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
});
});
Copyright (c) 2012-2014 Rick Waldron waldron.rick@gmail.com Licensed under the MIT license. Copyright (c) 2015-2023 The Johnny-Five Contributors Licensed under the MIT license.