Created
May 20, 2012 01:38
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Boe-Bot Controller Program (http://www.parallax.com/go/boebot#kits)
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| // Uses the Johnny-Five Arduino programming framework: https://github.com/rwldrn/johnny-five | |
| var five = require("../lib/johnny-five.js"), | |
| board, Bot, bot, left, right, servos; | |
| (function( scope ) { | |
| var expandWhich, reverseDirMap, scale; | |
| reverseDirMap = { | |
| right: "left", | |
| left: "right" | |
| }; | |
| scale = function( speed, low, high ) { | |
| return Math.floor( five.Fn.map( speed, 0, 5, low, high ) ); | |
| }; | |
| /** | |
| * Bot | |
| * @param {Object} opts Optional properties object | |
| */ | |
| function Bot( opts ) { | |
| // Boe Bot continuous are calibrated to stop at 90° | |
| this.center = opts.center || 90; | |
| this.servos = { | |
| right: new five.Servo({ pin: opts.right, type: "continuous" }), | |
| left: new five.Servo({ pin: opts.left, type: "continuous" }) | |
| }; | |
| this.direction = opts.direction || { | |
| right: this.center, | |
| left: this.center | |
| }; | |
| this.speed = opts.speed == null ? 0 : opts.speed; | |
| this.history = []; | |
| this.which = "forward"; | |
| this.isTurning = false; | |
| setTimeout(function() { | |
| this.fwd(1).fwd(0); | |
| }.bind(this), 10); | |
| } | |
| /** | |
| * move | |
| * @param {Number} right Speed/Direction of right servo | |
| * @param {Number} left Speed/Direction of left servo | |
| * @return {Object} this | |
| */ | |
| Bot.prototype.move = function( right, left ) { | |
| // Quietly ignore duplicate instructions | |
| if ( this.direction.right === right && | |
| this.direction.left === left ) { | |
| return this; | |
| } | |
| // Servos are mounted opposite of each other, | |
| // the values for left and right will be in | |
| // opposing directions. | |
| this.servos.right.move( right ); | |
| this.servos.left.move( left ); | |
| // Store a recallable history of movement | |
| this.history.push({ | |
| timestamp: Date.now(), | |
| right: right, | |
| left: left | |
| }); | |
| // Update the stored direction state | |
| this.direction.right = right; | |
| this.direction.left = left; | |
| return this; | |
| }; | |
| // TODO: DRY OUT!!!!!!! | |
| /** | |
| * forward Move the bot forward | |
| * fwd Move the bot forward | |
| * | |
| * @param {Number}0-5, 0 is stopped, 5 is fastest | |
| * @return {Object} this | |
| */ | |
| Bot.prototype.forward = Bot.prototype.fwd = function( speed ) { | |
| speed = speed == null ? 1 : speed; | |
| var scaled = scale( speed, this.center, 110 ); | |
| this.speed = speed; | |
| this.which = "forward"; | |
| return this.move( this.center - (scaled - this.center), scaled ); | |
| }; | |
| /** | |
| * reverse Move the bot in reverse | |
| * rev Move the bot in reverse | |
| * | |
| * @param {Number}0-5, 0 is stopped, 5 is fastest | |
| * @return {Object} this | |
| */ | |
| Bot.prototype.reverse = Bot.prototype.rev = function( speed ) { | |
| speed = speed == null ? 1 : speed; | |
| var scaled = scale( speed, this.center, 110 ); | |
| this.speed = speed; | |
| this.which = "reverse"; | |
| console.log( scaled, this.center - (scaled - this.center) ); | |
| return this.move( scaled, this.center - (scaled - this.center) ); | |
| }; | |
| /** | |
| * stop Stops the bot, regardless of current direction | |
| * @return {Object} this | |
| */ | |
| Bot.prototype.stop = function() { | |
| this.speed = this.center; | |
| this.which = "stop"; | |
| return this.move( this.center, this.center ); | |
| }; | |
| /** | |
| * right Turn the bot right | |
| * @return {Object} this | |
| */ | |
| /** | |
| * left Turn the bot lefts | |
| * @return {Object} this | |
| */ | |
| [ "right", "left" ].forEach(function( dir ) { | |
| Bot.prototype[ dir ] = function() { | |
| var actual = this.direction[ reverseDirMap[ dir ] ]; | |
| if ( !this.isTurning ) { | |
| this.isTurning = true; | |
| this.move( actual, actual ); | |
| // Restore direction after turn | |
| setTimeout(function() { | |
| this[ this.which ]( this.speed ); | |
| this.isTurning = false; | |
| }.bind(this), 750); | |
| } | |
| return this; | |
| }; | |
| }); | |
| expandWhich = function( which ) { | |
| var parts, translations; | |
| translations = [ | |
| { | |
| f: "forward", | |
| r: "reverse", | |
| fwd: "forward", | |
| rev: "reverse" | |
| }, | |
| { | |
| r: "right", | |
| l: "left" | |
| } | |
| ]; | |
| if ( which.length === 2 ) { | |
| parts = [ which[0], which[1] ]; | |
| } | |
| if ( !parts.length && /\-/.test(which) ) { | |
| parts = which.split("-"); | |
| } | |
| return parts.map(function( val, i ) { | |
| return translations[ i ][ val ]; | |
| }).join("-"); | |
| }; | |
| Bot.prototype.pivot = function( which, time ) { | |
| var actual, directions, scaled; | |
| scaled = scale( this.speed, this.center, 110 ); | |
| which = expandWhich( which ); | |
| directions = { | |
| "forward-right": function() { | |
| this.move( this.center, scaled ); | |
| }, | |
| "forward-left": function() { | |
| this.move( this.center - (scaled - this.center), this.center ); | |
| }, | |
| "reverse-right": function() { | |
| this.move( scaled, this.center ); | |
| }, | |
| "reverse-left": function() { | |
| this.move( this.center, this.center - (scaled - this.center) ); | |
| } | |
| }; | |
| directions[ which ].call( this, this.speed ); | |
| setTimeout(function() { | |
| this[ this.which ]( this.speed ); | |
| }.bind(this), time || 1000 ); | |
| return this; | |
| }; | |
| scope.Bot = Bot; | |
| } ( this )); | |
| board = new five.Board(); | |
| board.on("ready", function() { | |
| this.repl.inject({ | |
| // create a bot, right servo = pin 10, left servo = pin 11 | |
| b: new Bot({ right: 10, left: 11 }) | |
| }); | |
| }); |
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