process.stdin.on('keypress', (str, key) => {
if (key.ctrl && key.name === 'c') {
process.exit();
} else {
switch (key.name) {
case 'q':
pulse1 -= 10;
break;
case 'a':
pulse1 += 10;
break;
case 'w':
pulse2 -= 10;
break;
case 's':
pulse2 += 10;
break;
case 'e':
pulse3 -= 10;
break;
case 'd':
pulse3 += 10;
break;
}
servo1.servoWrite(pulse1);
servo2.servoWrite(pulse2);
servo3.servoWrite(pulse3);
console.log("1: GPIO21: Steering " + pulse1);
console.log("2: GPIO20: Bucket " + pulse2);
console.log("3: GPIO25: Camera " + pulse3);
}
});
(function () {
var startTickRight;
echoRight.on('alert', function (level, tick) {
var endTick,
diff, dist;
if (level == 1) {
startTickRight = tick;
} else {
endTick = tick;
diff = (endTick >> 0) - (startTickRight >> 0); // Unsigned 32 bit arithmetic
dist = diff / 2 / MICROSECONDS_PER_CM;
console.log(`Right: ${dist.toFixed(2)}`);
}
});
echoLeft.on('alert', function (level, tick) {
var endTick,
diff, dist;
if (level == 1) {
startTickLeft = tick;
} else {
endTick = tick;
diff = (endTick >> 0) - (startTickLeft >> 0); // Unsigned 32 bit arithmetic
dist = diff / 2 / MICROSECONDS_PER_CM;
console.log(`Left: ${dist.toFixed(2)}`);
}
});
}());
moveBackward: function () {
leftPower.pwmWrite(leftPowerAmount, function (err) {});
// gpio.write(this.motors.leftPower, 1, function (err) {});
gpio.write(this.motors.leftBack, 1, function (err) {});
rightPower.pwmWrite(rightPowerAmount, function (err) {});
// gpio.write(this.motors.rightPower, 1, function (err) {});
gpio.write(this.motors.rightBack, 1, function (err) {});
},
LED.prototype.setHue = function(hue, callback) {
h = hue/360;
var rgb = hslToRgb(h, s, l);
redLED.pwmWrite(rgb[0]);
greenLED.pwmWrite(rgb[1]);
blueLED.pwmWrite(rgb[2]);
callback();
}
LED.prototype.setBrightness = function(brightness, callback) {
l = brightness/200;
var rgb = hslToRgb(h, s, l);
redLED.pwmWrite(rgb[0]);
greenLED.pwmWrite(rgb[1]);
blueLED.pwmWrite(rgb[2]);
callback();
}
LED.prototype.setSaturation = function(saturation, callback) {
s = saturation/100;
var rgb = hslToRgb(h, s, l);
redLED.pwmWrite(rgb[0]);
greenLED.pwmWrite(rgb[1]);
blueLED.pwmWrite(rgb[2]);
callback();
}
socket.on('servos', function (data) {
// move servo
panPos = 0- -data.pan;
if(panPos < panMin) panPos = panMin;
if(panPos > panMax) panPos = panMax;
pan.servoWrite( tiltPos );
// move servo
tiltPos = 0- -data.tilt;
if(tiltPos < tiltMin) tiltPos = tiltMin;
if(tiltPos > tiltMax) tiltPos = tiltMax;
tilt.servoWrite( panPos );
sendPos();
});
stop: function () {
leftPower.pwmWrite(0, function (err) {});
rightPower.pwmWrite(0, function (err) {});
// gpio.write(this.motors.leftPower, 0, function (err) {});
gpio.write(this.motors.leftFront, 0, function (err) {});
gpio.write(this.motors.leftBack, 0, function (err) {});
// gpio.write(this.motors.rightPower, 0, function (err) {});
gpio.write(this.motors.rightFront, 0, function (err) {});
gpio.write(this.motors.rightBack, 0, function (err) {});
gpio.write(7, 0, function (err) {});
}
moveRightFWD: function () {
rightPower.pwmWrite(rightPowerAmount, function (err) {});
// gpio.write(this.motors.rightPower, 1, function (err) {});
gpio.write(this.motors.rightFront, 1, function (err) {});
gpio.write(this.motors.rightBack, 0, function (err) {});
},
stopRight: function () {
rightPower.pwmWrite(0, function (err) {});
// gpio.write(this.motors.rightPower, 0, function (err) {});
gpio.write(this.motors.rightFront, 0, function (err) {});
gpio.write(this.motors.rightBack, 0, function (err) {});
},
moveLeftFWD: function () {
leftPower.pwmWrite(leftPowerAmount, function (err) {});
// gpio.write(this.motors.leftPower, 1, function (err) {});
gpio.write(this.motors.leftFront, 1, function (err) {});
gpio.write(this.motors.leftBack, 0, function (err) {});
},
function test() {
red.digitalWrite(1);
green.digitalWrite(0);
blue.digitalWrite(0);
setTimeout(function () {
red.digitalWrite(0);
green.digitalWrite(1);
}, 2000);
setTimeout(function () {
green.digitalWrite(0);
blue.digitalWrite(1);
}, 4000);
setTimeout(function () {
blue.digitalWrite(0);
}, 6000);
}
setInterval(function () {
motorSpeed.pwmWrite(dutyCycle);
dutyCycle += 5;
if (dutyCycle > 255) {
dutyCycle = 0;
}
}, 20);
socket.on('led', function (data) { //makes the socket react to 'led' packets by calling this function
ledOn = data.value; //updates brightness from the data object
console.log(data);
led.digitalWrite(ledOn);
console.log(ledOn);
io.sockets.emit('led', {value: data.value}); //sends the updated brightness to all connected clients
});
this.updateServo = function(cb){
// half a second to move 180 degrees, with 0 as 500ms and 180 as 2400ms
var newPulseWidth = calculatePulseWidth(this.currentAngle);
var diff = Math.abs(lastPulseWidth - newPulseWidth);
lastPulseWidth = newPulseWidth;
var duration = (diff/1900) * 500
pin.servoWrite(newPulseWidth);
if(cb) setTimeout(cb, duration);
}
setInterval(function () {
motor.servoWrite(pulseWidth);
pulseWidth += increment;
if (pulseWidth >= 2000) {
increment = -100;
} else if (pulseWidth <= 1000) {
increment = 100;
}
}, 1000);
setInterval(function () {
console.log('calling...')
motor.servoWrite(pulseWidth);
pulseWidth += increment;
if (pulseWidth >= 2000) {
increment = -100;
} else if (pulseWidth <= 1000) {
increment = 100;
}
}, 20);
(function () {
var startTick;
echo.on('alert', function (level, tick) {
var endTick,
diff;
if (level == 1) {
startTick = tick;
} else {
endTick = tick;
diff = (endTick >> 0) - (startTick >> 0); // Unsigned 32 bit arithmetic
console.log(diff / 2 / MICROSECDONDS_PER_CM);
}
});
}());
LED.prototype.setOn = function(on, callback) {
if (on == true) {
var rgb = hslToRgb(h, s, l);
redLED.pwmWrite(rgb[0]);
greenLED.pwmWrite(rgb[1]);
blueLED.pwmWrite(rgb[2]);
} else {
redLED.pwmWrite(0);
greenLED.pwmWrite(0);
blueLED.pwmWrite(0);
}
callback();
}
setTimeout(function () {
green.digitalWrite(0);
blue.digitalWrite(1);
}, 4000);
setTimeout(function () {
blue.digitalWrite(0);
}, 6000);
var Servo = function(conf){
this.currentAngle = 0;
var releaseTimeout = undefined;
var lastPulseWidth = 0;
this.sleeping = false;
var pin = new Gpio(conf.pin, {mode: Gpio.OUTPUT});
this.moveToAngle = function(angle, cb){
this.setCurrentAngle(angle, cb);
}
this.sleep = function(){
pin.digitalWrite(0);
this.sleeping = true;
}
this.wake = function(){
if(this.sleeping){
this.updateServo();
this.sleeping = false;
}
}
this.updateServo = function(cb){
// half a second to move 180 degrees, with 0 as 500ms and 180 as 2400ms
var newPulseWidth = calculatePulseWidth(this.currentAngle);
var diff = Math.abs(lastPulseWidth - newPulseWidth);
lastPulseWidth = newPulseWidth;
var duration = (diff/1900) * 500
pin.servoWrite(newPulseWidth);
if(cb) setTimeout(cb, duration);
}
this.setCurrentAngle = function(angle, cb){
angle = Number(angle);
if(angle < conf.minAngle){
this.currentAngle = conf.minAngle;
}else if(angle > conf.maxAngle){
this.currentAngle = conf.maxAngle;
}else{
this.currentAngle = angle;
}
this.updateServo(cb);
this.emit('change');
}
this.moveByDegrees = function(angle, cb){
this.setCurrentAngle(this.currentAngle + angle, cb);
}
this.moveByPercent = function(percent, cb){
this.setCurrentAngle(this.currentAngle + (((conf.maxAngle - conf.minAngle) / 100 ) * percent), cb);
}
var calculatePulseWidth = function(angle){
return Math.floor(conf.max - (((angle - conf.minAngle) / (conf.maxAngle - conf.minAngle)) * (conf.max - conf.min)));
}
this.moveToCentre = function(){
var centre = Math.floor(conf.minAngle + (conf.maxAngle - conf.minAngle)/2);
this.moveToAngle(centre);
}
}
this.sleep = function(){
pin.digitalWrite(0);
this.sleeping = true;
}
var Gpio = require('pigpio').Gpio;
var x = new Gpio(17, {mode: Gpio.INPUT});
var y = new Gpio(18, {mode: Gpio.INPUT});
var button = new Gpio(27, {mode: Gpio.INPUT, pullUpDown: Gpio.PUD_DOWN, edge: Gpio.RISING_EDGE});
console.log('Warning: no analog inputs on the Raspberry Pi!\nThis program just reads the button on pin GPIO27.');
button.on('interrupt', function (level) {
console.log('button pressed.');
});
function executeCmd(cmd) {
if (cmd.indexOf('=') > -1) {
// Split a single command into a name-value pair
var param = cmd.split('=')[0].trim();
// Note that value is an integer. Range is [0,1000] for servo's, [-255, 255] for reversible motors
var value = parseInt(cmd.split('=')[1]);
value = parseInt(value, 10); // force radix to 10 cos don't want it trying to parse hex
switch (param) {
case "t":
value = cropToRange(value,-255,255);
value = pwmDeadband(value);
switch (true) {
case value < 0:
TRACTION_MOTOR_A.digitalWrite(1);
TRACTION_MOTOR_B.digitalWrite(0);
break;
case value > 0:
TRACTION_MOTOR_A.digitalWrite(0);
TRACTION_MOTOR_B.digitalWrite(1);
break;
case value = 0:
default:
TRACTION_MOTOR_A.digitalWrite(1);
TRACTION_MOTOR_B.digitalWrite(1);
break;
}
var pwm = Math.round(Math.abs(value));
TRACTION_MOTOR_PWM.pwmWrite(pwm);
break;
case "a":
value = cropToRange(value,-255,255);
value = pwmDeadband(value);
switch (true) {
case value < 0:
ARM_MOTOR_A.digitalWrite(1);
ARM_MOTOR_B.digitalWrite(0);
break;
case value > 0:
ARM_MOTOR_A.digitalWrite(0);
ARM_MOTOR_B.digitalWrite(1);
break;
case value = 0:
default:
ARM_MOTOR_A.digitalWrite(1);
ARM_MOTOR_B.digitalWrite(1);
break;
}
ARM_MOTOR_PWM.digitalWrite(1); // Always run at full speed
break;
case "s":
value = cropToRange(value,0,1000);
var pw = Math.round(STEERING_SERVO_MIN_PULSE + ((value / 1000) * (STEERING_SERVO_MAX_PULSE - STEERING_SERVO_MIN_PULSE)));
STEERING_SERVO.servoWrite(pw);
break;
case "b":
value = cropToRange(value,0,1000);
var pw = Math.round(BUCKET_SERVO_MIN_PULSE + ((value / 1000) * (BUCKET_SERVO_MAX_PULSE - BUCKET_SERVO_MIN_PULSE)));
BUCKET_SERVO.servoWrite(pw);
break;
case "c":
value = cropToRange(value,0,1000);
var pw = Math.round(CAMERA_SERVO_MIN_PULSE + ((value / 1000) * (CAMERA_SERVO_MAX_PULSE - CAMERA_SERVO_MIN_PULSE)));
CAMERA_SERVO.servoWrite(pw);
break;
}
}
}
/* jshint esversion:6 */
// Pin setup
const LEFT_SENSOR_TRIGGER_PIN = 23;
const LEFT_SENSOR_ECHO_PIN = 24;
const RIGHT_SENSOR_TRIGGER_PIN = 17;
const RIGHT_SENSOR_ECHO_PIN = 27;
const MEASUREMENT_FREQUENCY = 400; // in milliseconds (ms)
const MEASUREMENT_TIMEOUT = 1000; // in microseconds (us)
// The number of microseconds it takes sound to travel 1cm at 20 degrees celcius
const MICROSECONDS_PER_CM = 1e6 / 34321;
var Gpio = require('pigpio').Gpio,
triggerLeft = new Gpio(LEFT_SENSOR_TRIGGER_PIN, {mode: Gpio.OUTPUT}),
echoLeft = new Gpio(LEFT_SENSOR_ECHO_PIN, {mode: Gpio.INPUT, alert: true}),
triggerRight = new Gpio(RIGHT_SENSOR_TRIGGER_PIN, {mode: Gpio.OUTPUT}),
echoRight = new Gpio(RIGHT_SENSOR_ECHO_PIN, {mode: Gpio.INPUT, alert: true});
triggerLeft.digitalWrite(0); // Make sure trigger is low
triggerRight.digitalWrite(0);
(function () {
var startTickRight;
echoRight.on('alert', function (level, tick) {
var endTick,
diff, dist;
if (level == 1) {
button.on('interrupt', function (level) {
ledOn = level;
led.digitalWrite(level);
io.sockets.emit('led', {value: ledOn});
});
var Gpio = require('pigpio').Gpio,
url = require("url"),
RaspiCam = require("raspicam"),
fs = require('fs'),
path = require('path'),
tilt = new Gpio(23, {mode: Gpio.OUTPUT}),
pan = new Gpio(18, {mode: Gpio.OUTPUT}),
pulseWidth = 1000,
increment = 50,
index = fs.readFileSync(__dirname + '/www/pan-tilt.htm'),
image = null,
http = require('http'),
panPos = 1300, panMin = 750, panMax = 2500, // adjust this to your needs
tiltPos = 1700, tiltMin = 750, tiltMax = 2500, // adjust this to your needs
captureWidth = 320,
captureHeight = 320,
//Canvas = require('canvas'),
//Image = Canvas.Image,
//canvas = new Canvas(captureWidth , captureHeight),
//ctx = canvas.getContext('2d'),
//img = new Image,
//face_detect = require('face-detect'),
is_processing_detection = false
;
var sockets = {};
var camera = new RaspiCam({
mode:'timelapse',
output:'./temp/shot.jpg',
setInterval(function () {
triggerRight.trigger(10, 1); // Set trigger high for 10 microseconds
triggerLeft.trigger(10, 1); // Set trigger high for 10 microseconds
}, MEASUREMENT_FREQUENCY);
socket.on('led', function(data){
led.digitalWrite(data.value);
});