Adding Modules and Servo code

Motor.coffee

@@ -0,0 +1,49 @@
+gpio = require "pi-gpio"
+Promise = require "bluebird"
+
+Promise.promisifyAll gpio
+
+class Motor
+	constructor: (ports) ->
+		@speed = 0
+		@ports = ports
+
+	updateMotorPort: (portIndex) =>
+		speed = Math.abs @speed
+		timeDelay = 99 / speed
+		console.log new Date(), timeDelay
+		otherPortIndex = 1 - portIndex
+		gpio.writeAsync @ports[otherPortIndex], 0
+		.then => gpio.writeAsync @ports[portIndex], 1
+		.delay 100 - timeDelay
+		.then => gpio.writeAsync @ports[portIndex], 0
+		.delay timeDelay
+
+	startMotor: =>
+		if @speed > 0
+			@updateMotorPort 0
+			.then @startMotor
+		else if @speed < 0
+			@updateMotorPort 1
+			.then @startMotor
+		else
+			gpio.writeAsync @ports[0], 0
+			.then => gpio.writeAsync @ports[1], 0
+			.delay 50
+			.then @startMotor
+
+	goFaster: =>
+		@speed++
+		@speed = Math.min 99, @speed
+
+	goSlower: =>
+		@speed--
+		@speed = Math.max -99, @speed
+
+	goMaxSpeed: =>
+		@speed = 99
+
+	stop: =>
+		@speed = 0
+
+modules.export = {Motor}

Servo.coffee

@@ -0,0 +1,25 @@
+gpio = require "pi-gpio"
+Promise = require "bluebird"
+now = require "performance-now"
+
+class Servo
+	constructor: (port) ->
+		@position = 0
+		@port = port
+
+	start: =>
+		delay = 0.5 + (@position / 180) * 2.0
+		start = now()
+		gpio.writeAsync @port, 1
+		.then =>
+			while 1
+				if (now() - start) >= delay
+					break
+			gpio.writeAsync @port, 0
+		.delay 20
+		.then @start
+
+	setPosition: (position) ->
+		@position = position
+
+module.exports = {Servo}

mad-jaz-fury-robot.coffee

@@ -4,61 +4,21 @@ http = require "http"
 express = require "express"
 app = express()
 fs = require "fs"
-
-Promise.promisifyAll gpio
+Motor = require "./Motor"
+Servo = require "./Servo"
 
 isDebug = false
 
 leftPorts = [16, 18]
 rightPorts = [3, 5]
+servoPort = 7
 ports = [leftPorts..., rightPorts...]
 
-class Motor
-	constructor: (ports) ->
-		@speed = 0
-		@ports = ports
-
-	updateMotorPort: (portIndex) =>
-		speed = Math.abs @speed
-		timeDelay = 99 / speed
-		console.log new Date(), timeDelay
-		otherPortIndex = 1 - portIndex
-		gpio.writeAsync @ports[otherPortIndex], 0
-		.then => gpio.writeAsync @ports[portIndex], 1
-		.delay 100 - timeDelay
-		.then => gpio.writeAsync @ports[portIndex], 0
-		.delay timeDelay
-
-	startMotor: =>
-		if @speed > 0
-			@updateMotorPort 0
-			.then @startMotor
-		else if @speed < 0
-			@updateMotorPort 1
-			.then @startMotor
-		else
-			gpio.writeAsync @ports[0], 0
-			.then => gpio.writeAsync @ports[1], 0
-			.delay 50
-			.then @startMotor
-
-	goFaster: =>
-		@speed++
-		@speed = Math.min 99, @speed
-
-	goSlower: =>
-		@speed--
-		@speed = Math.max -99, @speed
-
-	goMaxSpeed: =>
-		@speed = 99
-
-	stop: =>
-		@speed = 0
-
 leftMotor = new Motor leftPorts
 rightMotor = new Motor rightPorts
 
+servo = new Servo servoPort
+
 app.use "/resources", express.static 'resources'
 app.get "/left/faster", (request, response) ->
 	response.writeHead 200, {'Content-type': "text/plain"}
@@ -94,7 +54,11 @@ app.get "/stop", (request, response) ->
 	response.end "Stopping"
 	leftMotor.stop()
 	rightMotor.stop()
-
+app.get "/servo-port", (request, response) ->
+	position = 180 * Math.random()
+	response.writeHead 200, {'Content-type': "text/plain"}
+	response.end "Moving Servo to #{position}"
+	servo.setPosition position
 
 app.get "/", (request, response) ->
 	response.writeHead 200, 'Content-Type': 'text/html'

mad-jaz-fury-robot.html

@@ -18,6 +18,11 @@ <h1>Mad Jaz Fury Robot</h1>
 <br/>
 <button value="stop">Stop</button>
 
+<img src="resources/control.pad.png" usemap="control-pad" />
+<map name="control-pad" id="control-pad">
+	<area shape="rect" class="control-pad-area" coords="" value="[1,0]" />
+</map>
+
 <script src="https://code.jquery.com/jquery-2.1.4.min.js"></script>
 <script type="text/javascript">
 console.log("Start");

package.json

@@ -3,6 +3,7 @@
   "dependencies": {
     "bluebird": "^3.1.1",
     "express": "^4.13.3",
+    "performance-now": "^0.2.0",
     "pi-gpio": "0.0.8"
   }
 }