ESC: refactor 2

rwaldron · Aug 8, 2019 · 4108b28 · 4108b28
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diff --git a/README.md b/README.md
@@ -173,7 +173,7 @@ To get you up and running quickly, we provide a variety of examples for using ea
 
 To interactively navigate the examples, visit the [Johnny-Five examples](http://johnny-five.io/examples/) page on the official website. If you want to link directly to the examples in this repo, you can use one of the following links.
 
-**There are presently 363 example programs with code and diagrams!**
+**There are presently 360 example programs with code and diagrams!**
 
 <!--extract-start:examples-->
 
@@ -273,11 +273,8 @@ To interactively navigate the examples, visit the [Johnny-Five examples](http://
 
 ### ESC & Brushless Motor
 - [ESC - Bidirectional](https://github.com/rwaldron/johnny-five/blob/master/docs/esc-bidirectional.md)
-- [ESC - Bidirectional Forward-Reverse](https://github.com/rwaldron/johnny-five/blob/master/docs/esc-bidirectional-forward-reverse.md)
-- [ESC - Dualshock controlled ESCs](https://github.com/rwaldron/johnny-five/blob/master/docs/esc-dualshock.md)
 - [ESC - Keypress controlled ESCs](https://github.com/rwaldron/johnny-five/blob/master/docs/esc-keypress.md)
 - [ESC - PCA9685](https://github.com/rwaldron/johnny-five/blob/master/docs/esc-PCA9685.md)
-- [ESCs - An array of ESCs](https://github.com/rwaldron/johnny-five/blob/master/docs/esc-array.md)
 
 ### Button / Switch
 - [Button](https://github.com/rwaldron/johnny-five/blob/master/docs/button.md)

diff --git a/docs/esc-PCA9685.md b/docs/esc-PCA9685.md
@@ -29,20 +29,21 @@ node eg/esc-PCA9685.js
 
 
 ```javascript
-var five = require("johnny-five");
-var board = new five.Board();
+const {Board, ESC, Sensor} = require("johnny-five");
+const board = new Board();
 
 board.on("ready", function() {
 
-  var esc = new five.ESC({
+  const esc = new ESC({
     controller: "PCA9685",
+    device: "FORWARD",
     pin: 1
   });
 
-  var pot = new five.Sensor("A0");
+  const pot = new Sensor("A0");
 
-  pot.scale(0, 100).on("change", function() {
-    esc.speed(this.value);
+  pot.on("change", () => {
+    esc.throttle(pot.scaleTo(esc.pwmRange));
   });
 });
 

diff --git a/docs/esc-bidirectional.md b/docs/esc-bidirectional.md
@@ -29,32 +29,23 @@ node eg/esc-bidirectional.js
 
 
 ```javascript
-var five = require("../");
-var board = new five.Board();
+const {Board, Button, ESC, Sensor} = require("../");
+const board = new Board();
 
 board.on("ready", function() {
-  var start = Date.now();
-  var esc = new five.ESC({
+  const esc = new ESC({
     device: "FORWARD_REVERSE",
-    neutral: 50,
     pin: 11
   });
-  var throttle = new five.Sensor("A0");
-  var brake = new five.Button(4);
+  const throttle = new Sensor("A0");
+  const brake = new Button(4);
 
-  brake.on("press", function() {
+  brake.on("press", () => {
     esc.brake();
   });
 
-  throttle.scale(0, 100).on("change", function() {
-    // 2 Seconds for arming.
-    if (Date.now() - start < 2e3) {
-      return;
-    }
-
-    if (esc.value !== this.value) {
-      esc.speed(this.value);
-    }
+  throttle.on("change", () => {
+    esc.throttle(throttle.scaleTo(esc.pwmRange));
   });
 });
 

diff --git a/docs/esc-keypress.md b/docs/esc-keypress.md
@@ -29,34 +29,47 @@ node eg/esc-keypress.js
 
 
 ```javascript
-var five = require("johnny-five");
-var keypress = require("keypress");
-var board = new five.Board();
+const {Board, ESC, Fn, Led} = require("johnny-five");
+const keypress = require("keypress");
+const board = new Board();
 
 board.on("ready", function() {
-
-  var esc = new five.ESC(9);
-
-  // Hold shift+arrow-up, shift+arrow-down to incrementally
-  // increase or decrease speed.
-
-  function controller(ch, key) {
-    var isThrottle = false;
-    var speed = esc.last ? esc.speed : 0;
-
-    if (key && key.shift) {
-      if (key.name === "up") {
-        speed += 0.01;
-        isThrottle = true;
-      }
-
-      if (key.name === "down") {
-        speed -= 0.01;
-        isThrottle = true;
+  const led = new Led(13);
+  const esc = new ESC({
+    device: "FORWARD_REVERSE",
+    pin: 11,
+  });
+  let speed = 0;
+  let last = null;
+
+  // just to make sure the program is running
+  led.blink(500);
+
+  function controller(_, key) {
+    let change = 0;
+
+    if (key) {
+      if (!key.shift) {
+        change = esc.neutral;
+        speed = 0;
+      } else {
+        if (key.name === "up" || key.name === "down") {
+          if (last !== key.name) {
+            change = esc.neutral;
+            speed = 0;
+          } else {
+            speed += 1;
+
+            change = key.name === "up" ?
+              esc.neutral + speed :
+              esc.neutral - speed;
+          }
+          last = key.name;
+        }
       }
 
-      if (isThrottle) {
-        esc.speed(speed);
+      if (change) {
+        esc.throttle(change);
       }
     }
   }

diff --git a/eg/esc-PCA9685.js b/eg/esc-PCA9685.js
@@ -1,16 +1,17 @@
-var five = require("../lib/johnny-five.js");
-var board = new five.Board();
+const {Board, ESC, Sensor} = require("../lib/johnny-five.js");
+const board = new Board();
 
 board.on("ready", function() {
 
-  var esc = new five.ESC({
+  const esc = new ESC({
     controller: "PCA9685",
+    device: "FORWARD",
     pin: 1
   });
 
-  var pot = new five.Sensor("A0");
+  const pot = new Sensor("A0");
 
-  pot.scale(0, 100).on("change", function() {
-    esc.speed(this.value);
+  pot.on("change", () => {
+    esc.throttle(pot.scaleTo(esc.pwmRange));
   });
 });
diff --git a/eg/esc-array.js b/eg/esc-array.js
@@ -1,16 +1,13 @@
-var five = require("../lib/johnny-five.js");
-var board = new five.Board();
+const {Board, ESC} = require("../lib/johnny-five.js");
+const board = new Board();
 
 board.on("ready", function() {
 
-  var escs = new five.ESCs([9, 10]);
+  const escs = new ESC.Collection([9, 10]);
 
   // Set the motors to their max speed
-  escs.max();
-
-  board.wait(2000, function() {
-    // Set the motors to the min speed (stopped)
-    escs.min();
-  });
+  // This might be dangerous ¯\_(ツ)_/¯
+  escs.throttle(100);
 
+  board.wait(2000, () => escs.brake());
 });
diff --git a/eg/esc-bidirectional.js b/eg/esc-bidirectional.js
@@ -1,28 +1,19 @@
-var five = require("../");
-var board = new five.Board();
+const {Board, Button, ESC, Sensor} = require("../");
+const board = new Board();
 
 board.on("ready", function() {
-  var start = Date.now();
-  var esc = new five.ESC({
+  const esc = new ESC({
     device: "FORWARD_REVERSE",
-    neutral: 50,
     pin: 11
   });
-  var throttle = new five.Sensor("A0");
-  var brake = new five.Button(4);
+  const throttle = new Sensor("A0");
+  const brake = new Button(4);
 
-  brake.on("press", function() {
+  brake.on("press", () => {
     esc.brake();
   });
 
-  throttle.scale(0, 100).on("change", function() {
-    // 2 Seconds for arming.
-    if (Date.now() - start < 2e3) {
-      return;
-    }
-
-    if (esc.value !== this.value) {
-      esc.speed(this.value);
-    }
+  throttle.on("change", () => {
+    esc.throttle(throttle.scaleTo(esc.pwmRange));
   });
 });
diff --git a/eg/esc-blobfish.js b/eg/esc-blobfish.js
@@ -0,0 +1,57 @@
+const {Board, ESC, Fn, Led} = require("../lib/johnny-five.js");
+const keypress = require("keypress");
+
+const board = new Board();
+
+board.on("error", error => {
+  console.error(error);
+  process.exit(1);
+});
+
+board.on("ready", () => {
+  const led = new Led(13);
+  const esc = new ESC({
+    device: "FORWARD_REVERSE",
+    pin: 11,
+  });
+  let speed = 0;
+  let last = null;
+
+  // just to make sure the program is running
+  led.blink(500);
+
+  function controller(_, key) {
+    let change = 0;
+
+    if (key) {
+      if (!key.shift) {
+        change = esc.neutral;
+        speed = 0;
+      } else {
+        if (key.name === "up" || key.name === "down") {
+          if (last !== key.name) {
+            change = esc.neutral;
+            speed = 0;
+          } else {
+            speed += 1;
+
+            change = key.name === "up" ?
+              esc.neutral + speed :
+              esc.neutral - speed;
+          }
+          last = key.name;
+        }
+      }
+
+      if (change) {
+        esc.throttle(change);
+      }
+    }
+  }
+
+  keypress(process.stdin);
+
+  process.stdin.on("keypress", controller);
+  process.stdin.setRawMode(true);
+  process.stdin.resume();
+});
diff --git a/eg/esc-keypress.js b/eg/esc-keypress.js
@@ -1,31 +1,44 @@
-var five = require("../lib/johnny-five.js");
-var keypress = require("keypress");
-var board = new five.Board();
+const {Board, ESC, Fn, Led} = require("../lib/johnny-five.js");
+const keypress = require("keypress");
+const board = new Board();
 
 board.on("ready", function() {
-
-  var esc = new five.ESC(9);
-
-  // Hold shift+arrow-up, shift+arrow-down to incrementally
-  // increase or decrease speed.
-
-  function controller(ch, key) {
-    var isThrottle = false;
-    var speed = esc.last ? esc.speed : 0;
-
-    if (key && key.shift) {
-      if (key.name === "up") {
-        speed += 0.01;
-        isThrottle = true;
-      }
-
-      if (key.name === "down") {
-        speed -= 0.01;
-        isThrottle = true;
+  const led = new Led(13);
+  const esc = new ESC({
+    device: "FORWARD_REVERSE",
+    pin: 11,
+  });
+  let speed = 0;
+  let last = null;
+
+  // just to make sure the program is running
+  led.blink(500);
+
+  function controller(_, key) {
+    let change = 0;
+
+    if (key) {
+      if (!key.shift) {
+        change = esc.neutral;
+        speed = 0;
+      } else {
+        if (key.name === "up" || key.name === "down") {
+          if (last !== key.name) {
+            change = esc.neutral;
+            speed = 0;
+          } else {
+            speed += 1;
+
+            change = key.name === "up" ?
+              esc.neutral + speed :
+              esc.neutral - speed;
+          }
+          last = key.name;
+        }
       }
 
-      if (isThrottle) {
-        esc.speed(speed);
+      if (change) {
+        esc.throttle(change);
       }
     }
   }