xbox.on('right:move', function(position){
if(ready) {
if(position.y < 0) {
position.y = ~position.y;
board.analogWrite('D2', 0);
board.analogWrite('D3', limit(position.y));
}
else {
board.analogWrite('D3', 0);
board.analogWrite('D2', limit(position.y));
}
}
});
socket.on("sample", (c) => {
//First, check if board is currently ready
if(boardStatus().ready) {
//Sets pinModes and activate them
board.pinMode(redPin, five.Pin.PWM);
board.pinMode(greenPin, five.Pin.PWM);
board.pinMode(bluePin, five.Pin.PWM);
board.analogWrite(redPin, c.red);
board.analogWrite(greenPin, c.green);
board.analogWrite(bluePin, c.blue);
var data = c.red + "," + c.green + "," + c.blue + ",";
var buffer = Buffer.from(data);
var byteArray = Array.from(buffer);
board.io.serialWrite(portId, byteArray);
}
});
new five.Sensor("I0").scale(0, 255).on("change", function() {
var val = this.value;
var pinValue;
if (val < 128) {
forward();
pinValue = (255 - (val * 2));
} else {
backward();
pinValue = (val - 128) * 2;
}
console.log(this.value, pinValue);
board.analogWrite(enablePin, pinValue);
});
/**
* Morse
*
* @description :: get an action (0, 1 or 2) and control the LED
*
*/
function morse(action) {
switch(action) {
case 0:
process.stdout.write(" ");
break;
case 1:
process.stdout.write(".");
led.on();
board.analogWrite(8, BUZZ_FREQ);
setTimeout(function(){ led.off(); board.analogWrite(8, 0); }, SPEED);
break;
case 2:
process.stdout.write("-");
led.on();
board.analogWrite(8, BUZZ_FREQ);
setTimeout(function(){ led.off(); board.analogWrite(8, 0);}, SPEED*5);
break;
}
}
var handleFrame = function(frame) {
if (frame.hands && frame.hands.length > 0) {
var hand = frame.hands[0],
palmX = hand.palmPosition[0],
min = -250,
max = 250;
if (palmX > min && palmX < max) {
var pinValue;
if (palmX < 0) {
backward();
pinValue = -palmX;
} else {
forward();
pinValue = palmX;
}
console.log(pinValue);
board.analogWrite(enablePin, pinValue);
}
}
};
connection.on('message', function (message) {
var pin; // the pin number contained within a message
var index; // an index for the devices array
var deviceID; // the device identifier contained within a message
if (debugLevel >= 1) {
console.log('message received: ' + message.utf8Data);
}
// Messages components are delimited by '/'.
// A message is split into its components and placed in msg array.
// The message ID is always the first element
// TODO: explore using JSON instead of current delimitation scheme
var msg = message.utf8Data.split('/');
// Process each message type received
switch (msg[0]) {
// handshake with client at start up of socket
case 'Xi4sOnline':
if (debugLevel >= 1) {
console.log('Xi Server has a websocket to Xi4S');
}
break;
/**********************************************************************************************
********************* PIN MODE COMMAND HANDLERS *****************************************
**********************************************************************************************/
// set pin mode to analog in
// create an an instance of an analog sensor and add it to the array
case 'setAnalogIN':
// get the pin number and add the 'analog' designator
pin = msg[3];
if (debugLevel >= 1) {
console.log("setAnalogIn", msg);
}
if (validateAnalogSetMode(msg[1], pin) === false) {
break;
}
// specific to XiDuino - needs to see the 'A' designator
if (serverType === 'ard') {
pin = 'A' + pin;
}
index = devices.length;
deviceID = msg[1];
addSensor(index, pin, deviceID);
break;
// set pin mode to digital in
// create a switch object to handle a digital input pin and add it to the array
case 'setDigitalIN':
pin = msg[2];
if (validateDigitalSetMode(msg[1], pin, five.Pin.INPUT) === false) {
break;
}
index = devices.length;
deviceID = msg[3];
if (debugLevel >= 2) {
console.log("adding switch", pin, deviceID);
}
addSwitch(index, pin, deviceID);
break;
// set up pin as PWM - we do not create device objects for output pins, but access them directly
case 'setAnalogOUT':
pin = msg[2];
// PWM is considered here to be a digital mode
if (validateDigitalSetMode(msg[1], pin, five.Pin.PWM) !== false) {
board.pinMode(pin, five.Pin.PWM);
}
break;
// set up pin as digital output
// we do not create device objects for output pins, but access them directly
case 'setDigitalOUT':
pin = msg[2];
// just set the pin (msg[2], to the output mode.
if (validateDigitalSetMode(msg[1], pin, five.Pin.OUTPUT) !== false) {
board.pinMode(pin, five.Pin.OUTPUT);
}
break;
// This will set a pin to servo mode and add a standard servo device
case 'setStandardServoMode':
pin = msg[2];
if (debugLevel >= 3) {
console.log('setServoMode current mode === ' + board.io.pins[pin].mode);
console.log('pin = ' + pin);
console.log(msg);
}
if (validateDigitalSetMode(msg[1], pin, five.Pin.SERVO) !== false) {
board.pinMode(pin, five.Pin.SERVO);
if (debugLevel >= 2) {
console.log("adding servo", pin);
}
addServo(pin, 'standard', false);
}
break;
// This will set a pin to Servo and add a continuous servo device
case 'setContinuousServoMode':
inverted = false;
pin = msg[2];
if (debugLevel >= 3) {
console.log('setServoMode current mode === ' + board.io.pins[pin].mode);
console.log('pin = ' + pin);
console.log(msg);
}
if (validateDigitalSetMode(msg[1], pin, five.Pin.SERVO) !== false) {
board.pinMode(pin, five.Pin.SERVO);
if (debugLevel >= 2) {
console.log("adding servo", pin);
}
addServo(pin, 'continuous');
}
break;
// Set a pin for HC-SR04 type support and a ping device
// Requires a replacement sketch for StandardFirmata
// https://github.com/rwaldron/johnny-five/wiki/Ping#setup
case 'setSonarMode':
deviceID = msg[3];
pin = msg[2];
if (debugLevel >= 1) {
console.log("setSonarMode", msg);
}
if (validateDigitalSetMode(msg[1], pin, five.Pin.INPUT) === false) {
break;
}
index = devices.length;
addPing(index, pin, deviceID);
break;
// set a pin for infrared distance sensing and add the device
case 'setInfraRedDistanceMode':
deviceID = msg[3];
pin = msg[2];
if (debugLevel >= 1) {
console.log("setInfraRedDistanceMode", msg);
}
if (validateAnalogSetMode(msg[1], pin, five.Pin.ANALOG) === false) {
break;
}
index = devices.length;
addInfraRed(index, pin, deviceID);
break;
// set a pin to piezo tone mode and add the device
case 'setToneMode':
pin = msg[2];
if (validateDigitalSetMode(msg[1], pin, five.Pin.OUTPUT) !== false) {
addPiezo(pin);
}
break;
// The stepper motor support requires a replacement sketch for StandardFirmata
// https://github.com/soundanalogous/AdvancedFirmata
// set the pins for a 4 wire stepper and a 4 wire stepper device
case 'fourWireStepperPins':
var pinA = parseInt(msg[2]);
var pinB = parseInt(msg[3]);
var pinC = parseInt(msg[4]);
var pinD = parseInt(msg[5]);
var revSteps = parseInt(msg[6]);
if (debugLevel >= 1) {
console.log("fourWireStepperPin", msg);
}
if (validateDigitalSetMode(msg[1], pinA, five.Pin.OUTPUT) === false) {
break;
}
if (validateDigitalSetMode(msg[1], pinB, five.Pin.OUTPUT) === false) {
break;
}
if (validateDigitalSetMode(msg[1], pinC, five.Pin.OUTPUT) === false) {
break;
}
if (validateDigitalSetMode(msg[1], pinD, five.Pin.OUTPUT) === false) {
break;
}
addFourWireStepper(pinA, pinB, pinC, pinD, revSteps);
break;
// The stepper motor support requires a replacement sketch for StandardFirmata
// https://github.com/soundanalogous/AdvancedFirmata
// set the pins for a stepper driver board and a driver stepper device
case 'stepperDriverPins':
if (debugLevel >= 1) {
console.log("stepperDriverPins", msg);
}
pinA = parseInt(msg[2]);
pinB = parseInt(msg[3]);
revSteps = parseInt(msg[4]);
if (validateDigitalSetMode(msg[1], pinA, five.Pin.OUTPUT) === false) {
break;
}
if (validateDigitalSetMode(msg[1], pinB, five.Pin.OUTPUT) === false) {
break;
}
addDriverStepper(pinA, pinB, revSteps);
break;
/**********************************************************************************************
********************* COMMAND BLOCK HANDLERS **********************************
**********************************************************************************************/
// write out the digital value to the pin
case 'digitalWrite':
if (debugLevel >= 3) {
console.log('digitalWrite: board ' + msg[1] + 'pin' + msg[2] + ' value ' + msg[3]);
}
// validate that this pin was initially set to correct mode
if (board.io.pins[msg[2]].mode !== five.Pin.OUTPUT) {
connection.send('invalidPinCommand/' + 2 + '/' + msg[1] + '/' + msg[2]);
}
else {
if (msg[3] === 'Off') {
if (debugLevel >= 3) {
console.log(' pin off');
}
board.digitalWrite(msg[2], 0);
}
else {
if (debugLevel >= 3) {
console.log(' pin on');
}
board.digitalWrite(msg[2], 1);
}
}
break;
// write out the analog value to the PWM pin
case 'analogWrite':
pin = msg[2];
if (debugLevel >= 3) {
console.log('analogWrite current mode === ' + board.io.pins[msg[2]].mode);
console.log('pin = ' + pin);
console.log(msg);
}
if (board.io.pins[msg[2]].mode !== five.Pin.PWM) {
// send alert string
connection.send('invalidPinCommand/' + 3 + '/' + msg[1] + '/' + pin);
}
else {
board.analogWrite(msg[2], msg[3]);
}
break;
// play a tone
case 'playTone':
pin = msg[2];
var frequency = msg[3];
var duration = msg[4];
if (debugLevel >= 3) {
console.log('tone pin current mode === ' + board.io.pins[pin].mode);
console.log('pin = ' + pin);
console.log(msg);
}
if (board.io.pins[pin].mode !== five.Pin.OUTPUT) {
// send alert string
connection.send('invalidPinCommand/' + 4 + '/' + msg[1] + '/' + pin);
break;
}
else {
// retrieve piezo from array
for (i = 0; i < piezoArray.length; i++) {
if (piezoArray[i].pin === pin) {
piezoArray[i].frequency(frequency, duration);
return;
}
}
if (debugLevel >= 3) {
console.log('playTone - piezo not found for pin ' + pin);
}
}
break;
case 'noTone':
pin = msg[2];
if (debugLevel >= 3) {
console.log('notone for pin' + pin);
}
for (i = 0; i < piezoArray.length; i++) {
if (piezoArray[i].pin === pin) {
piezoArray[i].noTone();
return;
}
}
if (debugLevel >= 3) {
console.log('noTone - piezo not found for pin ' + pin);
}
break;
// move the servo to position in degrees
// message indices: 1= board, 2 = pin, 3 = degrees
case 'moveStandardServo':
pin = parseInt(msg[2]);
var degrees = parseInt(msg[3]);
var inverted = msg[4];
if (debugLevel >= 3) {
console.log('servo current mode === ' + board.io.pins[pin].mode);
console.log('pin = ' + pin);
console.log(msg);
}
if (board.io.pins[pin].mode !== five.Pin.SERVO) {
// send alert string
connection.send('invalidPinCommand/' + 5 + '/' + msg[1] + '/' + pin);
break;
}
else {
// retrieve servo from array
for (var i = 0; i < servoArray.length; i++) {
if (servoArray[i].pin === pin) {
if (servoArray[i].type !== "standard") {
connection.send('invalidPinCommand/' + 6 + '/' + msg[1] + '/' + pin);
return;
}
servoArray[i].isInverted = inverted !== 'False';
servoArray[i].to(degrees);
return;
}
}
if (debugLevel >= 3) {
console.log('moveStandardServo - servo not found for pin ' + pin);
}
}
break;
// move a continuous servo in the given direction and speed
case 'moveContinuousServo':
pin = parseInt(msg[2]);
var direction = msg[3];
inverted = msg[4];
var speed = parseFloat(msg[5]);
speed = parseFloat(speed.toFixed(2));
if (debugLevel >= 3) {
console.log('servo current mode === ' + board.io.pins[pin].mode);
console.log('pin = ' + pin);
console.log(msg);
}
if (board.io.pins[pin].mode !== five.Pin.SERVO) {
// send alert string
connection.send('invalidPinCommand/' + 5 + '/' + msg[1] + '/' + pin);
break;
}
else {
// retrieve servo from array
for (i = 0; i < servoArray.length; i++) {
if (servoArray[i].pin === pin) {
if (servoArray[i].type !== "continuous") {
connection.send('invalidPinCommand/' + 7 + '/' + msg[1] + '/' + pin);
return;
}
if (speed >= 0.0 && speed <= 1.0) {
servoArray[i].isInverted = inverted !== 'False';
if (direction === 'CW') {
servoArray[i].cw(speed);
}
else {
servoArray[i].ccw(speed);
}
return;
}
else {
connection.send('invalidSetMode/Board ' + msg[1] + ' Pin ' + pin +
' Speed must be in the range of 0.0 to 1.0');
}
return;
}
}
if (debugLevel >= 3) {
console.log('moveContinuousServo - servo not found for pin ' + pin);
}
}
break;
// stop servo motion - used for both standard and continuous
case 'stopServo':
pin = parseInt(msg[2]);
if (debugLevel >= 3) {
console.log('stopServo servo current mode === ' + board.io.pins[pin].mode);
console.log('pin = ' + pin);
console.log(msg);
}
if (board.io.pins[pin].mode !== five.Pin.SERVO) {
// send alert string
connection.send('invalidPinCommand/' + 5 + '/' + msg[1] + '/' + pin);
break;
}
else {
// retrieve servo from array
for (i = 0; i < servoArray.length; i++) {
if (servoArray[i].pin === pin) {
servoArray[i].stop();
return;
}
}
if (debugLevel >= 3) {
console.log('stopServo - servo not found for pin ' + pin);
}
}
break;
// move a stepper motor - this works for both 4 wire and driver.
case 'moveStepper':
pin = parseInt(msg[2]);
var rpms = parseInt(msg[3]);
var dir = msg[4];
var acc = parseInt(msg[5]);
var dec = parseInt(msg[6]);
var stp = parseInt(msg[7]);
if (debugLevel >= 3) {
console.log('moveStepper mode ');
console.log('pin = ' + pin);
console.log(msg);
}
if (dir === 'CW') {
dir = five.Stepper.DIRECTION.CW;
}
else {
dir = five.Stepper.DIRECTION.CCW;
}
if (board.io.pins[pin].mode !== board.io.MODES.STEPPER) {
// send alert string
connection.send('invalidPinCommand/' + 8 + '/' + msg[1] + '/' + pin);
break;
}
else {
// retrieve servo from array
for (i = 0; i < stepperArray.length; i++) {
if (stepperArray[i].pins.step === pin) {
stepperArray[i].step({
steps: stp,
rpm: rpms,
direction: dir,
accel: acc,
decel: dec
}, function () {
console.log("Done stepping!");
});
return;
}
}
if (debugLevel >= 3) {
console.log('moveStepper - stepper not found for pin ' + pin);
}
}
break;
// sets number of steps to 0 to stop stepper movement
case 'stopStepper':
pin = parseInt(msg[2]);
if (debugLevel >= 3) {
console.log('stopSStepper servo current mode === ' + board.io.pins[pin].mode);
console.log('pin = ' + pin);
console.log(msg);
}
if (board.io.pins[pin].mode !== board.io.MODES.STEPPER) {
// send alert string
connection.send('invalidPinCommand/' + 8 + '/' + msg[1] + '/' + pin);
break;
}
else {
// retrieve servo from array
for (i = 0; i < stepperArray.length; i++) {
if (stepperArray[i].pins.step === pin) {
stepperArray[i].step({
steps: 0,
direction: five.Stepper.DIRECTION.CW
}, function () {
console.log("stopped stepper pin " + pin);
});
return;
}
}
if (debugLevel >= 3) {
console.log('stopStepper - stepper not found for pin ' + pin);
}
}
break;
case 'resetBoard':
// reset the board
if (debugLevel >= 2) {
console.log('Client is shutting down');
}
boardReset();
break;
default:
console.log('Xi Server unknown message received: ' + msg[0]);
}
});
setTimeout(function(){ led.off(); board.analogWrite(8, 0);}, SPEED*5);