@openhps/sphero
Version:
Open Hybrid Positioning System - Sphero component
65 lines • 2.58 kB
JavaScript
;
Object.defineProperty(exports, "__esModule", { value: true });
exports.SpheroInputSource = void 0;
const tslib_1 = require("tslib");
const core_1 = require("@openhps/core");
const data_1 = require("../data");
class SpheroInputSource extends core_1.SourceNode {
constructor(source) {
super(source);
}
get toy() {
const spheroObject = this.source;
return spheroObject.toy;
}
onPull() {
return new Promise((resolve) => {
resolve(new data_1.SpheroDataFrame(this.source));
});
}
roll(speed, heading, flags = []) {
return new Promise((resolve, reject) => {
const spheroObject = this.source;
const position = spheroObject.getPosition() || new core_1.Absolute2DPosition(0, 0);
position.unit = core_1.LengthUnit.CENTIMETER;
position.timestamp = core_1.TimeService.now();
position.orientation = core_1.Orientation.fromEuler({ yaw: heading, pitch: 0, roll: 0, unit: core_1.AngleUnit.DEGREE });
position.velocity.linear = new core_1.LinearVelocity(
// Sphero Mini top speed is 1m/s
// https://support.sphero.com/article/6drb2qggx4-sphero-mini-faq#:~:text=How%20fast%20is%20Sphero%20Mini,of%201%20meter%20per%20second.
(1.0 / 255) * speed, 0, 0, core_1.LinearVelocityUnit.METER_PER_SECOND);
spheroObject.setPosition(position);
const frame = new data_1.SpheroDataFrame(spheroObject);
spheroObject.toy
.roll(speed, heading, flags)
.then(() => {
return this.push(frame);
})
.then(() => {
setTimeout(() => {
resolve();
}, 10);
})
.catch(reject);
});
}
rollTime(speed, heading, time, timeUnit, flags = []) {
// eslint-disable-next-line
return new Promise((resolve, reject) => tslib_1.__awaiter(this, void 0, void 0, function* () {
let driving = true;
setTimeout(() => (driving = false), timeUnit.convert(time, core_1.TimeUnit.MILLISECOND));
while (driving) {
yield this.roll(speed, heading, flags);
}
this.roll(0, heading, flags)
.then(() => {
resolve();
})
.catch((ex) => {
reject(ex);
});
}));
}
}
exports.SpheroInputSource = SpheroInputSource;
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