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app4.js
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app4.js
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/**
* Module dependencies.
*/
var express = require('express'),
routes = require('./routes'),
sio = require('socket.io'),
gpio = require('pi-gpio'),
crypto = require('crypto'),
async = require('async'),
five = require("johnny-five"),
tank = {},
_leftMotorFront = 6,
_leftMotorBack = 7,
_rightMotorFront = 8,
_rightMotorBack = 9,
_speed = 180,
app = module.exports = express.createServer(),
io = sio.listen(app);
board = five.Board();
board.on("ready", function() {
this.pinMode(6, five.Pin.PWM);
this.pinMode(7, five.Pin.PWM);
this.pinMode(8, five.Pin.PWM);
this.pinMode(9, five.Pin.PWM);
async.parallel([function(callback) { board.analogWrite(_leftMotorFront, 0) },
function(callback) { board.analogWrite(_leftMotorBack, 0) },
function(callback) { board.analogWrite(_rightMotorFront, 0) },
function(callback) { board.analogWrite(_rightMotorBack, 0) }],
function(err, results) {
res.end();
}
);
});
// Configuration
app.configure(function() {
app.set('views', __dirname + '/views');
app.set('view engine', 'jade');
app.use(express.bodyParser());
app.use(express.methodOverride());
app.use(app.router);
app.use(express.static(__dirname + '/public'));
});
app.configure('development', function() {
app.use(express.errorHandler({ dumpExceptions: true, showStack: true }));
});
app.configure('production', function() {
app.use(express.errorHandler());
});
// Routes
app.get('/', routes.index);
app.listen(3000);
console.log('Listening %d in %s mode', app.address().port, app.settings.env);
tank.initPins = function(){
// async.parallel([
// board.analogWrite(_leftMotorFront, 0),
// board.analogWrite(_leftMotorBack, 0),
// board.analogWrite(_rightMotorFront, 0),
// board.analogWrite(_rightMotorBack, 0)
// ]);
};
tank.moveForward = function(){
async.parallel([function(callback) { board.analogWrite(_leftMotorFront, _speed) },
function(callback) { board.analogWrite(_leftMotorBack, 0) },
function(callback) { board.analogWrite(_rightMotorFront, _speed) },
function(callback) { board.analogWrite(_rightMotorBack, 0) }],
function(err, results) {
res.end();
}
);
};
tank.moveBackward = function(){
async.parallel([function(callback) { board.analogWrite(_leftMotorFront, 0) },
function(callback) { board.analogWrite(_leftMotorBack, _speed) },
function(callback) { board.analogWrite(_rightMotorFront, 0) },
function(callback) { board.analogWrite(_rightMotorBack, _speed) }],
function(err, results) {
res.end();
}
);
};
tank.turnLeft = function(){
async.parallel([function(callback) { board.analogWrite(_leftMotorFront, 0) },
function(callback) { board.analogWrite(_leftMotorBack, 0) },
function(callback) { board.analogWrite(_rightMotorFront, _speed) },
function(callback) { board.analogWrite(_rightMotorBack, 0) }],
function(err, results) {
res.end();
}
);
};
tank.turnRight = function(){
async.parallel([function(callback) { board.analogWrite(_leftMotorFront, _speed) },
function(callback) { board.analogWrite(_leftMotorBack, 0) },
function(callback) { board.analogWrite(_rightMotorFront, 0) },
function(callback) { board.analogWrite(_rightMotorBack, 0) }],
function(err, results) {
res.end();
}
);
};
tank.stopAllMotors = function(){
async.parallel([function(callback) { board.analogWrite(_leftMotorFront, 0) },
function(callback) { board.analogWrite(_leftMotorBack, 0) },
function(callback) { board.analogWrite(_rightMotorFront, 0) },
function(callback) { board.analogWrite(_rightMotorBack, 0) }],
function(err, results) {
res.end();
}
);
};
io.sockets.on('connection', function(socket) {
socket.on('keydown', function(dir) {
switch(dir){
case 'up':
tank.moveForward();
break;
case 'down':
tank.moveBackward();
break;
case 'left':
tank.turnLeft();
break;
case 'right':
tank.turnRight();
break;
}
});
socket.on('keyup', function(dir){
tank.stopAllMotors();
});
});
tank.initPins();