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    <title>Donkey Real-time calibration</title>
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    <h1>Donkey Real-time calibration</h1>


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                <textarea id="replyBox" rows="40" cols="60">
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                <h2>Introduction</h2>
                <p> This page allow you to dynamically re-adjust the calibration
                    value of PulseController, PCA9685 or MM1. Please note that after finding the
                    desire value, you need to update the value in myconfig.py manually </p>
                <h2>Instruction</h2>

                <h3>Steering</h3>
                <p>Simply use +/- and your steering will be adjusted
                    incrementally</p>

                <h3>Throttle</h3>
                <p>After adjusting the throttle value, use the up arrow will
                    trigger a 5 seconds (default, configurable below) full throttle to test the result</p>

                <form name="calibrate_form">
                    <fieldset>

                        <legend>Servo/ESC PWM Pulse Configuration</legend>
                        <div>
                            <label for="STEERING_LEFT_PWM">
                                <span>Left Steering Pulse:</span>
                                <input name="STEERING_LEFT_PWM" type="text" value="460"> </input>
                                <input type="button" value="+">
                                <input type="button" value="-">
                            </label>
                        </div>
                        <div>
                            <label for="STEERING_RIGHT_PWM">
                                <span>Right Steering Pulse:</span>
                                <input name="STEERING_RIGHT_PWM" type="text" value="290"> </input>
                                <input type="button" value="+">
                                <input type="button" value="-">
                            </label>
                        </div>
                        <p>
                            <label for="THROTTLE_FORWARD_PWM">
                                <span>Forward Throttle Pulse:</span>
                                <input name="THROTTLE_FORWARD_PWM" type="text" value="500"> </input>
                                <input type="button" value="+">
                                <input type="button" value="-">
                            </label>
                        </p>
                    </fieldset>


                    <fieldset>
                        <legend>MM1</legend>
                        <div>
                            <label for="MM1_STEERING_MID">
                                <span>MM1_STEERING_MID:</span>
                                <input name="MM1_STEERING_MID" type="text" value="1500"> </input>
                                <input type="button" value="+">
                                <input type="button" value="-">
                            </label>
                        </div>

                        <p>
                            <label for="MM1_MAX_FORWARD">
                                <span>MM1_MAX_FORWARD:</span>
                                <input name="MM1_MAX_FORWARD" type="text" value="1800"> </input>
                                <input type="button" value="+">
                                <input type="button" value="-">
                            </label>
                        </p>
                        
                        <p>
                            <label for="MM1_MAX_REVERSE">
                                <span>MM1_MAX_REVERSE:</span>
                                <input name="MM1_MAX_REVERSE" type="text" value="1200"> </input>
                                <input type="button" value="+">
                                <input type="button" value="-">
                            </label>
                        </p>

                    </fieldset>


                    <fieldset>
                        <legend>Calibrate Settings</legend>

                        <div>
                            <span>Throttle seconds:</span>
                            <input name="throttle_second" type="text" value="5">
                            </input> seconds
                        </div>

                    </fieldset>


                </form>
            </div>
        </div>
    </div>

    <script src="https://ajax.googleapis.com/ajax/libs/jquery/1.12.1/jquery.min.js"></script>


    <script>
        $(document).ready(function () {
            var textarea = document.getElementById('replyBox');

            var buttons = $('input[type=button]')

            buttons.click(function () {
                $(this).css('color', 'blue')
                button_value = $(this).val()

                console.log(button_value)


                text_el = $(this).parent().find('input[type=text]')


                var config_value = parseInt(text_el.val())
                if (button_value == '+') {
                    config_value = config_value + 10
                } else {
                    config_value = config_value - 10
                }

                text_el.val(config_value)

                var config_name = text_el.attr('name')

                var data = { 'config': { [config_name]: config_value } }
                sendMsg(data)

            });

            autoscroll = function (event) {
                textarea.scrollTop = textarea.scrollHeight
            }

            var socket = new WebSocket('ws://' + window.location.hostname + ':8887/wsCalibrate');

            socket.onopen = async function (event) {
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            socket.onmessage = function (event) {
                textarea.append(event.data + "\n");
                autoscroll()

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            function sendMsg(data) {
                msg = JSON.stringify(data)
                socket.send(msg)
                textarea.append(msg + '\n');

                autoscroll()
            }

            $(document).keydown(async function (e) {
                switch (e.which) {
                    case 37: // left
                        MM1_STEERING_MID = MM1_STEERING_MID - 10
                        data = { config: { 'MM1_STEERING_MID': MM1_STEERING_MID } }
                        sendMsg(data)
                        break;

                    case 38: // up
                        data = { "angle": 0.0, "throttle": 1.0, "recording": true, "drive_mode": "user" }
                        sendMsg(data)
                        throttle_second = $('input[name="throttle_second"]').val()
                        await sleep(throttle_second * 1000)
                        data = { "angle": 0.0, "throttle": 0.0, "recording": true, "drive_mode": "user" }

                        sendMsg(data)
                        break;

                    case 39: // right
                        MM1_STEERING_MID = MM1_STEERING_MID + 10
                        data = { config: { 'MM1_STEERING_MID': MM1_STEERING_MID } }
                        sendMsg(data)

                        break;

                    case 40: // down
                        data = { "angle": 0.0, "throttle": -1.0, "recording": true, "drive_mode": "user" }
                        sendMsg(data)
                        await sleep(500)
                        data = { "angle": 0.0, "throttle": 0.0, "recording": true, "drive_mode": "user" }

                        sendMsg(data)

                        break;

                    default: return; // exit this handler for other keys
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