iot-sol/node_modules/hope-demo/tank_romeo/init.js

Intel(r) IoT Services Orchestration Layer - HTML5 IDE + Node.js middleware to create and host distributed IoT Apps in minutes

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var spawn = require('child_process').spawn;
var m = require("mraa");
hub_shared.peerserver = spawn("node", ["./PeerServer/peerserver.js"], { cwd: __dirname});
console.log("webrtc peerserver start, spawn pid:", hub_shared.peerserver.pid);


//I2C
var i2c = new m.I2c(1);
hub_shared.i2c = i2c;

// wheel


function i2c_write(v1, v2) {
  i2c.address(4);
  var buf = new Buffer(5);
  buf[0] = 0x55;
  buf[1] = 0xaa;
  buf[2] = v1;
  buf[3] = v2;
  buf[4] = buf[0] + buf[1] + buf[2] + buf[3];
  i2c.write(buf);
}

function stop() {
  //i2c_write(0xb1, 1);
  //i2c_write(0xb2, 1);
  i2c_write(0xc1, 0);
  i2c_write(0xc2, 0);
}

function forward() {
  i2c_write(0xb1, 1);
  i2c_write(0xb2, 1);
  i2c_write(0xc1, 0xff);
  i2c_write(0xc2, 0xff);
}

function backward() {
  i2c_write(0xb1, 0);
  i2c_write(0xb2, 0);
  i2c_write(0xc1, 0xff);
  i2c_write(0xc2, 0xff);
}

function left() {
  i2c_write(0xb1, 1);
  i2c_write(0xb2, 0);
  i2c_write(0xc1, 0xff);
  i2c_write(0xc2, 0xff);
}

function right() {
  i2c_write(0xb1, 0);
  i2c_write(0xb2, 1);
  i2c_write(0xc1, 0xff);
  i2c_write(0xc2, 0xff);
}

hub_shared.tank_forward = forward;
hub_shared.tank_backward = backward;
hub_shared.tank_stop = stop;
hub_shared.tank_left = left;
hub_shared.tank_right = right;

stop();
console.log("wheel init");




//PWM
var servo_v = new m.Pwm(14);
var servo_h = new m.Pwm(20);
servo_v.period_ms(20);
servo_h.period_ms(20);
servo_v.pulsewidth_us(1300);
servo_h.pulsewidth_us(1300);
servo_v.enable(true)
servo_h.enable(true)
hub_shared.servo_h = servo_h;
hub_shared.servo_v = servo_v;



hub_shared.base_angle=90;
hub_shared.top_angle=90;
var MIN=500;
var MAX=2100;


function rotate_h(angle) {
  var angle = Math.min(Math.max(0, angle), 180);
  hub_shared.base_angle=angle;
  var pulse = Math.round(MIN + (MAX - MIN) / 180 * angle);
  hub_shared.servo_h.pulsewidth_us(pulse);
}

function rotate_v(angle) {
  var angle = Math.min(Math.max(40, angle), 150);
  hub_shared.top_angle = angle;
  var pulse = Math.round(MIN + (MAX - MIN) / 180 * angle);
  hub_shared.servo_v.pulsewidth_us(pulse);
}

function rotate_up() {
  hub_shared.top_angle=Math.min(Math.max(40, hub_shared.top_angle+10), 150);
  rotate_v(hub_shared.top_angle);
  return hub_shared.top_angle;
}

function rotate_down() {
  hub_shared.top_angle=Math.min(Math.max(40, hub_shared.top_angle-10), 150);
  rotate_v(hub_shared.top_angle);
  return hub_shared.top_angle;
}

function rotate_left() {
  hub_shared.base_angle=Math.min(Math.max(0, hub_shared.base_angle+10), 180);
  rotate_h(hub_shared.base_angle);
  return hub_shared.base_angle;
}


function rotate_right() {
  hub_shared.base_angle=Math.min(Math.max(0, hub_shared.base_angle-10), 180);
  rotate_h(hub_shared.base_angle);
  return hub_shared.base_angle;
}


hub_shared.rotate_h = rotate_h;
hub_shared.rotate_v = rotate_v;
hub_shared.rotate_right = rotate_right;
hub_shared.rotate_left = rotate_left;
hub_shared.rotate_up = rotate_up;
hub_shared.rotate_down = rotate_down;
console.log("2 servos init");

//distanse
var p2 = new m.Gpio(13);
p2.dir(m.DIR_OUT);
p2.write(1);
function measure_distance() {

  var buf = new Buffer(5);
  buf[0] = 0x55;
  buf[1] = 0xaa;
  buf[2] = 0xa0;
  buf[3] = 1
  buf[4] = buf[0] + buf[1] + buf[2] + buf[3]

  p2.write(0);
  p2.write(1);

  i2c.address(4);
  i2c.write(buf);

  i2c.address(4);
  var resbuf = i2c.read(5);

  var value = resbuf[2] + resbuf[3]*256;

  return value*0.718;
}
hub_shared.measure_distance = measure_distance; 
console.log("untra sound init")


//gpio
var led_left = new m.Gpio(33);
var led_right = new m.Gpio(51);
var buzz = new m.Gpio(0);
var motion = new m.Gpio(38);
led_left.dir(m.DIR_OUT);
led_right.dir(m.DIR_OUT);
buzz.dir(m.DIR_OUT);
motion.dir(m.DIR_IN);
hub_shared.led_left = led_left;
hub_shared.led_right = led_right;
hub_shared.buzz = buzz;
hub_shared.motion = motion;
console.log("gpio init")
done();