/
actionclient_md25.js
80 lines (63 loc) · 1.75 KB
/
actionclient_md25.js
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var WebSocket = require('ws')
var ws = new WebSocket('wss://actionserver.herokuapp.com');
//var ws = new WebSocket('ws://localhost:5000');
var i2c = require('i2c');
// Configure
var address = 0xB0 >> 1;
// point to your i2c address, debug provides REPL interface
var wire = new i2c(address, {device: '/dev/i2c-1'});
// Helper function for motor control
function setOperationMode(mode) {
wire.writeBytes(15, [mode], function(err) {});
}
function stopRotation() {
wire.writeBytes(0, [128], function(err) {});
wire.writeBytes(1, [128], function(err) {});
}
function setMotorsWithTurn(speed, turn) {
wire.writeBytes(0, [speed], function(err) {});
wire.writeBytes(1, [turn], function(err) {});
}
setOperationMode(2);
stopRotation();
ws.on('open', function()
{
console.log('connected');
});
ws.on('close', function()
{
stopRotation();
console.log('disconnected');
});
var ctrl_msg = null;
var encoder_timer = null;
var encoder1 = 0;
function encoder_calculator()
{
// Send control signal and read actual encoder values
setMotorsWithTurn(ctrl_msg.speed, ctrl_msg.turn);
if(ctrl_msg.encoder1 > 0)
{
ctrl_msg.encoder1 -= 1;
}
else
{
if(encoder_timer != null)
clearInterval(encoder_timer);
ws.send('OK');
}
};
ws.on('message', function(message)
{
console.log('received: %s', message);
try
{
ctrl_msg = JSON.parse(message);
encoder_timer = setInterval(encoder_calculator, 100);
}
catch(err) // Handle json.parse synchronous errors
{
ws.send('NOK');
console.error('message parsing error: ' + err);
}
});