branch: calibration

[jessegreenberg]

A branch to test a way to calibrate the sim to a physical device.

[jessegreenberg]

On this branch we have a prototype for calibrating the device to sim model space and controlling vertex positions from angle/length data from the device.

For the calibration we ask the user to create the largest shape possible and take a snapshot of physical lengths in that configuration. We use those lengths to create a linear function to map physical space into model space.

For the control, a function was added to turn angle/length data into positions of vertices. It works by anchoring the top side horizontally and then centering the shape around the of model space.

https://phet-dev.colorado.edu/html/jg-tests/quadrilateral/calibration-demo-1/quadrilateral-calibration-demo.html

[jessegreenberg]

It works OK but it is unfortunate that we have no knowledge of which side moves or the orientation of the device. We discussed in meeting today that we may add a gyroscope or other sensors to have the sim model more accurately match the physical model.

[jessegreenberg]

Scott and I were able to get this working well with the current quadrilateral device today.