-pyramid/ds-top.webp\";\nimport dsClose from \"./../photos/geo-pyramid/ds-close.webp\";\n\nconst slide1 = [{image: dsPour, caption: \"Pouring the drystone into the molds\"},\n                {image: dsSide, caption: \"Side view of the completed casts\"},\n                {image: dsTop, caption: \"Top view of the completed casts\"},\n                {image: dsClose, caption: \"Closer view of the cast on the better mold\"}];\n\nconst Week7 = (props) => {\n    return (\n        <div className=\"HP-module\">\n            <div className=\"HP-subtitle\">Week 7</div>\n            <div className=\"HP-flex\">\n                <div className=\"HP-half HP-body\">\n                    This week we take a break from the electronic deign and fabrication process to look at 3D molding and casting. \n                    Our goal for the week is to machine a part out of machineable wax and use it to cast a silicone mold, which in turn can \n                    be used to cast parts in all sorts of materials. For my mold, I did some googling for inspiration and stumbled upon a \n                    cool looking twisted pyramid, and decided to go with that. I downloaded the stl file <a href=\"https://www.thingiverse.com/thing:2317931\">here</a> and \n                    imported it into Fusion360. There was an issue, however, with the top-down view of the model. As you can see on the right, \n                    the twisted sections of the pyramid created overhangs on the layer below, effectively making the pyramid impossible to machine with \n                    our top-down process. Not to be thwarted, I took advantage of my new CAD skills and created my own version of the twisted pyramid, \n                    making sure that the layers did not cause overhangs and could threrefore be machined top-down. Finally, to complete the CAD model,\n                    I added the 1.5\"x3\"x7\" wax block that EDS stocks to the model, cut out a section to hold the pyramid, and moved the pyramid into the \n                    hole. It was also important to scale the mold to make sure that the walls of the wax block were always greater than 0.2\" and the space \n                    between the walls and the model was 0.2\" to make sure the wax would keep structural integrity and to make sure the silicone mold would \n                    be solid enough to function. The complete model can be found <a download href={stlmodel}>here</a>.\n                </div>\n                <div className=\"HP-photoContent HP-half\">\n                    <div className=\"HP-photoObject\">\n                        <img src={inspoSide} className=\"HP-medPhoto\" style={{marginTop:\"20px\"}}/>\n                        <div className=\"HP-caption\">Twisted Pyramid inspiration</div>\n                    </div>\n                    <div className=\"HP-photoObject\">\n                        <img src={inspoTop} className=\"HP-medPhoto\"/>\n                        <div className=\"HP-caption\">Top view of twisted overhangs</div>\n                    </div>\n                </div>\n            </div>\n            <div className=\"HP-photoContainer\" style={{alignItems:\"center\", justifyContent:\"space-evenly\"}}>\n                <div className=\"HP-photoObject\">\n                    <img src={onelayer} className=\"HP-medPhoto\"/>\n                    <div className=\"HP-caption\">1 layer of the twisted pyramid</div>\n                </div>\n                <div className=\"HP-photoObject\">\n                    <img src={model} className=\"HP-medPhoto\"/>\n                    <div className=\"HP-caption\">Completed redesign of the twisted pyramid</div>\n                </div>\n                <div className=\"HP-photoObject\">\n                    <img src={blockModel} className=\"HP-medPhoto\"/>\n                    <div className=\"HP-caption\">The model inside of the wax block</div>\n                </div>\n            </div>\n            <div className=\"HP-spacer\" />\n            <div className=\"HP-flex\">\n                <div className=\"HP-photoContent HP-half\">\n                    <div className=\"HP-photoObject\">\n                        <img src={toolpath} className=\"HP-largePhoto\" style={{marginTop:\"20px\"}}/>\n                        <div className=\"HP-caption\">Twisted Pyramid toolpath</div>\n                    </div>\n                </div>\n                <div className=\"HP-half HP-body\">\n                    The next step in the process was to turn my CAD model into CAM, or a machining path. I switched to the manufacture workflow \n                    in Fusion360 and began to setup my job. I created a new tool for the 0.25\" diameter flat-end mill in lab, and entered conservative \n                    estimates for tool length to ensure no job failures from cutting too deep. I then added a 3D contour to the job to map out the surface \n                    of my pyramid, and specified the depth of cut for removing material to 0.2\" to be conservative (roughly tool diameter). This programmed a \n                    2.5D pass, cutting horizontally at different layer heights. From here I could specify further 3D passes to add detail to my model, however \n                    very little of this was necessary due to the geometric nature of my model. I experimented with adding it anyways as well as removing excess material \n                    left out in the initial pass and created the toolpath seen to the left. I then simulated the job on my computer to make sure everything looked \n                    successful.\n                </div>\n            </div>\n            <div className=\"HP-spacer\" />\n            <div className=\"HP-body\">\n                With the toolpath complete and tested, I exported the job to GCode and connected it to the machine. I calibrated the machine to set the origin at \n                the corner of my glued-down wax block, calibrated the z-axis, and began the job. The cutting was relatively quick due to the lack of long 3D passes \n                with the mill, and soon I had a nice model cut into the wax block.\n            </div>\n            <div className=\"HP-photoContainer\" style={{alignItems:\"center\", justifyContent:\"space-evenly\"}}>\n                <div className=\"HP-photoObject\">\n                    <img src={waxSide} className=\"HP-largePhoto\"/>\n                    <div className=\"HP-caption\">Wax cutout of the model</div>\n                </div>\n                <div className=\"HP-photoObject\">\n                    <img src={waxTop} className=\"HP-largePhoto\"/>\n                    <div className=\"HP-caption\">Top view of the detailed wax cutout</div>\n                </div>\n            </div>\n            <div className=\"HP-spacer\" />\n            <div className=\"HP-flex\">\n                <div className=\"HP-half HP-body\">\n                    The next step in the process was to create the silicone mold from the wax block. For this step I used Oomoo, a two part mixture that \n                    creates a silicone mold after setting for roughly 2 hours. The Oomoo consists of a green part and a blue part, and they mix in equal \n                    parts by volume with a work time of 10s of minutes. I prepared myself with latex gloves and an apron and began to mix my Oomoo, mixing \n                    each part individually until consistent and then together until the color was consistent throughout the mixture. I noticed when mixing that \n                    my green part was very viscous, but I was warned that it was more viscous and decided to keep mixing. I began to pour the mixture into my mold \n                    with a narrow bead from a good height, and the mold began pouring well. After about 2-3 minutes, however, the Oomoo began to get very viscous, \n                    and was barely making it to the other half of my mold without being pushed into place. Since I was halfway through, I finished the pour and let \n                    the silicone set. Unsurprisingly, the resulting mold had bubbles in some of the areas where the Oomoo was poured later in the process. Talking to \n                    Anthony, this was likely due to the green part being old, and it was near end of life and had started to lose its efficacy, leading to the earlier \n                    hardening in my process. I repeated the process with a new bottle of green and found a much less viscous mixture which poured right into the wax mold \n                    and covered my model. After letting it set for a couple of hours, the new mold was much better and had practically no bubbles! Here are some photos of \n                    both molds, with a side by side for comparison (can you tell which is which?).\n                </div>\n                <div className=\"HP-photoContent HP-half\">\n                    <div className=\"HP-photoObject\">\n                        <img src={siliconePour} className=\"HP-medPhoto\" style={{marginTop:\"20px\"}}/>\n                        <div className=\"HP-caption\">Finished pour of Oomoo</div>\n                    </div>\n                    <div className=\"HP-photoObject\">\n                        <img src={bubbleMold} className=\"HP-medPhoto\"/>\n                        <div className=\"HP-caption\">Original mold with air bubbles</div>\n                    </div>\n                    <div className=\"HP-photoObject\">\n                        <img src={newMold} className=\"HP-largePhoto\"/>\n                        <div className=\"HP-caption\">Comparison of old mold to new, better mold</div>\n                    </div>\n                </div>\n            </div>\n            <div className=\"HP-spacer\" />\n            <div className=\"HP-body\">\n                Now with the mold completed, it was time for the final step: cast a part from the silicone mold. I chose to use drystone in my cast, since \n                it was easy to work with and a good introduction to the casting process with forgiving mixing ratios and quick setting time. The instructions \n                provide a clear ratio of water to drystone powder involving the weights of the two, but a helpful demonstration from Anthony showed what the \n                consistency was we were aiming for (think yogurt), and with a large tolerance on either end mixing by feel was ok. I decided to mix enough \n                drystone to fill both the new mold and the bubbly mold so I could compare the quality of part that came out the other end, so I mixed a bunch of \n                drystone, poured into both molds with a thin bead from about 8\" above the mold to reduce the bubbles, and waited about 45 minutes for the drystone \n                to set before removing the parts. At this point the casts were still fragile, but removing them from the molds as early as possible was reccomended \n                due to the exothermic nature of the hardening process (creates heat) as more surface area allows more heat to dissapate. Below are some photos of \n                the final casts with both the bubbly mold and the better one. Overall this project was fun, and the longest time spent was in creating the model and \n                waiting for setting times of silicone and drystone. The working time was not too intensive at all and the parts came out very well, and \n                I'll be sure to use these methods if I need to mass produce parts for my final project.\n            </div>\n            <div className=\"HP-spacer\" />\n            <Slide>\n                {slide1.map((image) => <div className=\"HP-slideDiv\" key={image.caption}>\n                    <div className=\"HP-photoObject\">\n                        <img src={image.image} className=\"HP-slidePhotoLarge\"/>\n                        <div className=\"HP-caption\">{image.caption}</div>\n                    </div>\n                </div>)}\n            </Slide>\n        </div>\n    )\n}\n\nexport default Week7;","import React from \"react\";\n\nimport 'react-slideshow-image/dist/styles.css';\nimport { Slide } from 'react-slideshow-image';\n\nimport cadAssembly from \"./../photos/cordshelf/CAD-assembly.webp\";\nimport allFit from \"./../photos/cordshelf/all-fit.webp\";\nimport layout from \"./../photos/cordshelf/layout.webp\";\nimport preProcess from \"./../photos/cordshelf/pre-process.webp\";\nimport cadFinalSide from \"./../photos/cordshelf/CAD-final-side.webp\";\nimport assemblySide from \"./../photos/cordshelf/assembly-side.webp\";\nimport mess from \"./../photos/cordshelf/mess.webp\";\nimport render from \"./../photos/cordshelf/render.webp\";\nimport cadFinalTop from \"./../photos/cordshelf/CAD-final-top.webp\";\nimport assemblyTop from \"./../photos/cordshelf/assembly-top.webp\";\nimport mfrlayout from \"./../photos/cordshelf/mfrlayout.webp\";\nimport threeJoint from \"./../photos/cordshelf/three-joint.webp\";\nimport cadFit from \"./../photos/cordshelf/CAD-fit.webp\";\nimport assembly from \"./../photos/cordshelf/assembly.webp\";\nimport milling from \"./../photos/cordshelf/milling.webp\";\nimport twoJoint from \"./../photos/cordshelf/two-joint.webp\";\nimport cadPiece from \"./../photos/cordshelf/CAD-piece.webp\";\nimport full from \"./../photos/cordshelf/full.webp\";\nimport oneJoint from \"./../photos/cordshelf/one-joint.webp\";\nimport cadTop from \"./../photos/cordshelf/CAD-top.webp\";\nimport layoutPath from \"./../photos/cordshelf/layout-path.webp\";\nimport placed from \"./../photos/cordshelf/placed.webp\";\nimport layoutTabs from \"./../photos/cordshelf/layout-tabs.webp\";\nimport postProcess from \"./../photos/cordshelf/post-process.webp\";\n\nimport fusionModel from \"./../models/footrest.f3d\";\n\nconst slide1 = [[{image: cadPiece, caption: \"Side piece of model with slots\"}, {image: cadFit, caption: \"Shelf and side piece, with tabs fitting in slots\"}],\n                [{image: cadAssembly, caption: \"Original assembly of the shelf\"},],\n                [{image: cadFinalTop, caption: \"Top view of final model of the shelf\"},],\n                [{image: cadFinalSide, caption: \"Side view of the final model of the shelf\"},]\n            ];\n\nconst slide2 = [[{image: layout, caption: \"Aranged pieces on the 4'x4' sheet, including dogbones\"},], \n                [{image: layoutTabs, caption: `Toolpath of the 3/8\" tool, note the lack of dogbones`}],\n                [{image: layoutPath, caption: `Toolpath of the 1/4\" toolbar, now with dogbones`},],\n                [{image: render, caption: \"Final simulation of the milling job, with tabs and dogbones\"},],\n            ];\n\nconst slide3 = [[{image: oneJoint, caption: \"A joint fit in the assembly, nice and snug\"},], \n            [{image: twoJoint, caption: `The back panel added, joints holding up the parts on it's own`}, {image: threeJoint, caption: \"The shelf added to the assembly\"}],\n            [{image: allFit, caption: `The side panel of the assembly with flush joints`},],\n            [{image: assembly, caption: \"Fully assembled shelf\"},],\n            [{image: assemblySide, caption: \"Side view of assembled shelf\"},],\n            [{image: placed, caption: \"Shelf in it's spot under my desk\"},],\n            [{image: full, caption: \"Full shelf, no more cord mess!\"},]\n        ];\n\nconst Week8 = (props) => {\n    return (\n        <div className=\"HP-module\">\n            <div className=\"HP-subtitle\">Week 8</div>\n            <div className=\"HP-flex\">\n                <div className=\"HP-body HP-half\">\n                    This week we build on the milling processes learned last week to move on to large format machining. The goal for the week was to make something big, \n                    which is a very open ended assignment! While thinking about what I could make for the week, I was getting annoyed at the mess of cables under my desk that \n                    kept getting caught in the wheels of my chair and tangled around each other. I decided then that I could build something to hopefully fix that mess. I measured \n                    the space under my desk to get rough dimensions of 30\"x18\"x24\". This seemed big enough to me, and I set off designing a holder for all of my cables.\n                </div>\n                <div className=\"HP-photoContent HP-half\">\n                    <div className=\"HP-photoObject\">\n                        <img src={mess} className=\"HP-medPhoto\" />\n                        <div className=\"HP-caption\">The mess of cables under my desk</div>\n                    </div>\n                </div>\n            </div>\n            <div className=\"HP-spacer\" />\n            <div className=\"HP-body\">\n                For my assembly I wanted to build something that filled the whole space horizontally (30\") but didn't prevent me from putting my feet naturally under my desk. \n                I also wanted to build something that required no extra fasteners like screws or glue to be held together, as this would just live under my desk and a good \n                press-fit design should be adequate. With these constraints in mind, I set out to CAD a model in Fusion360. I first designed a side piece with two legs and slots \n                built in for joint connections to a rear panel and a horizontal shelf. I opted to keep the joint cutouts at about 2\" long for the back panel and 2\" long on the outside and \n                4\" long on the inside for the shelf panel, with all of them 7/16\" wide (the size of the OSB stock). In reality, all of the length measurements were slightly larger by ~.025\" on \n                each side to allow for an easier fit, as putting a 2\" piece into a 2\" slot can be problematic. Continuing with this strategy of just larger than 2\" slots and 2\" tabs (both with \n                a width of 7/16\"), I designed 2 side panels, a rear panel, a shelf, and another small panel to sit in the middle of the shelf dividing the area in 2. In the rear panel and \n                the divider panel I also inserted several large holes to allow cables to pass through. Finally, to finish the assembly, I added a small overhang to the left part of the shelf \n                to be used as extra storage space as this part of the rack would be next to my desk. Here are some photos of the CAD process building the assembly. \n            </div>\n            <div className=\"HP-spacer\" />\n            <Slide>\n                {slide1.map((images, i) => (<div className=\"HP-slideDiv\" key={i}>\n                    {images.map((image) => <div className=\"HP-photoObject\" key={image.caption}>\n                        <img src={image.image} className=\"HP-slidePhoto\"/>\n                        <div className=\"HP-caption\">{image.caption}</div>\n                    </div>)}\n                    </div>)\n                )}\n            </Slide>\n            <div className=\"HP-spacer\"/>\n            <div className=\"HP-body\">\n                Now that the model had been assembled in CAD, the next step was to arrange it in a way that our CNC can cut it out. The model had already been designed as an arrangement of \n                flat parts (hence the tabbed inserts and not a continuous body), so all we had to do was lay all of the pieces flat with the Fusion arrange tool. I created a 4'x4' sketch, as \n                the sheets of OSB we were using had those dimensions, and arranged my parts on it making sure to keep a few inches of material between each of the parts and between the parts \n                and the edges of the stock. Once laid out, I added dogbones to the interior corners of all of the models to make sure the corners were fully milled (dogbones add small arcs in \n                the corners at or greater than tool diameter to make sure that the circular tool doesn't leave material when attempting a 90 degree turn). With the dogbones now added at 1/4\" (our tool diameter), it was time \n                to move on to the manufacturer setup. I swithced to the manufacturing section of Fusion and began the setup by identifying the stock as the 4'x4' solid with a height of 7/16\" and \n                setting the origin to the top left corner of the stock. I then added two new tools according to the EDS tool specs: 3/8\" and 1/4\". I then created two 2D contours, one for each tool, \n                and turned on rest machining for the second contour with the smaller tool so that the job would not overlap work. In both of these contours I selected all of the faces of my parts, \n                and made sure to add tabs to all of my parts roughly every 3.5\" so that they would not be cut loose during machining, which can be dangerous. I then, with advice from Anthony, did some slight rearranging to \n                eliminate all skinny parts from the cutout stock and make sure no pieces would go flying. Finally, with all of the tool paths in place, I simulated my job to make sure all seemed right. \n                Here are some photos of the manufacture process, notice how the first simulation completes most of the job but the dogbones are not done until the second contour. Also, <a download href={fusionModel}>here</a> is \n                my project file with my model and toolpaths.\n            </div>\n            <div className=\"HP-spacer\"/>\n            <Slide>\n                {slide2.map((images, i) => (<div className=\"HP-slideDiv\" key={i}>\n                    {images.map((image) => <div className=\"HP-photoObject\" key={image.caption}>\n                        <img src={image.image} className=\"HP-slidePhoto\"/>\n                        <div className=\"HP-caption\">{image.caption}</div>\n                    </div>)}\n                    </div>)\n                )}\n            </Slide>\n            <div className=\"HP-spacer\" />\n            <div className=\"HP-flex\">\n                <div className=\"HP-photoContent HP-half\">\n                    <div className=\"HP-photoObject\">\n                        <img src={milling} className=\"HP-smallPhoto\" />\n                        <div className=\"HP-caption\">Removing the parts from the milled board</div>\n                    </div>\n                    <div className=\"HP-photoObject\">\n                        <img src={preProcess} className=\"HP-smallPhoto\" />\n                        <div className=\"HP-caption\">The pre processed side piece</div>\n                    </div>\n                    <div className=\"HP-photoObject\">\n                        <img src={postProcess} className=\"HP-smallPhoto\" />\n                        <div className=\"HP-caption\">The post processed side piece</div>\n                    </div>\n                </div>\n                <div className=\"HP-body HP-half\">\n                    Now we were finally ready to mill our shelf and see the model in real life. I placed my OSB sheet in the CNC machine and carefully used a nail gun to nail the board down with \n                    plastic screws, roughly in a 5 row and 5 column grid. I then zeroed the machine on the front left top corner, making sure the machine axis were consistent with my CAM setup. \n                    I inserted the 3/8\" tool and began my job. The cutting this week was actually shorter than last week due to the 2D nature, and the entire job took only ~15 minutes, including \n                    a tool change to the 1/4\" end mill around 10 minutes in. With the job completing successfully, I vaccumed the sawdust and used an oscillating sae to cut all of the tabs on my parts and then \n                    carefully used a crowbar to remove them from the sheet of OSB. I was not yet done however, as my parts were still rough in places from the milling and tab cutting. The next step \n                    was to take a rasp and the oscillating saw and do some post processing to make sure all of the tabs, slots, and edges were to my liking. The biggest part of this process was using \n                    the rasp to file down any remaining tab features and removing any splintered material. \n                </div>\n            </div>\n            <div className=\"HP-body\">\n                Once all of the parts of the shelf were individually post processed with the rasp and oscillating saw, I was finally ready to assemble the shelf. I first laid a side piece flat on the gorund and \n                tested the insertion of the divider into the slot cut for it and was happy to find that the parts joined easily and snugly, it was a good fit! With the tolerances working nicely to allow me to \n                join the pieces easily while maintaining a tight fit I quickly assembled the rest of the shelf, and was really pleased with the result. The finger joints ended up looking really nice, almost like \n                they weren't there, and the assembly was quite rigid and not at all at risk of falling apart sitting under my desk. Finally, with everything assembled, I placed the shelf in it's spot under my \n                desk and populated it with cables. It works great, and will be a nice addition to my room going forward!\n            </div>\n            <div className=\"HP-spacer\" />\n            <Slide>\n                {slide3.map((images, i) => (<div className=\"HP-slideDiv\" key={i}>\n                    {images.map((image) => <div className=\"HP-photoObject\" key={image.caption}>\n                        <img src={image.image} className=\"HP-slidePhoto\"/>\n                        <div className=\"HP-caption\">{image.caption}</div>\n                    </div>)}\n                    </div>)\n                )}\n            </Slide>\n        </div>\n    )\n}\n\nexport default Week8;","import React from \"react\";\n\nimport 'react-slideshow-image/dist/styles.css';\nimport { Slide } from 'react-slideshow-image';\n\nimport helloCode from \"./../code/tofTest/hello-VL53L1X.ino\";\nimport exampleCode from \"./../code/tofTest/simpleWifiServer.ino\";\nimport finalCode from \"./../code/tofTest/tof-input.ino\";\nimport headerFile from \"./../code/tofTest/VL53L1X.h\";\n\nimport footprintInit from \"./../photos/tof-test/footprintInit.webp\";\nimport schInit from \"./../photos/tof-test/schInit.webp\";\nimport footprintFinal from \"./../photos/tof-test/footprintFinal.webp\";\nimport schFinal from \"./../photos/tof-test/schFinal.webp\";\nimport pinMap from \"./../photos/tof-test/pin_map-2.webp\";\n\nimport gerber from \"./../photos/tof-test/gerber.webp\";\nimport milledBoard from \"./../photos/tof-test/milled_board.webp\";\nimport milling from \"./../photos/tof-test/milling.mp4\";\n\nimport sensor from \"./../photos/tof-test/sensor.webp\";\nimport solderPart from \"./../photos/tof-test/solder-part.webp\";\nimport solderFinal from \"./../photos/tof-test/solder-final.webp\";\nimport assembled from \"./../photos/tof-test/assembled.webp\";\n\nimport consoleJunk from \"./../photos/tof-test/consoleJunk.webp\";\nimport tofSerial from \"./../photos/tof-test/tofSerial.webp\";\nimport ledUpdate from \"./../photos/tof-test/led_update.mp4\";\nimport requestBased from \"./../photos/tof-test/requestbased.webp\";\nimport slowRefresh from \"./../photos/tof-test/slow_refresh.mp4\";\nimport fastRefresh from \"./../photos/tof-test/fast_refresh.mp4\";\n\nconst slide1 = [[{image: sensor, caption: \"Soldered VL53L1X Breakout Board\"},],\n                [{image: solderPart, caption: \"Small Components Soldered Using Hot Air\"},],\n                [{image: solderFinal, caption: \"Completed soldering of development board\"},],\n                [{image: assembled, caption: \"Assembled development board\"},]\n            ];\n\nconst Week9 = (props) => {\n    return (\n        <div className=\"HP-module\">\n            <div className=\"HP-subtitle\">Week 9: Input Devices</div>\n            <div className=\"HP-body\">\n                This week we moved back from the world of large format CNC machining to the world of electronics. The goal of this week was to work \n                with some sort of input device, and be able to read from it and display the information somewhere. In line with my final project, I decided \n                to work with a VL53L1X time-of-flight sensor, a type of distance sensor that uses an optical laser and reciever to measure reflections and use \n                the phase offset of the recieved wave to estimate the distance travelled. These TOF sensors are very accurate compared to other distance measurements \n                like the ultrasound HC-SR04 sensor, and can measure impressive distances up to 4 meters. To build a room mapping drone, at least one of these sensors \n                would be crucial. Luckily, EDS had in stock a breakout board of the chip, the Polulu 3415, which handled chip configuration on board with bypass and regulation \n                capacitors and resistors. The breakout board had as I/O 7 through-hole pins corresponding to different functions as well as their own high level API for \n                interfacing with the chip. The datasheet for the chip was very helpful in figuring out how to setup and use the sensor, and \n                can be found <a href=\"https://www.pololu.com/product-info-merged/3415\">here</a>.\n            </div>\n            <div className=\"HP-spacer\" />\n            <div className=\"HP-photoContainer\">\n                <div className=\"HP-photoObject\">\n                    <img src={pinMap} className=\"HP-largePhoto\" />\n                    <div className=\"HP-caption\">ESP32C3 XIAO Pinout</div>\n                </div>\n            </div>\n            <div className=\"HP-flex\">\n                <div className=\"HP-photoContent HP-half\">\n                    <div className=\"HP-photoObject\">\n                        <img src={schInit} className=\"HP-medPhoto\" />\n                        <div className=\"HP-caption\">Initial Schematic</div>\n                    </div>\n                    <div className=\"HP-photoObject\">\n                        <img src={footprintInit} className=\"HP-smallPhoto\" />\n                        <div className=\"HP-caption\">Initial Footprint</div>\n                    </div>\n                    <div className=\"HP-photoObject\">\n                        <img src={schFinal} className=\"HP-medPhoto\" />\n                        <div className=\"HP-caption\">Final Schematic</div>\n                    </div>\n                    <div className=\"HP-photoObject\">\n                        <img src={footprintFinal} className=\"HP-medPhoto\" />\n                        <div className=\"HP-caption\">Final Footprint</div>\n                    </div>\n                </div>\n                <div className=\"HP-half HP-body\">\n                    With a input device now specified, it was time to design a simple circuit to interface with the sensor. I once again wanted to use wifi to display the sensor data, \n                    and with my experience using the ESP32C3 XIAO board, that was the obvious choice. I started by designing a very simple development board with a header to fit 6 of the \n                    7 pins of the Polulu 3415, of which 5 were useful to me and connected to the microcontroller: Vcc, GND, SDA, SLC, and GPIO1. The first two of these are power lines, the next \n                    two are for using the I2C protocol for communication, and the final pin, GPIO1, can be used as an interrupt for the microcontroller to know when a read from the sensor is available. \n                    I also added a simple LED to the circuit, with the intention of using it for debugging purposes and knowing if the circuit was on. I was also careful to not \n                    connect any of my inputs or outputs to the <a href=\"https://wiki.seeedstudio.com/XIAO_ESP32C3_Getting_Started/\">Strapping Pins</a> of the ESP32C3, as that gave me great grief \n                    a few weeks ago, leaving my board unresponsive. Next, I decided to add another LED to be used to display visually the sensor data on the board, and a switch input between 3.3V and GND \n                    in case I wanted to configure user input on the board. Finally, with good advice from Anthony, I extended the socket connector to fit all of the sensor pins so that it would be more stable \n                    on the board. Now, with my circuit design finalized, I proceeded to mill my new board. Once milled, I used solder paste to place my LEDs, switches, and resistors (all 1k Ohm), which worked \n                    really nice. I then soldered on the socket connector and the ESP32C3 and checked my traces for continuity, completing my development board. \n                </div>\n            </div>\n            <div className=\"HP-photoContainer\">\n                <div className=\"HP-photoObject\">\n                    <img src={gerber} className=\"HP-smallPhoto\" />\n                    <div className=\"HP-caption\">Gerber render of milling</div>\n                </div>\n                <video src={milling} preload=\"auto\" controls className=\"HP-smallVideo\" />\n                <div className=\"HP-photoObject\">\n                    <img src={milledBoard} className=\"HP-smallPhoto\" />\n                    <div className=\"HP-caption\">Milled Board</div>\n                </div>\n            </div>\n            <div className=\"HP-spacer\" />\n            <Slide>\n                {slide1.map((images, i) => (<div className=\"HP-slideDiv\" key={i}>\n                    {images.map((image) => <div className=\"HP-photoObject\" key={image.caption}>\n                        <img src={image.image} className=\"HP-slidePhoto\"/>\n                        <div className=\"HP-caption\">{image.caption}</div>\n                    </div>)}\n                    </div>)\n                )}\n            </Slide>\n            <div className=\"HP-spacer\" />\n            <div className=\"HP-flex\">\n                <div className=\"HP-body HP-half\">\n                    With the board now assembled, it was time to read data from the sensor! I started with the hello.VL53L1X.ino program written by Neil, which uploaded to the board without issue (thank you strapping pins!). \n                    When I tried to read the data on the serial monitor, however, it was (to the human eye) garbage ASCII characters. This is because it is <span style={{fontStyle:\"italic\"}}>writing</span> to the Serial port, not \n                    <span style={{fontStyle:\"italic\"}}>printing</span>. Writing to the port sends raw data in hexadecimal form, while printing converts the data to ASCII first, so it can be read in the console. I changed the \n                    writing to printing, and now the console displayed the sensor data in a human readable way, and from my small tests it seemed to be working perfectly (code is <a download href={helloCode}>here</a>) The only annoying \n                    part was the status code of the sensor was printed as an integer, and the API documentation did not explain what each code meant. The only place I found that describes the device status codes is in the header file in \n                    the arduino library, <a download href={headerFile}>here</a>.\n                </div>\n                <div className=\"HP-photoContent HP-half\">\n                    <div className=\"HP-photoObject\">\n                        <img src={consoleJunk} className=\"HP-medPhoto\" />\n                        <div className=\"HP-caption\">Unreadable characters printed to console</div>\n                    </div>\n                    <div className=\"HP-photoObject\">\n                        <img src={tofSerial} className=\"HP-medPhoto\" />\n                        <div className=\"HP-caption\">Modified readable output</div>\n                    </div>\n                </div>\n            </div>\n            <div className=\"HP-spacer\" />\n            <div className=\"HP-body\">\n                The next step, now that the sensor was working and printing to the console, was to include the on-board LED in the display of data. I used the useful <a href=\"https://espressif-docs.readthedocs-hosted.com/projects/arduino-esp32/en/latest/api/ledc.html\">ESP32 LEDC API</a>, \n                which allows you to change a LED duty cycle easily, to implement a program which scales the LED duty cycle by the sensor measurement. \n                This means that when it senses something close, it is very dim, and get's brighter as the object moves away from the sensor. \n            </div>\n            <div className=\"HP-photoContainer\">\n                <div className=\"HP-photoObject\">\n                    <video src={ledUpdate} controls preload=\"auto\" loop autoPlay className=\"HP-video\" style={{margin:0}}/>\n                    <div className=\"HP-caption\">Video showing LED changing with distance</div>\n                </div>\n            </div>\n            <div className=\"HP-spacer\" />\n            <div className=\"HP-flex\">\n                <div className=\"HP-photoContent HP-half\">\n                    <div className=\"HP-photoObject\" style={{marginTop:\"50px\"}}>\n                        <img src={requestBased} className=\"HP-medPhoto\" />\n                        <div className=\"HP-caption\">Console output displaying GET requests from web client</div>\n                    </div>\n                </div>\n                <div className=\"HP-body HP-half\">\n                    At this point the functional part of the circuit had been completed. I could read data from the snesor and display it both quantitatively on the serial monitor and qualitatively on the \n                    LED on the circuit. I wanted to go one step further, however, and push the data to a web server using the ESP32C3 wifi module. The ESP32C3 XIAO library from espressif comes with examples, \n                    one of which is how to <a download href={exampleCode}>host a web server with the microcontroller</a>. The program initializes a web server using the API, and then listens for client connections. \n                    On a connection, it reads the request (a HTTP request) and then responds with the HTML to display. I tried this code out, and it worked great, so I decided to modify it to make a webserver \n                    to display my sensor data. Using the same method, I changed the program to send back my sensor data in the HTML. This strategy worked right away, however it did not update live, in other words \n                    the client would have to refresh their browser and send another connection in order to get updated data from the distance sensor. \n                </div>\n            </div>\n            <div className=\"HP-spacer\" /><div className=\"HP-spacer\" />\n            <div className=\"HP-body\">\n                The most straightforward way to fix this issue of not refreshing the data is to send in the HTML a {\"<meta>\"} tag which commands the client to refresh after a certain amount if time. This approach works, \n                but has one main flaw: the client refreshes the whole page, causing large latency and capping refresh rate. To fix this, I looked into using web sockets, a framework which allows the server to send data to the \n                client without a new request. Using this socket, the client can listen for new information, and update particular parts of the HTML when the server sends an event. This would allow much faster data transfer, as \n                the client doesn't need to send a new request every time they want new sensor data, and the entire page would not have to be refreshed upon return, only the value of the distance sensor. In looking into web sockets \n                on the ESP32C3 XIAO, I found this <a href=\"https://sigmdel.ca/michel/ha/xiao/xiao_esp32c3_wifi_switch_2_en.html\">extemely helpful tutorial</a>. This site explains how to use the included libraries (mentioned above) \n                to create an asynchronous web server, equipped with socket events to live update the server. I walked through the tutorial carefully, first making changes to my code to use AJAX (Asynchronous Javascript and XML) to \n                handle server updates. This process allowed me to update parts of the page but not the whole thing (or only update the sensor reading), which while much better than the meta tagged refresh, still had a refresh time \n                much slower than the sensor. Not quite satisfied, I looked further into the Server Side Events part of the tutorial. The server side events uses a part of the API that creates an event source and sends it to the client \n                as part of the HTML on connection. The event source adds a listener in the webpage: a Javascript object that \"listens\" for incoming information. Using this listener and the event source API, I wrote a script to send \n                the sensor data to the webpage as an event every time the sensor is read. This event based approach worked extremely effectively, and was exactly what I was looking for. This new approach allowed the ESP32C3 to send updates \n                to the web server whenever there was a sensor read, and the webpage reflected that speed, updating the distance measurement at roughly the same speed as the serial console from before. The final Arduino code used to run the \n                microcontroller and asynchronously update the web server as well as the LED can be found <a download href={finalCode}>here</a>.\n            </div>\n            <div className=\"HP-photoContainer\">\n                <div className=\"HP-photoObject\">\n                    <video src={slowRefresh} controls preload=\"auto\" className=\"HP-smallVideo\" style={{margin:0}}/>\n                    <div className=\"HP-caption\">AJAX based slow automatic updates of sensor data</div>\n                </div>\n            </div>\n            <div className=\"HP-photoContainer\">\n                <div className=\"HP-photoObject\">\n                    <video src={fastRefresh} controls preload=\"auto\" className=\"HP-smallVideo\" style={{margin:0}}/>\n                    <div className=\"HP-caption\">Event based asynchronous server updating when sensor has data available. Fast!</div>\n                </div>\n            </div>\n        </div>\n    )\n}\n\nexport default Week9;","import React from \"react\";\n\nimport 'react-slideshow-image/dist/styles.css';\nimport { Slide } from 'react-slideshow-image';\n\nimport starterCode from \"./../code/motor-test/motor-drive.ino\";\nimport finalCode from \"./../code/motor-test/motor-controller.ino\";\nimport htmlCode from \"./../code/motor-test/wifiHelper.h\";\n\nimport pinMap from \"./../photos/tof-test/pin_map-2.webp\";\nimport schFinal from \"./../photos/motor-test/schFinal.webp\";\nimport footprintInit from \"./../photos/motor-test/footprintInit.webp\";\nimport footprintFinal from \"./../photos/motor-test/footprintFinal.webp\";\nimport controllerImg from \"./../photos/motor-test/controllerImg.webp\";\nimport finalBoard from \"./../photos/motor-test/finalBoard.webp\";\nimport finalCart from \"./../photos/motor-test/finalCart.webp\";\nimport functionalDiagram from \"./../photos/motor-test/functionalDiagram.webp\";\nimport hBridge from \"./../photos/motor-test/hBridge.webp\";\nimport hbridgePinout from \"./../photos/motor-test/hbridgePinout.webp\";\nimport initCart from \"./../photos/motor-test/initCart.webp\";\nimport inputConfig from \"./../photos/motor-test/inputConfig.webp\";\nimport ledController from \"./../photos/motor-test/led_controller.mp4\";\nimport milledBoard from \"./../photos/motor-test/milledBoard.webp\";\nimport motorController from \"./../photos/motor-test/motor_controller.mp4\";\nimport motorMove from \"./../photos/motor-test/motor_move.mp4\";\nimport XIAOfuse from \"./../photos/motor-test/XIAO_fuse.webp\";\nimport zoomBoard from \"./../photos/motor-test/zoomBoard.webp\";\n\nconst Week10 = (props) => {\n    return (\n        <div className=\"HP-module\">\n            <div className=\"HP-subtitle\">Week 10: Output Devices</div>\n            <div className=\"HP-body\">\n                In this week we continue with the theme of embwedded electronics and shift our focus to output devices. Building on last week's distance sensor, my goal for this week was \n                to get motor driving working for a robot cart, completing prototypes of two separate parts for my final project. My plan for the week was to design a new circuit to power \n                2 motors, keeping the ability to add the distance sensor for future testing. My next goal was to then add this circuit to a cart I have left over from another class and see \n                if I can implement a basic controller for driving it around. I once again used the ESP32C3, for it's familiarity and capability to host a wifi server controller, and the \n                datasheet for that XIAO board is <a href=\"https://wiki.seeedstudio.com/XIAO_ESP32C3_Getting_Started/\">here</a>.\n            </div>\n            <div className=\"HP-photoContainer\">\n                <div className=\"HP-photoObject\">\n                    <img src={pinMap} className=\"HP-largePhoto\" />\n                    <div className=\"HP-caption\">ESP32C3 XIAO Pinout</div>\n                </div>\n            </div>\n            <div className=\"HP-spacer\" />\n            <div className=\"HP-flex\" style={{alignItems:\"center\"}}>\n                <div className=\"HP-photoContent HP-half\">\n                    <div className=\"HP-photoObject\">\n                        <img src={hBridge} className=\"HP-smallPhoto\" />\n                        <div className=\"HP-caption\">H-Bridge design</div>\n                    </div>\n                    <div className=\"HP-photoObject\">\n                        <img src={hbridgePinout} className=\"HP-medPhoto\" />\n                        <div className=\"HP-caption\">8847 Pinout</div>\n                    </div>\n                    <div className=\"HP-photoObject\">\n                        <img src={functionalDiagram} className=\"HP-largePhoto\" />\n                        <div className=\"HP-caption\">8847 2-motor drive configuration</div>\n                    </div>\n                    <div className=\"HP-photoObject\">\n                        <img src={inputConfig} className=\"HP-largePhoto\" />\n                        <div className=\"HP-caption\">8847 input-output map</div>\n                    </div>\n                </div>\n                <div className=\"HP-body HP-half\" style={{height:\"fit-content\"}}>\n                    The goal of this circuit was to drive two DC brushed motors for the robot cart. This means I would need two H-bridges, one to power each motor. The H-bridge is a 4 transistor \n                    based circuit with flyback diodes at each transistor to regulate current flowing through a coil (or in our case, DC brushed motor) either forward or backwards. There are a series \n                    of H-bridge chips designed to power DC bushed motors which make the configuration very easy, only passing in two PWM signals, some configuration signals, and a power signal to operate. \n                    The chip I chose to power my motors was the <a href=\"https://www.digikey.com/en/products/detail/texas-instruments/DRV8847PWPR/9954204\">DRV8847PWP</a>, a TI chip that \n                    contains two separate H-bridges, perfect for my two motor application. The <a href=\"https://www.ti.com/lit/ds/symlink/drv8847.pdf?HQS=dis-dk-null-digikeymode-dsf-pf-null-wwe&ts=1699890703275\">\n                    datasheet</a> for the chip is a bit long, but very informational and worth the read if you plan to use it. In the datasheet it specified different configurations and how \n                    to set up a circuit to enable them, notably the configuration to power two DC motors. It also detailed the pinout of the chip and the driving input and output signals to \n                    control the motors properly. With this information in mind, I designed a small circuit to power this chip with the ESP32C3 XIAO. In the circuit I made sure to add resistors \n                    and capacitors around sense pins and power pins as specified in the 8847 datasheet, as well as leaving a  connector on the board to power the TOF sensor from last week if \n                    desired. Note also that some pins in the schematic seem like they were flipped (in/out 3 and 4). Looking at the datasheet carefully you can see this is in fact the case in the \n                    pinout of the device, and I wanted to make programming straightforward. Also note the large copper region in the middle of the footprint, this connects to the thermal pad of the \n                    8847 and ground to improve thermal characteristics of the chip when driving large currents. \n                </div>\n            </div>\n            <div className=\"HP-photoContainer\">\n                <div className=\"HP-photoObject\">\n                    <img src={schFinal} className=\"HP-largePhoto\" />\n                    <div className=\"HP-caption\">Circuit Schematic</div>\n                </div>\n                <div className=\"HP-photoObject\">\n                    <img src={footprintInit} className=\"HP-largePhoto\" />\n                    <div className=\"HP-caption\">Initial Footprint</div>\n                </div>\n            </div>\n            <div className=\"HP-spacer\" />\n            <div className=\"HP-flex\">\n                <div className=\"HP-body HP-half\">\n                    With my circuit designed, I will briefly touch on an important design decision. A USB-C power supply provides a modest amount of \n                    power, <a href=\"https://www.renesas.com/us/en/support/engineer-school/usb-power-delivery-02-fast-role-swap-programmable-power-supply\" >but can be negotiated to provide much much more</a>, \n                    making an application like this no issue. This does not, however, mean that the ESP32C3 can provie all of this power on it's 5V USB power pin. Looking at the XIAO schematic, you \n                    can see that connected to the USB-C VBUS supply there is a 500mA fuse, in place to prevent destroying circuitry or worse, limiting the current draw from the USB, even though in \n                    theory it could provide much more. Knowing this, I still decided to drive the motors with this maximum 500mA, as while this would not be enough to drive the motors at full \n                    speed, it was more than sufficient for a prototype circuit and could be switched out for a battery for the final project quite easily. I then set out to mill my circuit, however \n                    I ran into an issue. The 8847 pins are so finely pitched that the 1/64\" end mill cannot mill between them. To fix this issue (and a similar issue with my wider 5V power line due to the \n                    needing to handle more current) I shrunk the pads for the pins of the 8847 and 2 of the pins on the ESP32C3 XIAO. With this modified footprint, I finally was able to mill the board and \n                    move on to placing components. The 1/32\" end mill in EDS happened to be quite dull, but a bit of post processing with a putty knife (while not looking pretty) worked wonders on cleaning \n                    up even the tiny traces on the board. \n                </div>\n                <div className=\"HP-photoContent HP-half\">\n                    <div className=\"HP-photoObject\">\n                        <img src={XIAOfuse} className=\"HP-largePhoto\" />\n                        <div className=\"HP-caption\">Fuse on the USB power in the XIAO</div>\n                    </div>\n                </div>\n            </div>\n            <div className=\"HP-photoContainer\">\n                <div className=\"HP-photoObject\">\n                    <img src={footprintFinal} className=\"HP-largePhoto\" />\n                    <div className=\"HP-caption\">Final Footprint</div>\n                </div>\n                <div className=\"HP-photoObject\">\n                    <img src={milledBoard} className=\"HP-largePhoto\" />\n                    <div className=\"HP-caption\">Milled Board</div>\n                </div>\n                <div className=\"HP-photoObject\">\n                    <img src={zoomBoard} className=\"HP-largePhoto\" />\n                    <div className=\"HP-caption\">Microscope view of 8847</div>\n                </div>\n                <div className=\"HP-photoObject\">\n                    <img src={finalBoard} className=\"HP-largePhoto\" />\n                    <div className=\"HP-caption\">Populated Circuit Board</div>\n                </div>\n            </div>\n            <div className=\"HP-spacer\" />\n            <div className=\"HP-body\">\n                While reflow soldering the 8847, I accidentally shorted two pins: the two just below the top pin on the right side in the zoomed picture above (barely even visible through the microscope!). \n                This served as a good reminder to always continuity test your joints before assuming it worked, as it's much easier to catch mistakes in the moment. I used a bit of copper tape and extra solder \n                and was able to unshort the pins fairly easily, leading to the complete circuit you see above. Once I was satisfied that all of the connections were correct, I taped the board to the \n                top of my recycled cart. \n            </div>\n            <div className=\"HP-photoContainer\">\n                <div className=\"HP-photoObject\">\n                    <img src={initCart} className=\"HP-largePhoto\" />\n                    <div className=\"HP-caption\">Board taped to my robot cart</div>\n                </div>\n            </div>\n            <div className=\"HP-body\">\n                With the assembly part of the project finished, I turned to coding a motor driver. Using sample code from Neil to drive an H-bridge, adapted for the ESP32C3, made a program to \n                drive one of the motors forward and backward at two different speeds for 1/2s each. The main change is using the LEDC library from espressif for the ESP32C3. This API, though the name is \n                misleading, is just a PWN configuration library, whose reference can be found <a href=\"https://espressif-docs.readthedocs-hosted.com/projects/arduino-esp32/en/latest/api/ledc.html\">here</a>. \n                Although everything seemed correct, and the board was responding to my code (verified with blinking \n                the LED on pin D7 (why I love debug LEDs!)), the motor would not spin. Eventually, once I dramatically increased the PWM value to try and get some resonse from the motor, I heard a \n                faint clicking from motor struggling to turn against the friction. Excited, I increased the duty cycle once again to get it more power, and on uploading it my computer crashed. \n                The screen went black and then rebooted from death only once the circuit was unplugged. I went through my USB driver settings and it seemed like it was configured to drive 500mA \n                (the maximum that the ESP32C3 would draw per the fuse earlier) and should therefore be fine, but I decided not to risk it and plug it into a power supply. Once I connected the USB-C \n                of the circuit to the wall power, the motor immediately began turning quickly, so it was an issue with current supply from my Mac. Seeing this issue, for the rest of the project I \n                uploaded code from my Mac with the motors unplugged and only connected the motors once the circuit was plugged back into the wall with the new code. The code I used to drive the motor \n                test can be found <a href={starterCode} download>here</a>.\n            </div>\n            <div className=\"HP-photoContainer\">\n                <div className=\"HP-photoObject\">\n                    <video src={motorMove} controls loop className=\"HP-video\" style={{margin:0}}/>\n                    <div className=\"HP-caption\">Basic motor driving</div>\n                </div>\n            </div>\n            <div className=\"HP-body\">\n                Now that I could drive the motors, it was time to build the controller. Building off of the web server I build last week, I wanted to use web sockets to pass messages from the web server \n                to the robot in order to drive it. For an introduction to the web server code and WiFi configuration, check out my week 9 (input devices) assignment. As a short recap, the web server \n                can easily be instantiated from the ESP32C3 WiFi libraries, and once a server is established you can send html code which includes a script to listen to events from the microcontroller \n                (written in JavaScript). A very helpful tutorial can be found <a href=\"https://sigmdel.ca/michel/ha/xiao/xiao_esp32c3_wifi_switch_2_en.html#websocket\">here</a>. Similarly, you can use web sockets \n                to send data back to the microcontroller quickly (opposed to the events handler used to send messages the other way last week). The tutorial I mentioned is great for understanding all \n                about ESP32C3 web servers, but leaves out <a href=\"https://techtutorialsx.com/2018/08/14/esp32-async-http-web-server-websockets-introduction/#google_vignette\">a few key \n                steps for initializing the web sockets specifically</a>. Combining my starter code, my code from last week, and help from these two tutorials, I got a web server running with 4 buttons on it,\n                one for each direction up, down, left, and right, which when pressed send a socket event to the microcontroller, which in turn sets the PWMs to control the 8847 and drive the motors in the \n                desired direction. I first verified the functionalty again using the debug LED (my favorite component!), which can be seen operating below. \n            </div>\n            <div className=\"HP-photoContainer\">\n                <div className=\"HP-photoObject\">\n                    <video controls loop src={ledController} className=\"HP-video\" style={{margin:0}}/>\n                    <div className=\"HP-caption\">LED web controller</div>\n                </div>\n            </div>\n            <div className=\"HP-body\">\n                Not quite yet satisfied, I cleaned up the styling for the web server and added two more buttons, one to toggle the speed between faster and slower and another to toggle the time the \n                motors are left on for, from 0.1s to 0.25s. With these settings, I now had fairly fine control over the robot carts direction, position, and velocity. The final code for the motor driver \n                can be found <a href={finalCode} download>here</a> and the html code used to power the server can be found <a href={htmlCode} download>here</a>. Overall I'm really happy with how this \n                project turned out. The web socket driver works great, and using it I can theortetically control the robot anywhere on the same WiFi network. I will definitely use this configuration when \n                building my final project!\n            </div>\n            <div className=\"HP-photoContainer\">\n                <div className=\"HP-photoObject\">\n                    <video controls loop src={motorController} className=\"HP-video\" style={{margin:0}}/>\n                    <div className=\"HP-caption\">Motor web controller</div>\n                </div>\n            </div>\n            <div className=\"HP-photoContainer\">\n                <div className=\"HP-photoObject\">\n                    <img src={finalCart} className=\"HP-largePhoto\" />\n                    <div className=\"HP-caption\">Robot Cart</div>\n                </div>\n                <div className=\"HP-photoObject\">\n                    <img src={controllerImg} className=\"HP-largePhoto\" />\n                    <div className=\"HP-caption\">Web Server Design</div>\n                </div>\n            </div>\n        </div>\n    )\n}\n\nexport default Week10;","import React from \"react\";\n\nimport 'react-slideshow-image/dist/styles.css';\n\nimport cart from \"./../photos/networking/cart.webp\";\nimport connectfail from \"./../photos/networking/connectfail.webp\";\nimport macaddress from \"./../photos/networking/macaddress.webp\";\nimport pagelayout from \"./../photos/networking/pagelayout.webp\";\nimport segfault from \"./../photos/networking/segfault.webp\";\nimport workingvid from \"./../photos/networking/workingvid.mp4\";\n\nimport motorController from \"./../code/networking/motor-controller-espnow.ino\";\nimport tof from \"./../code/networking/tof-espnow.ino\";\nimport htmlFile from \"./../code/networking/wifiHelper.h\";\n\n\nconst Week11 = (props) => {\n    return (\n        <div className=\"HP-module\">\n            <div className=\"HP-subtitle\">Week 11: Networking</div>\n            <div className=\"HP-body\">\n                For this week our goal is to design, build, and connect wireless (or wired) nodes with addressing and a local interface. To accomplish this, I decided \n                to try and connect my projects from the previous two weeks: the time-of-flight sensor circuit and the motor controller circuit. In my final project I will \n                use the functionality of both of these circuits, but it might be useful to keep their functionality split into two circuits so one processor isn't overloaded \n                with too much computation. The goal of the communication is fairly straightforward: I want to communicate between the two circuits wirelessly and use the \n                motor-controller webpage from week 10 to display the sensor information as well as the motor controls. The ESP32C3 (the microcontroller on both circuits) comes \n                equipped with a WiFi and bluetooth transmitter and reciever. While looking into ways to leverage these modules in peer to peer communication, I came across \n                a protocol built into these Espressif chips specifically made to talk to each other using the WiFi antenna: <a href=\"https://docs.espressif.com/projects/esp-idf/en/latest/esp32/api-reference/network/esp_now.html#\">ESP Now</a>.\n                This protocol utilizes the WiFi protocol to speak directly between two ESP devices using the devices' MAC addresses, a unique 12 digit hex address hard coded to each device. \n                To find the MAC address of each device, there is a useful function in the ESP WiFi library, WiFi.macAddress(). Here is the serial output of printing both device addresses.\n            </div>\n            <div className=\"HP-photoContainer\">\n                <div className=\"HP-photoObject\">\n                    <img src={macaddress} className=\"HP-largePhoto\"/>\n                    <div className=\"HP-caption\">Output MAC addresses of each ESP32C3</div>\n                </div>\n            </div>\n            <div className=\"HP-body\">\n                To set up the ESP Now, I took the two Arduino programs from the previous two weeks and tweaked the TOF sensor code to remove the web server and add ESP Now initialization \n                and send data to the other end whenever the VL53L1X sensor is read. To the motor controller code, I added a new web socket event to handle sending sensor data to the webpage and \n                added the ESP Now initialization so that it could recieve messages from the other device. A very helpful tutorial for configuring the ESP Now with a web server and a sensor \n                device can be found <a href=\"https://randomnerdtutorials.com/esp32-esp-now-wi-fi-web-server/\">here</a>. The important changes from the previous code (found on Weeks 10 and 11 pages) is \n                that the webpage host must be configured as both a station and an access point to allow internet connection and incoming ESP Now connections rather than just a station. On the sensor controller side, \n                WiFi must still be configured and initialized in order to correctly use ESP Now. Additionally \n                both programs need configured a callback function to send/recieve ESP Now data using the same data structure, referred to as tof_message_t in my programs. \n            </div>\n            <div className=\"HP-spacer\" />\n            <div className=\"HP-body\">\n                With the code now setup, I ran into a couple of issues. First, I was running into improper memory accessess on the sensor circuit, causing the processor to fault and reset. \n                This turned out to be an issue with the WiFi setup (as it had not been previously configured), and was fixed by explicitly declaring the device as a wifi station and initializing the \n                WiFi. The next issue was with the motor circuit controller, which was also having processor faults due to improper memory access. After some time debugging, it seemed to be an issue with the message structure, \n                as I was passing both the sensor status and range as a String, and it was not explicitly stated how long the strings were supposed to be. I fixed this by changing the transmitted data types \n                to an 8 bit integer for status and a 16 bit integer for range, as described in the documentation for the VL53L1X api.   \n            </div>\n            <div className=\"HP-photoContainer\">\n                <div className=\"HP-photoObject\">\n                    <img src={segfault} className=\"HP-largePhoto\"/>\n                    <div className=\"HP-caption\">Memory Access Fault on the microcontroller</div>\n                </div>\n            </div>\n            <div className=\"HP-body\">\n                With the new message structure, the two circuits were no longer running into memory access issues. \n                With these issues fixed, the ESP Now communication finally worked, and the two circuits were successfully connecting to each other and passing messages. Now, going to the web server hosted by the motor controller, \n                I could see the distance sensor data through the web socket! Here is the working code for the <a href={motorController} download>motor controller/web hosting</a>, <a href={htmlFile} download>html code</a> and the <a href={tof} download>sensor circuit</a>.\n            </div>\n            <div className=\"HP-photoContainer\">\n                <div className=\"HP-photoObject\">\n                    <img src={cart} className=\"HP-medPhoto\"/>\n                    <div className=\"HP-caption\">Both circuits powered and communicating</div>\n                </div>\n                <div className=\"HP-photoObject\">\n                    <img src={pagelayout} className=\"HP-medPhoto\"/>\n                    <div className=\"HP-caption\">Web page layout</div>\n                </div>\n            </div>\n            <div className=\"HP-photoContainer\">\n                <div className=\"HP-photoObject\">\n                    <video controls loop src={workingvid} className=\"HP-video\" style={{margin:0}}/>\n                    <div className=\"HP-caption\">Web page with displayed sensor data</div>\n                </div>\n            </div>\n            <div className=\"HP-body\">\n                Overall my experimentation with the ESP Now protocol leaves me with mixed feelings on it's utility for my final project. While it's great when it works, it seemed to have a very strict operating window. \n                Before finding that final guide linked above, I found several other, more simple configurations for the ESP Now setup. While very similar, none of them allowed communication between the \n                two circuits. Additionally, when both circuits are first powered it can take resetting one or both of them to get the connection to work properly. For my final project I might spend some time trying different \n                communication protocols, or even wired serial communication to simplify the connection in terms of computational intensity and reliability. That being said, it worked great when I got it set up properly, \n                and it was neat to figure out using a custom wireless data transfer protocol for the circuits.   \n            </div>\n            <div className=\"HP-photoContainer\">\n                <div className=\"HP-photoObject\">\n                    <img src={connectfail} className=\"HP-largePhoto\"/>\n                    <div className=\"HP-caption\">Connection failure with (otherwise working) circuits</div>\n                </div>\n            </div>\n        </div>\n    )\n}\n\nexport default Week11;","import React from \"react\";\n\nimport 'react-slideshow-image/dist/styles.css';\n\nimport fastRefresh from \"./../photos/tof-test/fast_refresh.mp4\";\nimport controllerImg from \"./../photos/motor-test/controllerImg.webp\";\nimport pagelayout from \"./../photos/networking/pagelayout.webp\";\nimport progressbar from \"./../photos/interface/progressbar.webp\";\nimport finalinterface from \"./../photos/interface/finalinterface.webp\";\nimport distancemov from \"./../photos/interface/distancemov.mp4\";\nimport drivingmov from \"./../photos/interface/drivingmov.mp4\";\n\nimport interfaceCode from \"./../code/interface/wifiHelper.h\";\n\nconst Week12 = (props) => {\n    return (\n        <div className=\"HP-module\">\n            <div className=\"HP-subtitle\">Week 12: Interface and Application Programming</div>\n            <div className=\"HP-body\">\n                The goal for this week is to write an application that interfaces the user with an input/output device we've been using. \n                Looking at my past weeks, I've already began to do this with my web interfaces for reading sensor data and hosting a web motor controller. \n                You can find the initial interfaces for these systems in each week here: <span onClick={() => props.changePage('week9')} className=\"weekly-pageLink\">sensor output</span>\n                , <span onClick={() => props.changePage('week10')} className=\"weekly-pageLink\">motor controller</span>, and <span onClick={() => props.changePage('week11')} className=\"weekly-pageLink\">combined interface</span>.\n                My goal for this week was to build off of my current interface and improve it so that it has a better user experience for driving the cart and visializing sensor data. \n                Before I get to the new additions, however, let's first recap the work on the interface so far.\n            </div>\n            <div className=\"HP-spacer\"/>\n            <div className=\"HP-body\">\n                The first interface I made ran on a web server hosted by an ESP32C3, a controller that has a WiFi module onboard, and with an added antenna can connect to \n                local internet and host a web server. Using the WiFi driver in this configuration, I took advantage of the \"AsyncTCP\" and \"ESPAsyncWebServer\" libraries to \n                create an event based driver, which could update the webpage with data whenever prompted by the controller. Using this framework, I built a very simple HTML \n                interface to display the readings from the VL53L1X time of flight sensor. For a deeper dive into the creation of this interface, along with the code, \n                <span onClick={() => props.changePage('week9')} className=\"weekly-pageLink\">check out this page</span>.\n            </div>\n            <div className=\"HP-photoContainer\">\n                <div className=\"HP-photoObject\">\n                    <video src={fastRefresh} controls preload=\"auto\" className=\"HP-smallVideo\" style={{margin:0}}/>\n                    <div className=\"HP-caption\">Event based asynchronous server interface</div>\n                </div>\n            </div>\n            <div className=\"HP-body\">\n                For the next week, I created a new interface to drive the robot cart. This interface mainly built on the last one, using a similar project structure \n                and web hosting except for one major change. In order to deal with web input and output, I changed the event based driver to a web socket based driver. \n                The new approach with web sockets, while working quite similarly, allows message passing both ways, so I can send commands to the circuit from the webpage \n                as well as update the webpage from the circuit. JavaScript comes build in with web socket functionality to pass these messages, so I simply adjusted my script \n                attached to the webpage to watch a handful of buttons on the screen, sending messages to the circuit to drive the cart when a button is pressed. This interface \n                was definitely a bit more involved, as it required processing on both ends of the server (handling the button presses and sending the message as well as \n                recieving the message and acting on it). In this week I also learned about the 'keypress' listeners, a special JavaScript function that can tell when a key is pressed \n                and acts on it. Using these listeners in my script, I was able to drive the cart using my arrow keys as well as the on-screen buttons. Again, a more in depth \n                description of my interface as well as the html code can be found <span onClick={() => props.changePage('week10')} className=\"weekly-pageLink\">on this page</span>.\n            </div>\n            <div className=\"HP-photoContainer\">\n                <div className=\"HP-photoObject\">\n                    <img src={controllerImg} className=\"HP-largePhoto\" />\n                    <div className=\"HP-caption\">Initial Motor Controller Interface</div>\n                </div>\n            </div>\n            <div className=\"HP-body\">\n                In the next week, networking, I also made small edits to the motor controller interface. My goal for that week was to communicate between the VL53L1X sensor circut \n                and the motor controller circuit, pooling the functionality into a single place and ultimately a single web page. While that week was mostly focused \n                on networking those two circuts, it did result in a small change to the interface: displaying the sensor data on the motor controller web server. I accomplished \n                this using the same web socket protocol, adding in a new message passing stream from the server to the client to pass the sensor readout data. More details on \n                this process, as well as the interface code, can be found <span onClick={() => props.changePage('week11')} className=\"weekly-pageLink\">here</span>.\n            </div>\n            <div className=\"HP-photoObject\">\n                <img src={pagelayout} className=\"HP-largePhoto\"/>\n                <div className=\"HP-caption\">Combined web page interface</div>\n            </div>\n            <div className=\"HP-body\">\n                This finally brings us to this week. For my final project I plan on using the same web server based approach, as I want to be able to access my \n                robot controller application from anywhere on the same network, and using a web page is the most straightforward approach (alternatively I \n                could program an application in another framework and make web requests to communicate, but I am very comfortable with html/javascript and \n                that would only add extra steps). With that in mind, I decided to spend this week improving my current controller interface rather than making a new one.\n            </div>\n            <div className=\"HP-spacer\"/>\n            <div className=\"HP-body\">\n                To improve my interface this week I decided to focus on the client side visualization of the controller and the sensor data. I plan on hosting the application \n                on the microcontroller for the final project as well, so this part didn't need to be tweaked much. The first thing I did was change the css styling \n                for the speed and time controls to a toggle switch rather than a button. This way there is a nice visual cue to which setting you're currently on without \n                having to verify by moving the cart. Next I moved all of the cart controls to the left half of the screen, and moved the sensor data to the right half. This \n                both made the interface more intuitive as well as opened up space for me to better visualize the sensor data. The final change I made for the cart controls \n                was to add in a button delay so the controller cannot overload the microcontroller. Since the controller code moves the motors for a set amount of time, \n                inputting multiple commands too quickly will overload the circuit and cause backlog in the microcontroller. This behavior seems dangerous, so I instead added \n                in a delay corresponding to the time the motors are active everytime a button is pressed, additionally lighting up the pressed button for that time period so \n                you know when you can press another key. After that, to visualize the sensor data better, I created a 'progress' bar that lights up the bar in green from left \n                to right in accordance with the distance measurement.  \n            </div>\n            <div className=\"HP-photoContainer\">\n                <div className=\"HP-photoObject\">\n                    <img src={progressbar} className=\"HP-largePhoto\" />\n                    <div className=\"HP-caption\">Updated Motor Controller Interface With Distance Bar</div>\n                </div>\n            </div>\n            <div className=\"HP-body\">\n                The final improvement I made to the interface was to add a graph displaying the trajectory of the distance measurements over the last few seconds. To \n                accomplish this, I used Three.js, a useful JavaScript graphics package. Starting from <a href=\"https://academy.cba.mit.edu/classes/interface_application_programming/programs/threejsline.html\">the class example</a>,\n                I modified the code to store the distance measurement at the last 500 timesteps and display them in a canvas. From the stored array I then scaled the points \n                and added them to a line on the canvas, just as in the example. Using this package was fairly straightforward, and the results are really powerful. I now \n                have graphical components on my interface for showing me the current distance reading as well as the history of the sensing data over the last few seconds. \n                Overall I am happy with the progress of my interface, and many of these updated features will be helpful when designing the controller for my final project. \n                The updated html code for this week can be found <a href={interfaceCode} download>here</a>.\n            </div>\n            <div className=\"HP-photoContainer\">\n                <div className=\"HP-photoObject\">\n                    <img src={finalinterface} className=\"HP-largePhoto\" />\n                    <div className=\"HP-caption\">Motor Controller Interface With Sensor Visualization</div>\n                </div>\n            </div>\n            <div className=\"HP-photoContainer\">\n                <div className=\"HP-photoObject\">\n                    <video src={distancemov} controls preload=\"auto\" className=\"HP-video\" style={{margin:0}}/>\n                    <div className=\"HP-caption\">Sensor Visualization on the interface</div>\n                </div>\n            </div>\n            <div className=\"HP-photoContainer\">\n                <div className=\"HP-photoObject\">\n                    <video src={drivingmov} controls preload=\"auto\" className=\"HP-video\" style={{margin:0}}/>\n                    <div className=\"HP-caption\">Motor driving on the interface</div>\n                </div>\n            </div>\n        </div>\n    )\n}\n\nexport default Week12;","import React from \"react\";\n\nimport 'react-slideshow-image/dist/styles.css';\n\n\nconst Week13 = (props) => {\n    return (\n        <div className=\"HP-module\">\n            <div className=\"HP-subtitle\">Week 13: Machine Week</div>\n            <div className=\"HP-body\">\n                This week was machine week! We worked together a section to build the Gershenforcer, a automated nerf turret that uses image processing to \n                target late students and unleash nerf fury upon them. On the project I worked on the flywheel team. We were responsible for the initial chamber,\n                 the floor of the firing mechanism, as well as the mechanism to actually launch the dart. We worked as a group (myself, Masarah, Sam, and Mauricio) \n                during the project to assemble the housing out of laser cut acrylic and 6-32 screws, mount a 20x20 aluminum extrusion chamber, design and printed \n                housings for the DC brushed motors, designed and printed adapters from the motor shaft to the flywheel center, and assembled the device until \n                darts could be shot out at any unsuspecting students. <br /><br />\n                This was a very fun project and I really enjoyed working on something fundementally mechanincal, it was a breath of fresh air from my \n                software-heavy background. I also really liked working with other people in my section, as they are all great and we helped and taught each other \n                a lot. Inside of my group, I personally designed the motor housings and we assembled the pieces and designed/assembled the housing together.\n            </div>\n        </div>\n    )\n}\n\nexport default Week13;","import React from \"react\";\n\nimport 'react-slideshow-image/dist/styles.css';\n\nimport fullRoute from \"./../photos/xiao/fullRoute.webp\";\nimport fullyPopulated from \"./../photos/xiao/fullyPopulated.webp\";\nimport initTrace from \"./../photos/xiao/initTrace.webp\";\nimport milledBoard from \"./../photos/xiao/milledBoard.webp\";\nimport paste from \"./../photos/xiao/paste.webp\";\nimport rp2040 from \"./../photos/xiao/rp2040.webp\";\nimport rpRoute from \"./../photos/xiao/rpRoute.webp\";\nimport smallPopulated from \"./../photos/xiao/smallPopulated.webp\";\nimport usbc from \"./../photos/xiao/usbc.webp\";\nimport withJumpers from \"./../photos/xiao/withJumpers.webp\";\nimport demo from \"./../photos/xiao/demo.mp4\";\n\nimport schematic from \"./../code/xiao/Motor_Circuit_sch.sch\";\nimport brd from \"./../code/xiao/Motor_Circuit_brd.brd\";\n\nconst Week14 = (props) => {\n    return (\n        <div className=\"HP-module\">\n            <div className=\"HP-subtitle\">Week 14: How to make a XIAO</div>\n            <div className=\"HP-body\">\n                This week, after working with the XIAO boards all semester, I decided it would be interesting to try and make my \n                own. The goal of the week was to try working with small components, and figure out the challenges and strengths \n                of building my own microcontroller breakout board. For the week, unlike previous weeks, I decided to use the RP2040, \n                mostly since it was what we had available. I started the week off with some helpful advice from Anthony, \n                going over <a href=\"https://datasheets.raspberrypi.com/rp2040/hardware-design-with-rp2040.pdf\">this document</a> detailing \n                how to configure the rp2040. The large challenges with implementing the design would be routing the board efficiently with \n                so many connections and then soldering the board on such a small scale. \n            </div>\n            <div className=\"HP-spacer\" />\n            <div className=\"HP-body\">\n                The first task was to design the board. This was a tall task, since there were so many connections needed to get the chip enabled, \n                and then more to add a <a href=\"https://www.ti.com/lit/ds/symlink/drv8847.pdf?HQS=dis-dk-null-digikeymode-dsf-pf-null-wwe&ts=1702266677058\">\n                DRV8847 dual h-bridge</a> so the circuit could drive two DC motors. I designed the board to use a USB-C adapter \n                to provide power to both the circuit and the motors, as well as breaking out a serial connection to open another avenue of communication \n                to the board. Besides these components, I added the DRV8847, flash storage to hold programs, a crystal oscillator to drive the timing on the \n                chip, a 3.3V regulator to provide chip power, a boot and a reset button (boot button connects to the storage, reset to the microcontroller), \n                and a whole host of bypass capacitors on every voltage input/output on the microcontroller and all other I.C.s. This wound up being, while a \n                simple schematic, a very large mess to route. With a lot of creativity, I designed a rather large board which accomplished all of the connections. \n                Here are <a href={schematic} download>the schematic</a> and <a href={brd}>the footprint</a>.\n            </div>\n            <div className=\"HP-photoContainer\">\n                <div className=\"HP-photoObject\">\n                    <img src={fullRoute} className=\"HP-largePhoto\"/>\n                    <div className=\"HP-caption\">Full footprint of the board</div>\n                </div>\n                <div className=\"HP-photoObject\">\n                    <img src={rpRoute} className=\"HP-largePhoto\"/>\n                    <div className=\"HP-caption\">Closeup of the rp2040 routes</div>\n                </div>\n            </div>\n            <div className=\"HP-body\">\n                With the circuit designed, now it was time to print it. I used an especially small 8/1000\" end-mill as well as the usual 1/64\" and 1/32\" end mills \n                to get all of the traces routed between the usb-c connector and the rp2040 itself, which both had the tighest pitch between pins. In my exporting to the mill, \n                however, I did forget to mill the through holes on the usb-c, which would later be an issue. I first milled just the outline of the rp2040, checking that the \n                job was setup properly and produced a good cut, then proceeded to mill the entire board.\n            </div>\n            <div className=\"HP-photoContainer\">\n                <div className=\"HP-photoObject\">\n                    <img src={initTrace} className=\"HP-largePhoto\"/>\n                    <div className=\"HP-caption\">Test cut of the rp2040 section</div>\n                </div>\n                <div className=\"HP-photoObject\">\n                    <img src={milledBoard} className=\"HP-largePhoto\"/>\n                    <div className=\"HP-caption\">Fully milled board</div>\n                </div>\n            </div>\n            <div className=\"HP-body\">\n                The next large task was to solder all of the components on the board. Since the pins were so closely spaced, and the rp2040 actually didn't have and pins sticking out,\n                I needed to use paste and reflow to solder the board. I heavily relied on the microscope and careful paste placement over all the pins to get the rp2040 and the \n                other small components on the board. \n            </div>\n            <div className=\"HP-photoContainer\">\n                <div className=\"HP-photoObject\">\n                    <img src={paste} className=\"HP-largePhoto\"/>\n                    <div className=\"HP-caption\">placed solder paste for rp2040, under microscope</div>\n                </div>\n                <div className=\"HP-photoObject\">\n                    <img src={rp2040} className=\"HP-largePhoto\"/>\n                    <div className=\"HP-caption\">Fully soldered rp2040, under microscope</div>\n                </div>\n            </div>\n            <div className=\"HP-body\">\n                Then I finished the board, here's an image of the final product. \n            </div>\n            <div className=\"HP-photoContainer\">\n                <div className=\"HP-photoObject\">\n                    <img src={smallPopulated} className=\"HP-largePhoto\"/>\n                    <div className=\"HP-caption\">All small components placed</div>\n                </div>\n                <div className=\"HP-photoObject\">\n                    <img src={fullyPopulated} className=\"HP-largePhoto\"/>\n                    <div className=\"HP-caption\">Rest of components placed</div>\n                </div>\n            </div>\n            <div className=\"HP-body\">\n                With the board milled, I plugged it in and tried to turn it on. Using the boot button on plugin, the device should appear over serial connection to be \n                a storage volume. This, however, did not happen. The reason why: Anthony and I had hoped for ease of routing that the 1.1V pins on the rp2040 (the voltage \n                level used for internal logic) did not need to be connected, we were wrong. I made a quick fix with some wires to connect these pins over the board, and \n                then unfortunaltely broke the usb-c connector off the board trying to plug it in (re: use the through hole pins for stability...). The next quick fix for this \n                was another over the board wire solder, this time from the two unused pins on the external power connector to D+ and D-, this way I could use the alternative input \n                to the power regulator as well as the new data pins to connect to usb-a. I used a usb-a breakout, which gives 5v, GND, D+, and D-, to connect to these 4 pins and \n                power the board. The only drawback of this approach was now the usb power no longer powered the motors, I would have to use the alternative power input connector \n                I left on the board to use that functionality. \n            </div>\n            <div className=\"HP-photoContainer\">\n                <div className=\"HP-photoObject\">\n                    <img src={withJumpers} className=\"HP-largePhoto\"/>\n                    <div className=\"HP-caption\">Modified board to fix the issues</div>\n                </div>\n            </div>\n            <div className=\"HP-body\">\n                After all of these modifications, the rp2040 finally turned on! Over the usb-a connector, the microcontroller appeared visible to the computer as a storage \n                volume. I uploaded the basic echo code from the <a href=\"https://academy.cba.mit.edu/classes/embedded_programming/index.html\">course website</a> and watched my rp2040 talk back to me. \n            </div>\n            <div style={{display:\"flex\", flexDirection:\"column\", alignItems:\"center\"}}>\n                    <video src={demo} preload=\"none\" controls className=\"HP-smallVideo\" />\n                    <div className=\"HP-caption\">rp2040 responding to serial</div>\n            </div>\n            <div className=\"HP-body\">\n                The last thing I tried as part of this week was to fix the usb-c connector that was snapped off earlier. While replacing the original usb-c connector \n                was not a great idea due to the missing through holes, I was able to easily design another tiny breakout board to atleast get power, ground, D+, and D- \n                off the board so I didn't have to use usb-a. I milled the board and attempted to populate it, however once again the soldering process was very difficult and \n                I fused one of the control lines to D+ underneath the connector, rendering it nonfunctioning. At this point I ran out of time, however I hope to fix the connector in the \n                future if I have time.\n            </div>\n            <div className=\"HP-photoContainer\">\n                <div className=\"HP-photoObject\">\n                    <img src={usbc} className=\"HP-largePhoto\"/>\n                    <div className=\"HP-caption\">USB-C breakout board (broken)</div>\n                </div>\n            </div>\n        </div>\n    )\n}\n\nexport default Week14;","import './App.css';\nimport React, { useState } from \"react\";\nimport Homepage from './Homepage';\nimport Week1 from './projects/Week1';\nimport Week2 from './projects/Week2';\nimport Navbar, {Navmenu} from './Navbar';\nimport Week3 from './projects/Week3';\nimport SlideMenu from './SlideMenu';\nimport Final from './projects/Final';\nimport Week4 from './projects/Week4';\nimport Week5 from './projects/Week5';\nimport Week6 from './projects/Week6';\nimport Week7 from './projects/Week7';\nimport Week8 from './projects/Week8';\nimport Week9 from './projects/Week9';\nimport Week10 from './projects/Week10';\nimport Week11 from './projects/Week11';\nimport Week12 from './projects/Week12';\nimport Week13 from './projects/Week13';\nimport Week14 from './projects/Week14';\n\nfunction App() {\n  const [page,setPage] = useState('home');\n  const changePage = (page) => {\n    window.scrollTo(0,0);\n    setPage(page);\n  }\n\n  const [menu, setMenu] = useState(false);\n  const handleMenu = () => {\n    if(menu) setMenu(false);\n  }\n  return (<>\n    <SlideMenu menu={menu} navmenu={ Navmenu} setMenu={setMenu} setPage={setPage}/>\n      <Navbar prefix=\"/\" menu={menu} setMenu={setMenu} setPage={changePage}/>\n      <div className=\"App-page\" onClick={() => handleMenu()}>\n        {page === 'home'? <Homepage changePage={changePage}/>\n        :page === 'week14'?<Week14/>\n        :page === 'week13'?<Week13/>\n        :page === 'week12'?<Week12 changePage={changePage}/>\n        :page === 'week11'?<Week11 />\n        :page === 'week10'?<Week10 />\n        :page === 'week9'?<Week9 />\n        :page === 'week8'?<Week8 />\n        :page === 'week7'?<Week7 />\n        :page === 'week6'?<Week6 changePage={changePage}/>\n        :page === 'week5'?<Week5 />\n        :page === 'week4'?<Week4 />\n        :page === 'week3'?<Week3 />\n        :page === 'week2'?<Week2 />\n        :page === 'week1'?<Week1 />\n        :page === 'final'?<Final changePage={changePage}/>\n        :<Homepage changePage={changePage}/>}\n      </div>\n      </>\n  );\n}\n\nexport default App;\n","import React from 'react';\nimport ReactDOM from 'react-dom/client';\nimport './index.css';\nimport App from './App';\nimport reportWebVitals from './reportWebVitals';\n\nconst root = ReactDOM.createRoot(document.getElementById('root'));\nroot.render(\n  <React.StrictMode>\n    <App />\n  </React.StrictMode>\n);\n\n// If you want to start measuring performance in your app, pass a function\n// to log results (for example: reportWebVitals(console.log))\n// or send to an analytics endpoint. 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