ev3js/motor.js

LEGO Mindstorms EV3 API for Node.js

var Device = require('./device.js');

var Motor = function(port){
    port = port.toUpperCase();
    if(port.match(/^[A-D]$/)){
        this.path += '/' + this.search('out' + port) + '/';
    }else{
        throw new Error('Port should be "A"-"D".');
    }
};

Motor.prototype = new Device();

(function(){
    this.path = '/sys/class/tacho-motor';

    this.accessor('duty_cycle', 'str2num', false);
    this.accessor('duty_cycle_sp', 'str2num', function(n){
        return Math.max(Math.min(n, 100), -100);
    });
    this.accessor('encoder_mode', true, true);
    this.accessor('encoder_modes', true, false);
    this.accessor('estop', 'strnum2bool', 'bool2num');
    this.accessor('log', true, false);
    this.accessor('polarity_mode', true, true);
    this.accessor('polarity_modes', true, false);
    this.accessor('port_name', true, false);
    this.accessor('position', 'str2num', true);
    this.accessor('position_mode', true, true);
    this.accessor('position_modes', true, false);
    this.accessor('position_sp', 'str2num', true);
    this.accessor('pulses_per_second', 'str2num', false);
    this.accessor('pulses_per_second_sp', 'str2num', function(n){
        return Math.max(Math.min(n, 2000), -2000);
    });
    this.accessor('ramp_up_sp', 'str2num', true);
    this.accessor('ramp_down_sp', 'str2num', true);
    this.accessor('regulation_mode', 'str2onoff', 'onoff2str');
    this.accessor('regulation_modes', 'str2onoff', false);
    this.accessor('reset', false, 'bool2num');
    this.accessor('run', 'strnum2bool', 'bool2num');
    this.accessor('run_mode', true, true);
    this.accessor('run_modes', true, false);
    this.accessor('speed_regulation_D', 'str2num', true);
    this.accessor('speed_regulation_I', 'str2num', true);
    this.accessor('speed_regulation_K', 'str2num', true);
    this.accessor('speed_regulation_P', 'str2num', true);
    this.accessor('state', true, false);
    this.accessor('stop_mode', true, true);
    this.accessor('stop_modes', true, false);
    this.accessor('time_sp', true, true);
    this.accessor('type', true, false);

    this._run = this.run;
    this.run = function(option, callback){
        if(typeof option === 'object'){
            var sets = {};
            if(option.speed != null){
                sets.regulationMode = true;
                sets.pulsesPerSecondSp = option.speed;
            } else if(option.power != null){
                sets.regulationMode = false;
            }
            if(option.power != null){
                sets.dutyCycleSp = option.power;
            }
            if(typeof option.ramp === 'number'){
                option.ramp = [option.ramp, option.ramp];
            } else if(typeof option.ramp !== 'object' || option.ramp.constructor !== Array){
                option.ramp = [0, 0];
            }
            switch(option.mode){
                case 'time':
                    this._run(false);
                    sets.runMode = 'time';
                    sets.timeSp = option.time;
                    sets.rampUpSp = option.ramp[0];
                    sets.rampDownSp = option.ramp[1];
                    break;
                case 'position':
                    sets.runMode = 'position';
                    sets.positionMode = option.position || 'absolute';
                    sets.rampUpSp = option.ramp[0];
                    sets.rampDownSp = option.ramp[1];
                    sets.positionSp = option.target;
                    break;
                case 'forever':
                default:
                    sets.runMode = 'forever';
            }
            if(option.initialize != null){
                sets.position = option.initialize;
            }
            var i = Object.keys(sets).length;
            for(var name in sets){
                this[name](sets[name], function(){
                    --i || this._run(true, callback);
                }.bind(this));
            }
        } else {
            return this._run(option, callback);
        }
    };
}.bind(Motor.prototype))();

module.exports = Motor;