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index.html
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index.html
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<!doctype html>
<!--
Copyright 2015 Google Inc. All Rights Reserved.
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
-->
<html>
<head>
<title>Bluetooth BB-8</title>
<meta name="description" content="Control a BB-8 toy robot with a Web Bluetooth app.">
<meta charset="utf-8">
<meta http-equiv="X-UA-Compatible" content="IE=edge,chrome=1">
<meta name="viewport" content="width=device-width, minimum-scale=1.0, initial-scale=1, user-scalable=yes">
<meta name="mobile-web-app-capable" content="yes">
<meta name="apple-mobile-web-app-capable" content="yes">
<script src="bower_components/webcomponentsjs/webcomponents-lite.min.js"></script>
<!-- Polymer components -->
<link rel="import" href="bower_components/paper-progress/paper-progress.html">
<link rel="import" href="bower_components/paper-slider/paper-slider.html">
<link rel="import" href="bower_components/paper-button/paper-button.html">
<link rel="import" href="bower_components/paper-card/paper-card.html">
<link rel="import" href="bower_components/paper-dialog/paper-dialog.html">
<link rel="import" href="bower_components/paper-input/paper-input.html">
<link rel="import" href="bower_components/paper-input/paper-input-container.html">
<link rel="import" href="bower_components/paper-input/paper-input-error.html">
<link rel="import" href="bower_components/paper-input/paper-input-char-counter.html">
<link rel="import" href="bower_components/paper-toggle-button/paper-toggle-button.html">
<link rel="import" href="bower_components/paper-styles/color.html">
<link rel="stylesheet" href="bower_components/paper-styles/demo.css">
<script src="bower_components/jquery/dist/jquery.min.js"></script>
<script src="retro-joystick/scripts/retro-joystick.js"></script>
<link rel="stylesheet" href="retro-joystick/styles/retro-joystick.css" /-->
<style is="custom-style">
paper-progress {
width: 100%;
}
paper-progress.blue {
paper-progress-active-color: var(--paper-light-blue-500);
paper-progress-secondary-color: var(--paper-light-blue-100);
}
paper-slider {
width: 100%;
}
paper-slider.blue {
paper-slider-active-color: var(--paper-light-blue-500);
paper-slider-knob-color: var(--paper-light-blue-500);
}
paper-toggle-button.blue {
--paper-toggle-button-checked-bar-color: var(--paper-light-blue-500);
--paper-toggle-button-checked-button-color: var(--paper-light-blue-500);
--paper-toggle-button-checked-ink-color: var(--paper-light-blue-500);
--paper-toggle-button-unchecked-bar-color: var(--paper-light-blue-900);
--paper-toggle-button-unchecked-button-color: var(--paper-light-blue-900);
--paper-toggle-button-unchecked-ink-color: var(--paper-light-blue-900);
}
paper-button {
display: block;
margin-bottom: 2px;
}
paper-button.colorful {
color: #4285f4;
}
paper-button[raised].colorful {
background: #4285f4;
color: #fff;
}
paper-button.blue {
color: var(--paper-light-blue-500);
paper-button-flat-focus-color: var(--paper-light-blue-50);
}
body {
background-color: var(--paper-grey-50);
}
#cards {
margin-left: auto;
margin-right: auto;
max-width: 400px;
}
paper-card {
margin-bottom: 5px;
margin-top: 5px;
width: 100%;
}
paper-card#logo {
@apply(--layout-vertical);
@apply(--layout-center);
}
paper-icon-button::shadow #icon {
width: 100px;
height: 100px;
}
#retrostick {
margin: auto;
float: none;
}
</style>
</head>
<body unresolved>
<template id="Toy" is="dom-bind">
<div id="cards">
<paper-card heading="Bluetooth BB-8">
<div class="card-content">
<paper-toggle-button class="blue" id="connect">Connect</paper-toggle-button>
<paper-progress id="progress" indeterminate></paper-progress>
</div>
</paper-card>
<paper-dialog id="no-bluetooth">
<h2>No Web Bluetooth</h2>
<p>The Web Bluetooth API is missing. Please enable it at
chrome://flags/#enable-web-bluetooth and try again.</p>
</paper-dialog>
<paper-dialog id="dialog">
<h2>Error</h2>
<p>Could not connect to bluetooth device!</p>
</paper-dialog>
</div>
<div id="retrostick" class="retrostick">
<div class="retrostick-base">
<div class="retrostick-base-joint">
<div><div></div></div>
</div>
<span class="retrostick-dir-note retrostick-dir-forward-left">left</span>
<span class="retrostick-dir-note retrostick-dir-forward">forward</span>
<span class="retrostick-dir-note retrostick-dir-forward-right">right</span>
<div class="retrostick-stick-wrap">
<div class="retrostick-stick"></div>
</div>
<div class="retrostick-ball"></div>
<span class="retrostick-dir-note retrostick-dir-backward-left">left</span>
<span class="retrostick-dir-note retrostick-dir-backward">backward</span>
<span class="retrostick-dir-note retrostick-dir-backward-right">right</span>
</div>
</div>
</template>
<script>
'use strict';
document.addEventListener('WebComponentsReady', () => {
let connectToggle = document.querySelector('#connect');
let progress = document.querySelector('#progress');
let dialog = document.querySelector('#dialog');
let message = document.querySelector('#message');
let logo = document.querySelector('#logo');
let gattServer;
let radioService;
let robotService;
let controlCharacteristic;
let sequence = 0;
let heading = 0;
let busy = false;
progress.hidden = true;
if (navigator.bluetooth == undefined) {
document.getElementById("no-bluetooth").open();
}
function handleError(error) {
console.log(error);
progress.hidden = true;
gattServer = null;
radioService = null;
robotService = null;
controlCharacteristic = null;
dialog.open();
}
function sendCommand(did, cid, data) {
// Create client command packets
// API docs: https://github.com/orbotix/DeveloperResources/blob/master/docs/Sphero_API_1.50.pdf
// Next sequence number
let seq = sequence & 255;
sequence += 1
// Start of packet #2
let sop2 = 0xfc;
sop2 |= 1; // Answer
sop2 |= 2; // Reset timeout
// Data length
let dlen = data.byteLength + 1;
let sum = data.reduce((a, b) => {
return a + b;
});
// Checksum
let chk = (sum + did + cid + seq + dlen) & 255;
chk ^= 255;
let checksum = new Uint8Array([chk]);
let packets = new Uint8Array([0xff, sop2, did, cid, seq, dlen]);
// Append arrays: packet + data + checksum
let array = new Uint8Array(packets.byteLength + data.byteLength + checksum.byteLength);
array.set(packets, 0);
array.set(data, packets.byteLength);
array.set(checksum, packets.byteLength + data.byteLength);
return controlCharacteristic.writeValue(array).then(() => {
console.log('Command write done.');
});
}
function setColor(r, g, b) {
console.log('Set color: r='+r+',g='+g+',b='+b);
if (busy) {
// Return if another operation pending
return Promise.resolve();
}
busy = true;
let did = 0x02; // Virtual device ID
let cid = 0x20; // Set RGB LED Output command
// Color command data: red, green, blue, flag
let data = new Uint8Array([r, g, b, 0]);
sendCommand(did, cid, data).then(() => {
busy = false;
})
.catch(handleError);
}
function roll(heading) {
console.log('Roll heading='+heading);
if (busy) {
// Return if another operation pending
return Promise.resolve();
}
busy = true;
let did = 0x02; // Virtual device ID
let cid = 0x30; // Roll command
// Roll command data: speed, heading (MSB), heading (LSB), state
let data = new Uint8Array([10, heading >> 8, heading & 0xFF, 1]);
sendCommand(did, cid, data).then(() => {
busy = false;
})
.catch(handleError);
}
connectToggle.addEventListener('click', () => {
progress.hidden = false;
// Can only send commands once device is in developer mode.
// Put device into developer mode by sending a special string to Anti DOS,
// 7 to TX Power and 1 to Wake CPU on radio service.
if (controlCharacteristic == null) {
navigator.bluetooth.requestDevice({
filters: [{
services: ['22bb746f-2bb0-7554-2d6f-726568705327']
}, {
// Some BB8 toys advertise -2ba0- instead of -2bb0-.
services: ['22bb746f-2ba0-7554-2d6f-726568705327']
}]
})
.then(device => {
console.log('> Found ' + device.name);
console.log('Connecting to GATT Server...');
return device.gatt.connect();
})
.then(server => {
gattServer = server;
// Get radio service
return gattServer.getPrimaryService("22bb746f-2bb0-7554-2d6f-726568705327");
})
.then(service => {
// Developer mode sequence is sent to the radio service
radioService = service;
// Get Anti DOS characteristic
return radioService.getCharacteristic("22bb746f-2bbd-7554-2d6f-726568705327");
})
.then(characteristic => {
console.log('> Found Anti DOS characteristic');
// Send special string
let bytes = new Uint8Array('011i3'.split('').map(c => c.charCodeAt()));
return characteristic.writeValue(bytes).then(() => {
console.log('Anti DOS write done.');
})
})
.then(() => {
// Get TX Power characteristic
return radioService.getCharacteristic("22bb746f-2bb2-7554-2d6f-726568705327");
})
.then(characteristic => {
console.log('> Found TX Power characteristic');
let array = new Uint8Array([0x07]);
return characteristic.writeValue(array).then(() => {
console.log('TX Power write done.');
})
})
.then(() => {
// Get Wake CPU characteristic
return radioService.getCharacteristic("22bb746f-2bbf-7554-2d6f-726568705327");
})
.then(characteristic => {
console.log('> Found Wake CPU characteristic');
let array = new Uint8Array([0x01]);
return characteristic.writeValue(array).then(() => {
console.log('Wake CPU write done.');
})
})
.then(() => {
// Get robot service
return gattServer.getPrimaryService("22bb746f-2ba0-7554-2d6f-726568705327")
})
.then(service => {
// Commands are sent to the robot service
robotService = service;
// Get Control characteristic
return robotService.getCharacteristic("22bb746f-2ba1-7554-2d6f-726568705327");
})
.then(characteristic => {
console.log('> Found Control characteristic');
// Cache the characteristic
controlCharacteristic = characteristic;
progress.hidden = true;
return setColor(0, 250, 0);
})
.catch(handleError);
} else {
progress.hidden = true;
setColor(0, 250, 0);
}
});
let joystick = new RetroJoyStick({
retroStickElement: document.querySelector('#retrostick')
});
joystick.subscribe('change', stick => {
roll(stick.angle);
});
});
</script>
</body>
</html>