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slider.js
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slider.js
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var five = require("johnny-five");
var Galileo = require("galileo-io");
var readline = require('readline');
var board = new five.Board({
io: new Galileo()
});
var mraa = require('mraa');
var NanoTimer = require('nanotimer');
var path = require("path");
var express = require('express');
var app = express();
var bodyParser = require('body-parser');
app.use(bodyParser.urlencoded({ extended: false }));
app.use(bodyParser.json()); // Body parser use JSON data
app.get('/', function(req, res) {
res.sendFile(path.join(__dirname+'/slider.html'));
});
var server = app.listen(3000, function ()
{
console.log('Example app listening at http://comfort-4.local:3000');
});
var rl = readline.createInterface({
input: process.stdin,
output: process.stdout
});
servos = null;
var turn_lamp, lower_arm, upper_arm, head;
board.on("ready", function()
{
/**
* draaiplato - GEEL LOS
*/
turn_lamp = new five.Servo(
{
pin: 3,
range: [5, 135],
startAt: 90
});
/**
* Voet arm (onderste twee servo's) - GEEL
*/
lower_arm = new five.Servo({
pin: 5,
range: [0, 80],
startAt: 0
});
/**
* middel arm - GROEN
*/
upper_arm = new five.Servo({
pin: 6,
range: [0, 120],
startAt: 80
});
/**
* boven arm - WIT
* (was eerst max 180 maar vanwege veertje 130)
*/
head = new five.Servo({
pin: 9,
range: [0, 130],
startAt: 100
});
});
/**
* CUSTOM PWM
*/
var pin = new mraa.Gpio(11);
pin.dir(mraa.DIR_OUT);
PWM = 1;
PWM_enabled = false;
counter = 0;
PWM_speed = 1500;
function customPWM()
{
var timerA = new NanoTimer();
timerA.setTimeout(dary, '', PWM_speed+'u');
pin.write(1);
function dary()
{
pin.write(0);
}
setTimeout(function()
{
timerA.clearInterval();
if(PWM_enabled)
{
customPWM();
}
}, 20);
}
function customPWMStart(speed)
{
PWM_enabled = true;
PWM_speed = speed;
customPWM();
setTimeout(function()
{
PWM_enabled = false;
}, 300);
}
app.post('/', function(req, res, next)
{
var lamp = req.body.lamp,
data = req.body.data,
anim = null;
switch(lamp)
{
case "head":
anim = animationSpeed(head.value, data);
head.to(data, anim);
break;
case "upper_arm":
anim = animationSpeed(upper_arm.value, data);
upper_arm.to(data, anim);
break;
case "lower_arm":
anim = animationSpeed(lower_arm.value, data);
lower_arm.to(data, anim);
break;
case "turn_lamp":
anim = animationSpeed(turn_lamp.value, data);
turn_lamp.to(data, anim);
break;
case "turn_head":
if( data == 1)
headLeft();
else if( data == 2)
headCenter();
else if( data == 3)
headRight();
break;
}
res.end('It worked!');
});
function animationSpeed(val, new_val)
{
var delta = Math.abs(val - new_val),
anim = Math.round(delta * 20);
console.log("Animatie: "+ anim);
return anim;
}
function stepLoop(i, imax, servo, direction)
{
if(direction)
servo.step(1);
else
servo.step(-1);
setTimeout(function()
{
i++;
if(i < imax)
stepLoop(i, imax, servo, direction);
}, 50);
}
function headCenter()
{
customPWMStart(1200);
}
function headLeft()
{
customPWMStart(600);
}
function headRight()
{
customPWMStart(2000);
}