bb8/src/lib/bb8/commands/movement.js

Force control Sphero BB8 w/ Xbox controller or Myo armband

// deps
import { throttle } from 'lodash';
import CONSTANTS from '../../constants';

//
//  BB8 COMMANDS
//
export default function (bb8) {
    // get device interface
    const { device } = bb8;

    // due to some sphero limitations,
    // it's better to throttle delay and not spam skill BB8 droid
    const { BLUETOOTH_THROTTLE_DELAY } = bb8.config;

    //
    //  SET MOVEMENT SPEED
    //
    bb8.setSpeed = (factor) => {
        bb8.speed = factor;
    };

    //
    //   STOP
    //
    bb8.stop = () => {
        console.log('[BB8] Stop movement');
        device.roll(0, bb8.orientation, 0);
    };

    //
    //  MOVE / ROLL
    //
    bb8.move = (speed = bb8.speed, heading = bb8.orientation, state = 0, callback = null) => {
        console.log('[BB8] Move @ ', speed, heading);

        // move it
        device.roll(speed, heading, state, callback);

        // emit movement event
        bb8.emit('move', { speed, heading });
    };

    //
    //  TURN
    //
    bb8.turn = (heading) => {
        if (bb8.orientation === heading) { return void 0; }

        console.log('[BB8] Setting new course @ ', heading);

        // @TODO: add device rotation rate/speed fine control
        // device.setRotationRate(0-255, cb);

        // set new heading
        device.roll(0, heading, 0); // turn in place?
    };

    //
    //  BOOST
    //  @TODO
    //
    // bb8.toggleBoost = (toggle = !bb8.boost) => {
    //     console.log('boost @ ', toggle);
    //     device.boost(toggle, (err, data) => {
    //         if (err) { return void 0; }
    //
    //         // update internal flag
    //         bb8.boost = toggle;
    //     });
    // };

    //
    //  DRIVE Mode
    //
    bb8.toggleDriveMode = (mode = !bb8.driveMode) => {
        // drive modes
        const { DRIVE_MODE } = CONSTANTS.BB8;
        const FLAG = mode ? DRIVE_MODE.VECTOR : DRIVE_MODE.NORMAL;

        bb8.setPermFlags(FLAG, (err, data) => {
            if (err) { return void 0; }

            console.log('[BB8] Vector drive @ ', mode);

            // update internal flag
            bb8.driveMode = mode;
        });
    };

    //
    //  THROTTLED helpers (till BLE packets spam fix)
    //  STOP / MOVEMENT / TURN
    //
    bb8.throttleStop = throttle(() => {
        bb8.stop();
    }, BLUETOOTH_THROTTLE_DELAY);

    bb8.throttleMove = throttle(() => {
        bb8.move(bb8.speed, bb8.orientation, () => {});
    }, BLUETOOTH_THROTTLE_DELAY);

    bb8.throttleTurn = throttle((angle) => {
        bb8.turn(angle);
    }, BLUETOOTH_THROTTLE_DELAY);
}