Permalink
Fetching contributors…
Cannot retrieve contributors at this time
156 lines (111 sloc) 2.56 KB

Whisker

Run this example from the command line with:

node eg/whisker.js
var Change, five;

Change = require("../eg/change");
five = require("johnny-five");

new five.Boards(["control", "nodebot"]).on("ready", function(boards) {
  var controllers, changes, nodebot, whiskers, opposing, directions, speed;

  controllers = {
    x: new five.Sensor({
      board: boards.controller,
      pin: "I0"
    }),
    y: new five.Sensor({
      board: boards.controller,
      pin: "I1"
    }),
    speed: new five.Sensor({
      board: boards.controller,
      pin: "I2"
    })
  };

  nodebot = new five.Nodebot({
    board: boards.nodebot,
    right: 10,
    left: 11
  });

  whiskers = {
    left: new five.Pin({
      board: boards.nodebot,
      addr: 5,
    }),
    right: new five.Pin({
      board: boards.nodebot,
      addr: 7
    }),
  };

  changes = {
    x: new Change(),
    y: new Change(),
    speed: new Change()
  };

  opposing = {
    left: "right",
    right: "left"
  };

  directions = {
    x: {
      1: "left",
      3: "right"
    },
    y: {
      1: "rev",
      3: "fwd"
    }
  };

  ["left", "right"].forEach(function(impact) {
    whiskers[impact].on("high", function() {
      var turn = opposing[impact];

      console.log(
        "%s impact, turning %s",
        impact.toUpperCase(),
        turn.toUpperCase()
      );

      nodebot.stop()[turn](500);
    });
  });



  ["x", "y"].forEach(function(axis) {
    controllers[axis].scale(1, 3).on("change", function() {
      var round = Math.round(this.value);

      if (changes[axis].isNoticeable(round)) {
        if (round === 2) {
          nodebot.stop();
        } else {
          // console.log( axis, round, directions[ axis ][ round ] );
          nodebot[directions[axis][round]]();
        }
      } else {
        changes[axis].last = round;
      }
    });
  });

  controllers.speed.scale(0, 6).on("change", function() {
    var value = Math.round(this.value);

    if (changes.speed.isNoticeable(value)) {
      // console.log( "update nodebot.speed: %d", value );
      // console.log( nodebot.motion );
      nodebot.speed = value;

      if (nodebot.motion !== "stop") {
        nodebot[nodebot.motion]();
      }
    }
  });

  boards.control.repl.inject({
    n: nodebot
  });

});

 

License

Copyright (c) 2012, 2013, 2014 Rick Waldron waldron.rick@gmail.com Licensed under the MIT license. Copyright (c) 2018 The Johnny-Five Contributors Licensed under the MIT license.