index.js

/*

PWM's 

 test servo:
  zero 1485 - 1492 
base zero 1465 1456(no sing) 1451
shoulder limit 630 - 2170
elbow limit 954 - 2319
wrist limit 500 - 2500 ?
gripper limit 743 - 2233

Pot Readings

base 0-213           0-255
shoulder 22-209      0-121
elbow 120 -255       0-190
wrist 25 - 234       34-214
wrist rotate 20-230  23-225
gripper 0-255


*/


var serialport = require('serialport');
var SerialPort = serialport.SerialPort;

var keypress = require('keypress')
  , tty = require('tty');

//var WebSocketServer = require('ws').Server;

function Joint (pot, servo,minByte,maxByte, minPWM, maxPWM){
  this.pot = pot;
  this.servo = servo;
  this.minByte = minByte || 0;
  this.maxByte = maxByte || 255;
  this.minPWM = minPWM || 500;
  this.maxPWM = maxPWM || 2500;
  this.mapRange = function (curByte){
    curByte = Math.max(curByte,this.minByte);
    curByte = Math.min(curByte,this.maxByte);
    return this.minPWM + (curByte-this.minByte) * ((this.maxPWM-this.minPWM)/(this.maxByte-this.minByte));
  };
}

//function (curByte){
//    curByte = Math.max(curByte,this.minByte);
//    curByte = Math.min(curByte,this.maxByte);
//    return this.minPWM + (curByte-this.minByte) * ((this.maxPWM-this.minPWM)/(this.maxByte-this.minByte));

//(function(minByte,maxByte,minPWM,maxPWM){
//  var memo = {};
//  
//  function f(n){
//    var value;
//    
//    if(n in memo){
//      value = memo[n];
//    } else {
//      value = minPWM + (n-minByte) * ((maxPWM-minPWM)/(maxByte-minByte));
//      memo[n] = value;
//    }
//    
//    return value;
//  }
//  
//  return f;
//})();

//var base = new Joint("VH",0);
//var shoulder = new Joint("VG",1,0,139,1990,650);
//var elbow = new Joint("VF",2,0,228,500,2500);
//var wrist = new Joint("VE",3,0,195,500,2500);
//var wrist_rotate = new Joint("VD",4,0,255,500,2500);
//var gripper = new Joint("VC",5,0,255,868,2500);


var base = new Joint("VH",0);
var shoulder = new Joint("VG",1,0,121,2000,500);
var elbow = new Joint("VF",2,0,190,1000,2500);
var wrist = new Joint("VE",3,34,214,500,2500);
var wrist_rotate = new Joint("VD",4,23,225,500,2500);
var gripper = new Joint("VC",5,0,255,868,2500);

var joints = [base,shoulder,elbow,wrist,wrist_rotate];
//var joints = [base,shoulder,elbow,wrist];

var potsString = joints.reduce(function(prev,cur){return prev + cur.pot + " "},"") + " \r";
console.log("potsString : " + potsString);
var clockID;
var zeroPWM = 1500;
var curPot = 0;
var oldContPotVal = 1500;
var moveRight = false;
var moveLeft = false;
var commandString = "";
var toSend = 1459;

var coeffSpinny = 8;

var blocked = false;

  var ssc32u = new SerialPort("/dev/cu.usbserial-A5044F99", {
    baudrate: 9600
  });
  
  
  var logPorts = function(){
    console.log('Logging ports: ')
    serialport.list(function(err,ports){
      ports.forEach(function(singlePort){
        console.log(singlePort.comName);
      })
    });
  };
  
 
  var showPortOpen = function() {
    ssc32u.on('data', receiveSerialData);
    ssc32u.on('close', showPortClose);
    ssc32u.on('error', showError);
    
    ssc32u.write("#0P1459");
    
//    clockID = setInterval(function(){
//      if(!blocked)
//      {
//        ssc32u.write("VH VG VF \r", function(){
//          ssc32u.drain(function(){
//            blocked = false;
//          })
//          });
//        blocked = true;
//      }
//      
//    },1000);   try testing this out with higher write speed 
    clockID = setInterval(function(){ssc32u.write(potsString)}, 70);
  }
  
  var receiveSerialData = function(buff) {
    for(var i = 0; i < buff.length; i++){
      var val = buff.readUInt8(i);
     // broadcast(JSON.stringify({servo: i, reading: val}));
     // console.log("Pot : " + pots[curPot] + ", Reading : " + val);
      
     console.log(joints[curPot].pot + " : " + val);
    // console.log("PWM for" + joints[curPot].pot + " = " + joints[curPot].mapRange(val));
      if(joints[curPot] !== null){
        if(joints[curPot].servo == 0){
          toSend = val-oldContPotVal;
          oldContPotVal = val;
          var toSend = Math.round(1459 + (toSend * coeffSpinny));
          toSend = Math.min(toSend,2500);
          toSend = Math.max(toSend,500);
          commandString += "#0P" + toSend;  
          //moveContServo(val);
        } else{
          commandString += "#" + joints[curPot].servo + "P" + ~~joints[curPot].mapRange(val);
          //moveServo(joints[curPot].servo, joints[curPot].mapRange(val));
        }
      }
      curPot++;
      if(curPot == joints.length){
        //console.log(commandString);
        ssc32u.write(commandString + "\r")
        curPot = 0;
        commandString = "";
      }
    }
  };
  
  var showPortClose = function() {
    //console.log('port closed.');
    clearInterval(clockID);
  };
 
  var showError = function(error) {
     //console.log('Serial port error: ' + error);
  };

  var moveServo = function(sevoNum, pwm) {
    if(typeof pwm !== 'number')
      return;
    data = Math.min(pwm,2500);
    data = Math.max(pwm,500);
    //console.log("sending to serial: " + pwm);
    if(!!ssc32u){
     // console.log("current PWM: " + pwm);
      ssc32u.write("#" + sevoNum + "P" + pwm + "\r");
    }
  };

  var moveContServo = function(curContPotVal){
    var deltaPot = curContPotVal-oldContPotVal;
    oldContPotVal = curContPotVal;
    //console.log("deltaPot : " + deltaPot);
    var toSend = 1459 + (deltaPot * coeffSpinny);
    //console.log('coeffSpinny = ' + coeffSpinny);
    toSend = Math.min(toSend,2500);
    toSend = Math.max(toSend,500);
    //console.log('toSend: ' + toSend);
    
    if(moveLeft){toSend = 1400;}
    if(moveRight){toSend = 1540;}
    
    ssc32u.write("#0P" + toSend + "\r");
  }
  
ssc32u.on('open', showPortOpen);

// make `process.stdin` begin emitting "keypress" events
keypress(process.stdin);

// listen for the "keypress" event
process.stdin.on('keypress', function (ch, key) {
  //console.log('got "keypress"', key);
  if (key && key.name === "up") {
    zeroPWM++;
    coeffSpinny++;
  } else if(key && key.name === "down"){
    zeroPWM--;
    moveLeft = false;
    moveRight = false;
    coeffSpinny--;
  } else if(key && key.name === "left"){
    moveLeft = true;
    moveRight = false;
  }else if(key && key.name === "right"){
    moveLeft = false;
    moveRight = true;
  }
  if (key && key.ctrl && key.name == 'c') {
   process.exit();
  }
  //process.stdout.write( ch );
});

if (typeof process.stdin.setRawMode == 'function') {
  process.stdin.setRawMode(true);
} else {
  tty.setRawMode(true);
}
process.stdin.resume();

//  
//  var SERVER_PORT = 8081;
//  var wss = new WebSocketServer({port: SERVER_PORT});
//  var connections = new Array; 
//  
//  var broadcast = function (data) {
//   for (myConnection in connections) {   // iterate over the array of connections
//    connections[myConnection].send(data); // send the data to each connection
//   }
//  }
//
//
//  var handleConnection = function(client) {
//   ////console.log("New Connection"); // you have a new client
//   connections.push(client); // add this client to the connections array
//
//   client.on('message', handleMessage); // when a client sends a message,
//
//   client.on('close', function() { // when a client closes its connection
//   //console.log("connection closed");// print it out
//   ssc32u.write("#0P1500S500T1500\r");
//    var position = connections.indexOf(client); // get the client's position in the array
//   connections.splice(position, 1); // and delete it from the array
//   });
//  }
//  
//  var handleMessage = function(data) {
//    //console.log('handling message from client');
//    readPot();
//  };
//  
//  wss.on('connection', handleConnection);