/
index.js
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/
index.js
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var five = require('johnny-five');
var raspi = require('raspi-io');
var dualShock = require('dualshock-controller');
var temporal = require('temporal');
var config = require('./config');
var Hexapod = require('./hexapod');
var board = new five.Board({
io: new raspi()
});
var controller = dualShock({
config: 'dualShock3'
});
var hexy;
board.on('ready', () => {
hexy = Hexapod(config);
initializeController();
});
board.on('message', (event) => {
/*
Event {
type: 'info'|'warn'|'fail',
timestamp: Time of event in milliseconds,
class: name of relevant component class,
message: message [+ ...detail]
}
*/
console.log('Received a %s message, from %s, reporting: %s', event.type, event.class, event.message);
});
board.on('exit', () => {
console.log('exit');
});
var initializeController = () => {
controller.on('connected', () => console.log('connected'));
controller.on('l1:press', () => {
console.log('l1 press');
hexy.l1c.to(50);
hexy.l2c.to(50);
hexy.l3c.to(50);
});
controller.on('l2:press', () => {
console.log('l2 press');
hexy.l1c.to(180);
hexy.l2c.to(130);
hexy.l3c.to(130);
});
controller.on('r1:press', () => {
console.log('r1 press');
hexy.r1c.to(50);
hexy.r2c.to(50);
hexy.r3c.to(50);
});
controller.on('r2:press', () => {
console.log('r2 press');
hexy.r1c.to(180);
hexy.r2c.to(130);
hexy.r3c.to(130);
});
controller.on('dpadUp:press', () => {
console.log('dpadUp press');
hexy.l1f.to(25);
hexy.l2f.to(25);
hexy.l3f.to(25);
});
controller.on('dpadDown:press', () => {
console.log('dpadDown press');
hexy.l1f.to(165);
hexy.l2f.to(165);
hexy.l3f.to(165);
});
controller.on('dpadLeft:press', () => {
console.log('dpadLeft press');
hexy.r1f.to(25);
hexy.r2f.to(25);
hexy.r3f.to(25);
});
controller.on('dpadRight:press', () => {
console.log('dpadRight press');
hexy.r1f.to(165);
hexy.r2f.to(165);
hexy.r3f.to(165);
});
controller.on('circle:press', () => {
console.log('circle press');
hexy.coxa.to(90);
hexy.femurs.to(90);
hexy.tibia.to(90);
});
controller.on('triangle:press', () => {
console.log('triangle press');
hexy.r1t.to(0);
hexy.r2t.to(0);
hexy.r3t.to(0);
});
controller.on('triangle:release', () => {
console.log('triangle release');
hexy.r1t.to(180);
hexy.r2t.to(180);
hexy.r3t.to(180);
});
controller.on('x:press', () => {
console.log('x press');
hexy.l1t.to(0);
hexy.l2t.to(0);
hexy.l3t.to(0);
});
controller.on('x:release', () => {
console.log('x release');
hexy.l1t.to(180);
hexy.l2t.to(180);
hexy.l3t.to(180);
});
controller.on('square:press', () => {
console.log('square press');
hexy.stand();
});
controller.on('square:release', () => {
console.log('square release');
hexy.sleep();
});
};