-
Notifications
You must be signed in to change notification settings - Fork 1
/
index.js
511 lines (463 loc) · 19.5 KB
/
index.js
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
'use strict'
// dependencies
const dep = {}
dep.gamepad = require('gamepad')
// this won't work on a Mac when developing, ok since hardware is running on Linux
try {
dep.makePwmDriver = require('adafruit-i2c-pwm-driver')
} catch (err) {
dep.makePwmDriver = null
}
// settings
const settings = {
// PWM hat
pwmFrequency: 60,
pwmAddress: 0x40,
pwmDevice: '/dev/i2c-1',
// timing and increment values
tInc: 0.025, // value change increment when ramping values at tInt (multiplier 0-1)
tInt: 70, // number of miliseconds per interval when updating values
speedCapMult: 0.5, // make rovs less "zippy" if in a small tank: 0.0 = no speed, 1.0 = full speed
maxHoldMilisecs: 2500, // max button hold milisecons
// motor values
rovs: [
// rov 1 (first detected controller)
{
m1PwmPin: 0, // pin # on PWM hat
m1Min: 295, // motor 1 minimum/reverse value
m1Stop: 390, // motor 1 stop value
m1Max: 490, // motor 1 max/forward value
m2PwmPin: 1, // pin # on PWM hat
m2Min: 295, // motor 2 minimum/reverse value
m2Stop: 390, // motor 2 stop value
m2Max: 490, // motor 2 max/forward value
m3PwmPin: 2, // pin # on PWM hat
m3Min: 295, // motor 3 minimum/reverse value
m3Stop: 390, // motor 3 stop value
m3Max: 490, // motor 3 max/forward value
// auxillary toggle values
a1On: 1.0, // aux 1 on value
a1Off: 0.0, // aux 2 off value
a2On: 1.0, // aux 1 on value
a2Off: 0.0 // aux 2 off value
},
// rov 2 (second detected controller)
{
m1PwmPin: 3, // pin # on PWM hat
m1Min: 295, // motor 1 minimum/reverse value
m1Stop: 390, // motor 1 stop value
m1Max: 490, // motor 1 max/forward value
m2PwmPin: 4, // pin # on PWM hat
m2Min: 295, // motor 2 minimum/reverse value
m2Stop: 390, // motor 2 stop value
m2Max: 490, // motor 2 max/forward value
m3PwmPin: 5, // pin # on PWM hat
m3Min: 295, // motor 3 minimum/reverse value
m3Stop: 390, // motor 3 stop value
m3Max: 490, // motor 3 max/forward value
// auxillary toggle values
a1On: 1.0, // aux 1 on value
a1Off: 0.0, // aux 2 off value
a2On: 1.0, // aux 1 on value
a2Off: 0.0 // aux 2 off value
},
// rov 3 (third detected controller)
{
m1PwmPin: 6, // pin # on PWM hat
m1Min: 295, // motor 1 minimum/reverse value
m1Stop: 390, // motor 1 stop value
m1Max: 490, // motor 1 max/forward value
m2PwmPin: 7, // pin # on PWM hat
m2Min: 295, // motor 2 minimum/reverse value
m2Stop: 390, // motor 2 stop value
m2Max: 490, // motor 2 max/forward value
m3PwmPin: 8, // pin # on PWM hat
m3Min: 295, // motor 3 minimum/reverse value
m3Stop: 390, // motor 3 stop value
m3Max: 490, // motor 3 max/forward value
// auxillary toggle values
a1On: 1.0, // aux 1 on value
a1Off: 0.0, // aux 2 off value
a2On: 1.0, // aux 1 on value
a2Off: 0.0 // aux 2 off value
},
// rov 4 (fourth detected controller)
{
m1PwmPin: 9, // pin # on PWM hat
m1Min: 295, // motor 1 minimum/reverse value
m1Stop: 390, // motor 1 stop value
m1Max: 490, // motor 1 max/forward value
m2PwmPin: 10, // pin # on PWM hat
m2Min: 295, // motor 2 minimum/reverse value
m2Stop: 390, // motor 2 stop value
m2Max: 490, // motor 2 max/forward value
m3PwmPin: 11, // pin # on PWM hat
m3Min: 295, // motor 3 minimum/reverse value
m3Stop: 390, // motor 3 stop value
m3Max: 490, // motor 3 max/forward value
// auxillary toggle values
a1On: 1.0, // aux 1 on value
a1Off: 0.0, // aux 2 off value
a2On: 1.0, // aux 1 on value
a2Off: 0.0 // aux 2 off value
}
]
}
let EuropaDroneController = {
rovs: settings.rovs.map(function (rov) {
return {
m1: rov.m1Stop,
m2: rov.m2Stop,
m3: rov.m3Stop,
a1: rov.a1Off,
a2: rov.a2Off,
leftActive: false,
rightActive: false,
forwardActive: false,
backwardActive: false,
upActive: false,
downActive: false,
aux1Active: false,
aux2Active: false
}
}),
/*
adjustMaxSpeeds: function () {
for (let i = 0; i < settings.rovs.length; i++) {
settings.rovs[i].m1Min
}
},
*/
init: function () {
let _self = this
dep.gamepad.init()
// List the state of all currently attached devices (dev purposes only)
for (var i = 0, l = dep.gamepad.numDevices(); i < l; i++) {
console.log(i, dep.gamepad.deviceAtIndex(i))
}
// Create a loop and poll for events
setInterval(dep.gamepad.processEvents, settings.tInt)
// Scan for new gamepads as a slower rate
setInterval(dep.gamepad.detectDevices, 500)
// init PWM output (if on Linux/Pi)
if (dep.makePwmDriver) {
_self.pwmDriver = dep.makePwmDriver({ address: settings.pwmAddress, device: settings.pwmDevice })
_self.pwmDriver.setPWMFreq(settings.pwmFrequency)
// reset to idle on startup (sometimes the binary that reads controllers crashes, app restarts)
// why: https://github.com/creationix/node-gamepad/issues/15
_self.rovs.map(function (rov, rovIndex) {
_self.pwmDriver.setPWM(settings.rovs[rovIndex].m1PwmPin, 0, _self.rovs[rovIndex].m1)
_self.pwmDriver.setPWM(settings.rovs[rovIndex].m2PwmPin, 0, _self.rovs[rovIndex].m2)
_self.pwmDriver.setPWM(settings.rovs[rovIndex].m3PwmPin, 0, _self.rovs[rovIndex].m3)
return false
})
// !!! TEMP test
/*
var tmpMod = 240
var tmpDir = 4
setInterval(function () {
tmpMod += tmpDir
if (tmpMod >= 420) {
tmpDir = -4
} else if (tmpMod <= 240) {
tmpDir = 4
}
_self.pwmDriver.setPWM(0, 0, tmpMod)
console.log(tmpMod)
}, 100)
*/
// END TEMP TEST
} else {
console.log('NO dep.makePwmDriver')
}
// Listen for move events on all gamepads
// Handle left/right/up/down
dep.gamepad.on('move', function (padIndex, axis, value) {
/*
console.log('move', {
id: id,
axis: axis,
value: value
})
*/
value = Math.round(value)
// axis button pressed
if (axis === 1) { // up/down
if (value === -1) { // up
console.log('forward, gamepad: ' + padIndex)
_self.rovs[padIndex].forwardActive = true
_self.setButtonTimeout(padIndex, 'forward')
} else if (value === 1) { // down
console.log('backward, gamepad: ' + padIndex)
_self.rovs[padIndex].backwardActive = true
_self.setButtonTimeout(padIndex, 'backward')
} else if (value === 0) { // axis released
if (_self.rovs[padIndex].forwardActive === true) {
console.log('forward released, gamepad: ' + padIndex)
_self.rovs[padIndex].forwardActive = false
_self.clearButtonTimeout(padIndex, 'forward')
} else if (_self.rovs[padIndex].backwardActive === true) {
console.log('backward released, gamepad: ' + padIndex)
_self.rovs[padIndex].backwardActive = false
_self.clearButtonTimeout(padIndex, 'backward')
}
}
} else { // left/right
if (value === -1) { // left
console.log('left, gamepad: ' + padIndex)
_self.rovs[padIndex].leftActive = true
_self.setButtonTimeout(padIndex, 'left')
} else if (value === 1) { // right
console.log('right, gamepad: ' + padIndex)
_self.rovs[padIndex].rightActive = true
_self.setButtonTimeout(padIndex, 'right')
} else if (value === 0) { // axis released
if (_self.rovs[padIndex].leftActive === true) {
console.log('left released, gamepad: ' + padIndex)
_self.rovs[padIndex].leftActive = false
_self.clearButtonTimeout(padIndex, 'left')
} else if (_self.rovs[padIndex].rightActive === true) {
console.log('right released, gamepad: ' + padIndex)
_self.rovs[padIndex].rightActive = false
_self.clearButtonTimeout(padIndex, 'right')
}
}
}
})
// Handle button down events
dep.gamepad.on('down', function (padIndex, num) {
/*
console.log('down', {
id: id,
num: num
})
*/
if (num === 0) { // B on NES USB controller
// console.log('B')
console.log('down, gamepad: ' + padIndex)
_self.rovs[padIndex].downActive = true
_self.setButtonTimeout(padIndex, 'down')
} else if (num === 1) { // A on NES USB controller
// console.log('A')
console.log('up, gamepad: ' + padIndex)
_self.rovs[padIndex].upActive = true
_self.setButtonTimeout(padIndex, 'up')
} else if (num === 8) { // select on NES USB controller
// console.log('select')
if (_self.rovs[padIndex].aux1Active === false) {
console.log('aux 1 on, gamepad: ' + padIndex)
_self.rovs[padIndex].aux1Active = true
} else {
console.log('aux 1 off, gamepad: ' + padIndex)
_self.rovs[padIndex].aux1Active = false
}
} else if (num === 9) { // start on NES USB controller
// console.log('start')
if (_self.rovs[padIndex].aux2Active === false) {
console.log('aux 2 on, gamepad: ' + padIndex)
_self.rovs[padIndex].aux2Active = true
} else {
console.log('aux 2 off, gamepad: ' + padIndex)
_self.rovs[padIndex].aux2Active = false
}
}
})
// Handle button up events
dep.gamepad.on('up', function (padIndex, num) {
/*
console.log('down', {
id: id,
num: num
})
*/
// support one controller for now
if (num === 0) { // B on NES USB controller
console.log('down released, gamepad: ' + padIndex)
_self.rovs[padIndex].downActive = false
_self.clearButtonTimeout(padIndex, 'down')
} else if (num === 1) { // A on NES USB controller
// console.log('A released')
console.log('up released, gamepad: ' + padIndex)
_self.rovs[padIndex].upActive = false
_self.clearButtonTimeout(padIndex, 'up')
} else if (num === 8) { // select on NES USB controller
// console.log('select released')
} else if (num === 9) { // start on NES USB controller
// console.log('start released')
}
})
// Ramp motors acceleration
setInterval(function () {
_self.rampMotors()
}, settings.tInt)
},
// promote good behavior and overcome cheap game pad occasional missing up events
setButtonTimeout: function (rovIndex, direction) {
let _self = this
_self.clearButtonTimeout(rovIndex, direction)
switch (direction) {
case 'forward':
_self.rovs[rovIndex].forwardTimeout = setTimeout(function (rovIndex, direction) {
_self.rovs[rovIndex].forwardActive = false
_self.clearButtonTimeout(rovIndex, direction)
}.bind(_self, rovIndex, direction), settings.maxHoldMilisecs)
break
case 'backward':
_self.rovs[rovIndex].backwardTimeout = setTimeout(function (rovIndex, direction) {
_self.rovs[rovIndex].backwardActive = false
_self.clearButtonTimeout(rovIndex, direction)
}.bind(_self, rovIndex, direction), settings.maxHoldMilisecs)
break
case 'left':
_self.rovs[rovIndex].leftTimeout = setTimeout(function (rovIndex, direction) {
_self.rovs[rovIndex].leftActive = false
_self.clearButtonTimeout(rovIndex, direction)
}.bind(_self, rovIndex, direction), settings.maxHoldMilisecs)
break
case 'right':
_self.rovs[rovIndex].rightTimeout = setTimeout(function (rovIndex, direction) {
_self.rovs[rovIndex].rightActive = false
_self.clearButtonTimeout(rovIndex, direction)
}.bind(_self, rovIndex, direction), settings.maxHoldMilisecs)
break
case 'down':
_self.rovs[rovIndex].downTimeout = setTimeout(function (rovIndex, direction) {
_self.rovs[rovIndex].downActive = false
_self.clearButtonTimeout(rovIndex, direction)
}.bind(_self, rovIndex, direction), settings.maxHoldMilisecs)
break
case 'up':
_self.rovs[rovIndex].upTimeout = setTimeout(function (rovIndex, direction) {
_self.rovs[rovIndex].upActive = false
_self.clearButtonTimeout(rovIndex, direction)
}.bind(_self, rovIndex, direction), settings.maxHoldMilisecs)
break
}
},
// clear button timeout
clearButtonTimeout: function (rovIndex, direction) {
let _self = this
switch (direction) {
case 'forward':
if (_self.rovs[rovIndex].hasOwnProperty('forwardTimeout') && typeof _self.rovs[rovIndex].forwardTimeout !== 'undefined') {
clearTimeout(_self.rovs[rovIndex].forwardTimeout)
}
break
case 'backward':
if (_self.rovs[rovIndex].hasOwnProperty('backwardTimeout') && typeof _self.rovs[rovIndex].backwardTimeout !== 'undefined') {
clearTimeout(_self.rovs[rovIndex].backwardTimeout)
}
break
case 'left':
if (_self.rovs[rovIndex].hasOwnProperty('leftTimeout') && typeof _self.rovs[rovIndex].leftTimeout !== 'undefined') {
clearTimeout(_self.rovs[rovIndex].leftTimeout)
}
break
case 'right':
if (_self.rovs[rovIndex].hasOwnProperty('rightTimeout') && typeof _self.rovs[rovIndex].rightTimeout !== 'undefined') {
clearTimeout(_self.rovs[rovIndex].rightTimeout)
}
break
case 'down':
if (_self.rovs[rovIndex].hasOwnProperty('downTimeout') && typeof _self.rovs[rovIndex].downTimeout !== 'undefined') {
clearTimeout(_self.rovs[rovIndex].downTimeout)
}
break
case 'up':
if (_self.rovs[rovIndex].hasOwnProperty('upTimeout') && typeof _self.rovs[rovIndex].upTimeout !== 'undefined') {
clearTimeout(_self.rovs[rovIndex].upTimeout)
}
break
}
},
// Ramp motors acceleration
rampMotors: function () {
let _self = this // !!! should I start using ES6 arrows for events instead?
_self.rovs.map(function (rov, rovIndex) {
let m1Targ, m2Targ, m3Targ
// forward movement using motors 1 (forward facing left motor) and 2 (forward facing right motor)
if (_self.rovs[rovIndex].forwardActive === true && _self.rovs[rovIndex].leftActive === false && _self.rovs[rovIndex].rightActive === false) { // full forward
m1Targ = settings.rovs[rovIndex].m1Max
m2Targ = settings.rovs[rovIndex].m2Max
} else if (_self.rovs[rovIndex].forwardActive === true && _self.rovs[rovIndex].leftActive === true) { // forward, lean left
m1Targ = settings.rovs[rovIndex].m1Stop + ((settings.rovs[rovIndex].m1Max - settings.rovs[rovIndex].m1Stop) * 0.50)
m2Targ = settings.rovs[rovIndex].m2Max
} else if (_self.rovs[rovIndex].forwardActive === true && _self.rovs[rovIndex].rightActive === true) { // forward, lean right
m1Targ = settings.rovs[rovIndex].m1Max
m2Targ = settings.rovs[rovIndex].m2Max + ((settings.rovs[rovIndex].m2Stop - settings.rovs[rovIndex].m2Max) * 0.50)
} else if (_self.rovs[rovIndex].backwardActive === false && _self.rovs[rovIndex].leftActive === false && _self.rovs[rovIndex].rightActive === false) {
m1Targ = settings.rovs[rovIndex].m1Stop
m2Targ = settings.rovs[rovIndex].m2Stop
}
// backward movement
if (_self.rovs[rovIndex].backwardActive === true && _self.rovs[rovIndex].leftActive === false && _self.rovs[rovIndex].rightActive === false) { // full reverse
m1Targ = settings.rovs[rovIndex].m1Min
m2Targ = settings.rovs[rovIndex].m2Min
} else if (_self.rovs[rovIndex].backwardActive === true && _self.rovs[rovIndex].leftActive === true) { // reverse, lean left
m1Targ = settings.rovs[rovIndex].m1Min + ((settings.rovs[rovIndex].m1Stop - settings.rovs[rovIndex].m1Min) * 0.50)
m2Targ = settings.rovs[rovIndex].m2Min
} else if (_self.rovs[rovIndex].backwardActive === true && _self.rovs[rovIndex].rightActive === true) { // reverse, lean right
m1Targ = settings.rovs[rovIndex].m1Min
m2Targ = settings.rovs[rovIndex].m2Min + ((settings.rovs[rovIndex].m2Stop - settings.rovs[rovIndex].m2Min) * 0.50)
} else if (_self.rovs[rovIndex].forwardActive === false && _self.rovs[rovIndex].leftActive === false && _self.rovs[rovIndex].rightActive === false) {
m1Targ = settings.rovs[rovIndex].m1Stop
m2Targ = settings.rovs[rovIndex].m2Stop
}
// left turn
if (_self.rovs[rovIndex].leftActive === true && _self.rovs[rovIndex].forwardActive === false && _self.rovs[rovIndex].backwardActive === false) {
m1Targ = settings.rovs[rovIndex].m1Min
m2Targ = settings.rovs[rovIndex].m2Max
}
// right turn
if (_self.rovs[rovIndex].rightActive === true && _self.rovs[rovIndex].forwardActive === false && _self.rovs[rovIndex].backwardActive === false) {
m1Targ = settings.rovs[rovIndex].m1Max
m2Targ = settings.rovs[rovIndex].m2Min
}
// submerge
if (_self.rovs[rovIndex].downActive === true && _self.rovs[rovIndex].upActive === false) {
m3Targ = settings.rovs[rovIndex].m3Max
}
// surface
if (_self.rovs[rovIndex].upActive === true && _self.rovs[rovIndex].downActive === false) {
m3Targ = settings.rovs[rovIndex].m3Min
}
// no vertical movement (also if pressing both buttons at once)
if ((_self.rovs[rovIndex].downActive === false && _self.rovs[rovIndex].upActive === false) || (_self.rovs[rovIndex].downActive === true && _self.rovs[rovIndex].upActive === true)) {
m3Targ = settings.rovs[rovIndex].m3Stop
}
// ease motor values
if (m1Targ > _self.rovs[rovIndex].m1 && Math.abs(m1Targ - _self.rovs[rovIndex].m1) > (m1Targ * settings.tInc / 2)) {
_self.rovs[rovIndex].m1 += m1Targ * settings.tInc
} else if (m1Targ < _self.rovs[rovIndex].m1 && Math.abs(m1Targ - _self.rovs[rovIndex].m1) > (m1Targ * settings.tInc / 2)) {
_self.rovs[rovIndex].m1 -= m1Targ * settings.tInc
} else {
_self.rovs[rovIndex].m1 = m1Targ
}
if (m2Targ > _self.rovs[rovIndex].m2 && Math.abs(m2Targ - _self.rovs[rovIndex].m2) > (m2Targ * settings.tInc / 2)) {
_self.rovs[rovIndex].m2 += m2Targ * settings.tInc
} else if (m2Targ < _self.rovs[rovIndex].m2 && Math.abs(m2Targ - _self.rovs[rovIndex].m2) > (m2Targ * settings.tInc / 2)) {
_self.rovs[rovIndex].m2 -= m2Targ * settings.tInc
} else {
_self.rovs[rovIndex].m2 = m2Targ
}
if (m3Targ > _self.rovs[rovIndex].m3 && Math.abs(m3Targ - _self.rovs[rovIndex].m3) > (m3Targ * settings.tInc / 2)) {
_self.rovs[rovIndex].m3 += m3Targ * settings.tInc
} else if (m3Targ < _self.rovs[rovIndex].m3 && Math.abs(m3Targ - _self.rovs[rovIndex].m3) > (m3Targ * settings.tInc / 2)) {
_self.rovs[rovIndex].m3 -= m3Targ * settings.tInc
} else {
_self.rovs[rovIndex].m3 = m3Targ
}
if (dep.makePwmDriver) {
_self.pwmDriver.setPWM(settings.rovs[rovIndex].m1PwmPin, 0, _self.rovs[rovIndex].m1)
_self.pwmDriver.setPWM(settings.rovs[rovIndex].m2PwmPin, 0, _self.rovs[rovIndex].m2)
_self.pwmDriver.setPWM(settings.rovs[rovIndex].m3PwmPin, 0, _self.rovs[rovIndex].m3)
}
if (rovIndex === 0) {
console.log('rov:', rovIndex, 'm1Targ:', m1Targ, 'm2Targ:', m2Targ, 'm3Targ:', m3Targ)
}
return false
})
}
}
let droneController = Object.create(EuropaDroneController)
droneController.init()