libroboint.md

libroboint

The single entry point for interacting with the ROBO Interface

• libroboint
  • .RoboInterface
  • .MOTOR_DIR_LEFT
  • .MOTOR_DIR_RIGHT
  • .MOTOR_DIR_STOP
  • .connect([opts])
  • .hasInterface() ⇒ boolean
  • .close()
  • .getDeviceTypeString() ⇒ string
  • .getDeviceType() ⇒ number
  • .setMotor(motor, direction, [speed]) ⇒
  • .setOutput(output, [power])
  • .getInput(inputNumber) ⇒ number
  • .getA1() ⇒ number
  • .getA2() ⇒ number
  • .getAX() ⇒ number
  • .getAY() ⇒ number
  • .getD1() ⇒ number
  • .getD2() ⇒ number
  • .loop(theLoop, interval)
  • .useCounter(inputNumber)

libroboint.RoboInterface

If you need multiple instances (e.g. two Robo interfaces on two separate USB ports), you can use the class directly. Remember to call close on each of your instances.

Kind: static constant of libroboint
Example

const libroboint = require('libroboint');
const ri = new libroboint.RoboInterface(connectOptions);
ri.setMotor(1,libroboint.MOTOR_DIR_LEFT);
ri.close();

libroboint.MOTOR_DIR_LEFT

Kind: static constant of libroboint

libroboint.MOTOR_DIR_RIGHT

Kind: static constant of libroboint

libroboint.MOTOR_DIR_STOP

Kind: static constant of libroboint

libroboint.connect([opts])

Connect to the Robo Interface

Kind: static method of libroboint

Param	Type	Description
[opts]	Object	The connection options. Optional.
opts.deviceNumber	number	The number of the device to connect to, defaults to 0.
opts.usbSerial	number	If specified, will connect using the serialNumber.
opts.serialType	number	Type of device at serial port, either FT_INTELLIGENT_IF (10), FT_INTELLIGENT_IF_SLAVE (20) or FT_ROBO_IF_COM (70)
opts.enableDistance	boolean	Enable D1 and D2 for use with the ft distance sensor, defaults to false
opts.startTransferArea	boolean	Start the transfer area. Usually you want that, defaults to true

Example

const libroboint = require('libroboint');
libroboint.connect({
   deviceNumber: 0
});

libroboint.hasInterface() ⇒ boolean

Tells if we have a connection to the Interface. Useful to call after "connect()"

Kind: static method of libroboint
Example

const libroboint = require('libroboint');
libroboint.connect();
if(libroboint.hasInterface()){
    // do something
}

libroboint.close()

Closes the connection to the ftDevice. This is also done when the nodeJS process is terminated (SIGINT).

Kind: static method of libroboint
Example

const libroboint = require('libroboint');
libroboint.connect();
// do something
libroboint.close();

libroboint.getDeviceTypeString() ⇒ string

Returns a string that identifies this interface in a human readable form like "Robo Interface"

Kind: static method of libroboint

libroboint.getDeviceType() ⇒ number

Returns the type of the interface (as integer), which is one of

NO_FT_DEVICE                0       // No ft Device connected
FT_AUTO_TYPE                1       // Search for Device
FT_INTELLIGENT_IF           10      // FT-Intelligent Interface connect (serial)
FT_INTELLIGENT_IF_SLAVE     20      // FT-Intelligent Interface with Extension connect (serial)
FT_ROBO_IF_IIM              50      // FT-Robo Interface with Intelligent-Interface-Modus connect (serial)
FT_ROBO_IF_USB              60      // FT-Robo Interface connect with USB-Port
FT_ROBO_IF_COM              70      // FT-Robo Interface connect with COM- (serial-) Port
FT_ROBO_IF_OVER_RF          80      // FT-Robo Interface connect over RF-Data-Link
FT_ROBO_IO_EXTENSION        90      // FT-Robo I/O-Extension
FT_ROBO_LT_CONTROLLER       91      // FT-Robo LT Controller
FT_ROBO_RF_DATA_LINK        110     // FT-Robo RF Data Link
FT_SOUND_AND_LIGHTS         120     // FT-Sound + Lights Module

Kind: static method of libroboint

libroboint.setMotor(motor, direction, [speed]) ⇒

Sets a motor's speed and direction

Kind: static method of libroboint
Returns: null

Param	Type	Default	Description
motor	number		The motor number, 1-4, with I/O Extensions also 5-8, 9-12, 13-16
direction	number		The direction. one of libroboint.MOTOR_DIR_LEFT (1), libroboint.MOTOR_DIR_RIGHT (2), libroboint.MOTOR_DIR_STOP (0)
[speed]	number	7	The speed between 0 and 7. Optional. Defaults to 7

Example

const libroboint = require('libroboint');
libroboint.connect();
libroboint.setMotor(1, libroboint.MOTOR_DIR_STOP); // stop motor 1
libroboint.setMotor(2, libroboint.MOTOR_DIR_LEFT, 5); // start motor 2, direction left with speed 5
libroboint.setMotor(2, libroboint.MOTOR_DIR_RIGHT); // start motor 2, direction right with default speed (max = 7)

libroboint.setOutput(output, [power])

Sets a outputs's power

Kind: static method of libroboint

Param	Type	Default	Description
output	number		The putput number, 1-8, with I/O Extensions also 9-16, 17-24, 25-32
[power]	number	7	The power between 0 and 7. Optional. Defaults to 7

Example

const libroboint = require('libroboint');
libroboint.connect();
libroboint.setOutput(7); // set output 7 on (default power)
libroboint.setOutput(2, 5); // set output 2 on, with power 5

libroboint.getInput(inputNumber) ⇒ number

Gets the state of a digital input.

Kind: static method of libroboint
Returns: number - 1 or 0

Param	Type	Description
inputNumber	number	The input between 1 and Max

Example

const libroboint = require('libroboint');
libroboint.connect();
console.log(libroboint.getInput(1));

libroboint.getA1() ⇒ number

Reads analog input A1

Kind: static method of libroboint
Returns: number - The voltage between 0 and 1023

libroboint.getA2() ⇒ number

Reads analog input A2

Kind: static method of libroboint
Returns: number - The voltage between 0 and 1023

libroboint.getAX() ⇒ number

Reads analog input AX

Kind: static method of libroboint
Returns: number - The resistor value between 0 and 1023

libroboint.getAY() ⇒ number

Reads analog input AY

Kind: static method of libroboint
Returns: number - The resistor value between 0 and 1023

libroboint.getD1() ⇒ number

Reads analog input D1

Kind: static method of libroboint
Returns: number - The voltage or distance value between 0 and 1023. Depending on connect option flag "enableDistance"

libroboint.getD2() ⇒ number

Reads analog input D2

Kind: static method of libroboint
Returns: number - The voltage or distance value between 0 and 1023. Depending on connect option flag "enableDistance"

libroboint.loop(theLoop, interval)

Kind: static method of libroboint

Param	Type	Default	Description
theLoop	function
interval	number	50	The interval in milliseconds

libroboint.useCounter(inputNumber)

Use within loop to count "switching" on a digital input. This will count state change from 0 to 1. Handy when using a mini switch on a axle.

Kind: static method of libroboint

Param	Type
inputNumber	number

Example

const [c, resetC] = libroboint.useCounter(1);
if (c > 10) {
      console.log('reached 11, resetting');
      resetC();
  }