@nodemate/sphero
Version:
Control Sphero Robot using NodeMate
42 lines (41 loc) • 1.48 kB
JavaScript
;
Object.defineProperty(exports, "__esModule", { value: true });
const utils_1 = require("../utils");
const types_1 = require("./types");
const encodeNumberLM = (n) => {
const absN = Math.abs(n * 3968);
const nFirstHalfByte1 = n === 0 ? 0 : n > 0 ? 0x30 : 0xb0;
// tslint:disable-next-line:no-bitwise
const nSecondHalfByte1 = (absN >> 8) & 0x0f;
return [
// tslint:disable-next-line:no-bitwise
nFirstHalfByte1 | nSecondHalfByte1,
// tslint:disable-next-line:no-bitwise
absN & 0xff,
// tslint:disable-next-line:no-bitwise
(0 >> 8) & 0xff,
// tslint:disable-next-line:no-bitwise
0 & 0xff
];
};
exports.default = (generator) => {
const encode = generator(types_1.DeviceId.driving);
return {
drive: (speed, heading, flags) => encode({
commandId: types_1.DrivingCommandIds.driveWithHeading,
payload: [
speed,
// tslint:disable-next-line:no-bitwise
(heading >> 8) & 0xff,
// tslint:disable-next-line:no-bitwise
heading & 0xff,
utils_1.combineFlags(flags)
]
}),
driveAsRc: (heading, speed) => encode({
// Value: 8d 08 16 02 8b bf 72 93 de 00 00 00 00 b2 d8
commandId: types_1.DrivingCommandIds.driveAsRc,
payload: [...encodeNumberLM(heading), ...encodeNumberLM(speed)]
})
};
};