init: function () {
//Init for the ultrasonics
usonic.init(function (error){
if(error){
console.log("Error INIT sensors")
} else{
var echoPin = 8;
var triggerPin = 7;
var sensor = usonic.createSensor(echoPin, triggerPin, 1000);
}
});
// gpio.close(this.motors.leftPower);
gpio.close(this.motors.leftFront);
gpio.close(this.motors.leftBack);
// gpio.close(this.motors.rightPower);
gpio.close(this.motors.rightFront);
gpio.close(this.motors.rightBack);
// gpio.open(this.motors.leftPower, "output", function (err) {});
gpio.open(this.motors.leftFront, "output", function (err) {});
gpio.open(this.motors.leftBack, "output", function (err) {});
// gpio.open(this.motors.rightPower, "output", function (err) {});
gpio.open(this.motors.rightFront, "output", function (err) {});
gpio.open(this.motors.rightBack, "output", function (err) {});
gpio.open(7, "output", function (err) {});
},
tank.initPins = function() {
async.parallel([
gpio.open(_leftMotorFront),
gpio.open(_leftMotorBack),
gpio.open(_rightMotorFront),
gpio.open(_rightMotorBack)
]);
};
setTimeout(function(){
if (enable){
gpio.open(element, "output", function(err){
setTimeout(function(){
gpio.write(element, pinArray[element], function(err) {
cb(null);
});
}, 100);
});
} else {
gpio.open(element, "input", function(err){
cb(null);
});
}
}, 100);
gpio.close(pin.nr, function(){
gpio.open(pin.nr, "output", function(err) {
if(!err) {
pin.isOpen = true;
}
})
});
exports.pulseGate = function(){
gpio.open(26,"output",function(err){
gpio.write(26,1,function(){
gpio.close(26);
});
});
}
node.on('node::lightUp', function (senderId, data) {
gpio.open(7, 'output', function (err) {
// if (err) console.log(err);
gpio.read(7, function (err, value) {
if (err) console.log(err);
console.log('value is: ' + value);
var newval = 0;
if (value === 0) {
newval = 1;
}
gpio.write(7, newval, function (err) {
if (err) console.log(err);
//gpio.close(7, function (err) {
// if (err) console.log(err);
// console.log('pin closed');
//});
});
});
});
});
funcArray.push(function(cb){
if (emc_state != enable){
// close and then do stuff
gpio.close(element, function(){
setTimeout(function(){
if (enable){
gpio.open(element, "output", function(err){
setTimeout(function(){
gpio.write(element, pinArray[element], function(err) {
cb(null);
});
}, 100);
});
} else {
gpio.open(element, "input", function(err){
cb(null);
});
}
}, 100);
});
} else {
if (enable){
gpio.write(element, pinArray[element], function(err) {
cb(null);
});
} else {
gpio.open(element, "input", function(err){
cb(null);
});
}
}
});
gpio.open(button, "input pullup", function (err){
gpio.open(busy, "output", function(err){
logger.write("waiting for button press");
var state = 1;
var count = 20;
var intervalId = setInterval(function(){
// toggle the ready button
count++;
if (count >= 20) {
state = state ? 0 : 1;
toggle(busy, state);
count = 0;
}
gpio.read(button, function(err, value){
if ( (value == 0 && calledBack == false) ||
(wait == false && calledBack == false)) {
calledBack = true;
clearInterval(intervalId);
emc(0, function(){
// not ready anymore
async.series(funcArray, function (err, results){
logger.write("done with setting up");
toggle(busy, 0, function(){
callback();
}, 1500);
});
});
}
});
}, 20);
});
});
var actuator = function(data) {
if (data.value === undefined) {
return;
}
console.log('Switching relay: '+data.value);
gpio.open(11, "output", function(err) {
gpio.write(11, data.value, function(err) {
updateState(data.value);
gpio.close(11);
});
});
if (data.value) {
// Schedule turnoffTask, cancelling the previous task if exists
if (turnoffTask != null) {
clearTimeout(turnoffTask);
}
turnoffTask = setTimeout(actuator, data.timeout || config['turnOffDelay'], {value: false});
} else {
// If turning off, cancel the outstanding turnoffTask
if (turnoffTask != null) {
clearTimeout(turnoffTask);
}
turnoffTask = null;
}
};
turnLedOn = function() {
gpio.open(11, "output", function(err) { // Open pin 16 for output
gpio.write(11, 1, function() { // Set pin 16 high (1)
gpio.close(11); // Close pin 16
});
});
}
var pinOff = function (pin) {
gpio.open(pin, "output", function(err) {
gpio.write(pin, 0, function() {
gpio.close(pin);
});
});
};
// Flash LED
function flash(pin, interval, duration) {
var intervalId;
var durationId;
// Open pin for output
gpio.open(pin, "output", function(err) {
var on = 1;
console.log('GPIO '+pin+' is open. toggling LED every '+interval+' mS for ' +duration+ ' mS');
intervalId = setInterval(function() {
gpio.write(pin, on, function() {
// toggle pin between high (1) and low (0)
on = (on + 1) % 2;
//console.log(on)
});
}, interval); });
durationId = setTimeout(function() {
clearInterval(intervalId);
clearTimeout(durationId);
console.log('10onds blinking completed');
// turn off pin 16 and close pin
gpio.write(pin, 0, function() {
gpio.close(pin);
});
}, duration); // duration in mS
}
gpio.open(redLed, "output", function(err) {
gpio.open(amberLed, "output", function(err) {
gpio.open(greenLed, "output", function(err) {
lights.ready();
});
});
});
function setup(callback, wait){
logger.write("setting up...");
var funcArray = [];
[reset, ledDfu, ledFirmware, ledJS, ledPins,
ledWifi, ledDone, ledError, config, extPwr, usbPwr].forEach(function(element){
funcArray.push(function(cb){
gpio.open(element, "output", function(err){
if (element == usbPwr || element == reset) {
gpio.write(element, 1, function(err) {
cb(null);
});
} else {
gpio.write(element, 0, function(err) {
cb(null);
});
}
});
});
});
var calledBack = false;
// have all emcs be inputs
// wait until a button is pressed.
gpio.open(button, "input pullup", function (err){
gpio.open(busy, "output", function(err){
logger.write("waiting for button press");
var state = 1;
var count = 20;
var intervalId = setInterval(function(){
// toggle the ready button
count++;
if (count >= 20) {
state = state ? 0 : 1;
toggle(busy, state);
count = 0;
}
gpio.read(button, function(err, value){
if ( (value == 0 && calledBack == false) ||
(wait == false && calledBack == false)) {
calledBack = true;
clearInterval(intervalId);
emc(0, function(){
// not ready anymore
async.series(funcArray, function (err, results){
logger.write("done with setting up");
toggle(busy, 0, function(){
callback();
}, 1500);
});
});
}
});
}, 20);
});
});
}
_.each(self.pinMap, function (k, v) {
try {
gpio.open(v.pin, 'output');
} catch (err) {
console.log(err);
v.open = true;
}
});
function writeHigh(pin){
console.log(pin + " high");
gpio.open(pin, "output", function(err) {
gpio.write(pin, 1, function() {
gpio.close(pin);
});
});
}
function writeToPin() {
gpio.open(7, "output", function(err) { // Open pin 16 for output
gpio.write(7, 1, function(err, value) { // Set pin 16 high (1)
console.log(value);
gpio.close(7); // Close pin 16
});
});
}
function writeLow(pin){
console.log(pin + " low");
gpio.open(pin, "output", function(err) {
gpio.write(pin, 0, function() {
gpio.close(pin);
});
});
}
function readPin(pinNo, func){
gpio.open(pinNo, "input", function(err){
gpio.read(pinNo, function(err, val){
gpio.close(pinNo);
func(val);
});
});
}
function closePin(pin) {
console.log(pin + 'off');
gpio.open(pin, "output", function (err) {
gpio.write(pin, 0, function () {
gpio.close(pin);
});
});
}
init: function () {
// gpio.close(this.motors.leftPower);
gpio.close(this.motors.leftFront);
gpio.close(this.motors.leftBack);
// gpio.close(this.motors.rightPower);
gpio.close(this.motors.rightFront);
gpio.close(this.motors.rightBack);
// gpio.open(this.motors.leftPower, "output", function (err) {});
gpio.open(this.motors.leftFront, "output", function (err) {});
gpio.open(this.motors.leftBack, "output", function (err) {});
// gpio.open(this.motors.rightPower, "output", function (err) {});
gpio.open(this.motors.rightFront, "output", function (err) {});
gpio.open(this.motors.rightBack, "output", function (err) {});
gpio.open(7, "output", function (err) {});
},
function initMotorDriver(standByPinNr) {
gpio.open(standByPinNr, "output", function(err) {
gpio.write(standByPinNr, 1, function() {
gpio.close(standByPinNr);
});
});
return motorFactory;
}
reset: function reset() {
console.log("Reseting: " + leadid);
//turning off this lead
gpio.open(leadid, "output", function(err) {
gpio.write(leadid, 0, function() {
gpio.close(leadid);
});
});
},
turnOn: function(callback) {
gpio.open(config.gpiopump, "output", function(err) {
gpio.write(config.gpiopump, 1, function() {
gpio.close(config.gpiopump);
this.pumpOn = true;
callback();
});
});
},
function closePin(pin){
console.log('Turning pin off since we are done.');
console.log(pin + " -");
gpio.open(pin, "output", function(err) {
gpio.write(pin, 0, function() {
gpio.close(pin);
});
});
}
turnOff: function() {
gpio.open(config.gpiopump, "output", function(err) {
gpio.write(config.gpiopump, 0, function() {
gpio.close(config.gpiopump);
this.pumpOn = false;
callback();
});
});
}
function switchLED(pin, stat, callback) {
led_prev_stat = led_status;
gpio.open(pin, "output", function(err) {
led_status = stat;
gpio.write(pin, led_status, function() {
gpio.close(pin, callback());
});
});
}
function writePin(led, state){
var output = state ? 1 : 0;
gpio.open(led, "output", function(err) {
gpio.write(led, output, function() {
//console.log("Wrote " + state + " to pin");
gpio.close(led)
});
});
}
app.get('/yellow/on', function(req,res){
gpio.open(7, "output", function(err){
console.log(err);
gpio.write(7,0, function(){ //set pin to low
gpio.close(7);
res.write('Pin 7 is set to LOW');
res.end();
});
});
});
app.get('/red/on', function(req,res){
gpio.open(12, "output", function(err){
console.log(err);
gpio.write(12,0, function(){
gpio.close(12);
res.write('Pin 12 is set to LOW');
res.end();
});
});
});