function goArduino(){
//console.log('got here')
if(board){
//console.log('and here?')
board.digitalWrite(LEDPIN, 1);
setTimeout(function(){board.digitalWrite(LEDPIN, 0)}, pulseDuration);
}
}
this.loop(100, function() {
board.digitalWrite( 36, ledValue = (ledValue ? 0 : 1));
var distance = (sensors['left'].value + sensors['right'].value + sensors['up'].value + sensors['down'].value) / 4;
//console.log(distance);
if (distance > 300) {
shakeHead();
moveBackward();
moveForward();
/*console.log("------------------------------------------------");
console.log("Left: " + sensors['left'].value);
console.log("Right: " + sensors['right'].value);
console.log("Up: " + sensors['up'].value);
console.log("Down: " + sensors['down'].value);
console.log("------------------------------------------------");*/
}
})
myBoard.on("ready", function() {
lcd = new j5.LCD({pins: [8, 9, 4, 5, 6, 7]});
myBoard.digitalWrite(10, 1);
setTimeout(function() {
lcd.clear().cursor(0, 0);
lcd.clear().print("Authorise");
lcd.cursor(1, 0);
lcd.print("your self");
//printSeconds.call(this);
//printString('This is very long text to display on the our small screen!', 400);
}, 50);
this.repl.inject({
lcd: lcd,
board: myBoard
});
console.log("You can interact with the RGB LED via the variable 'led' e.g. led.on();\n Hit control-D to exit.\n >> ");
});
this.loop(100, function() {
board.digitalWrite(LED1, led1Status? 1: 0);
board.digitalWrite(LED2, led2Status? 1: 0);
});
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]);
}
});
board.loop(1000, function () {
board.digitalWrite(13,board.pins[13].value ? 0 : 1);
});
function Encender()
{
board.digitalWrite(pin,1);
}
function Apagar()
{
board.digitalWrite(pin,0);
}
setTimeout(function(){board.digitalWrite(LEDPIN, 0)}, pulseDuration);