johnny-five
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The JavaScript Robotics and Hardware Programming Framework. Use with: Arduino (all models), Electric Imp, Beagle Bone, Intel Galileo & Edison, Linino One, Pinoccio, pcDuino3, Raspberry Pi, Particle/Spark Core & Photon, Tessel 2, TI Launchpad and more!
551 lines (480 loc) • 12.4 kB
JavaScript
var IS_TEST_MODE = !!process.env.IS_TEST_MODE;
var Board = require("./board");
var Collection = require("./mixins/collection");
var EVS = require("./evshield");
var Fn = require("./fn");
var within = require("./mixins/within");
var Emitter = require("events").EventEmitter;
var util = require("util");
var Pins = Board.Pins;
var toFixed = Fn.toFixed;
var priv = new Map();
function analogHandler(opts, dataHandler) {
this.io.pinMode(this.pin, this.io.MODES.ANALOG);
this.io.analogRead(this.pin, function(data) {
dataHandler.call(this, data);
}.bind(this));
}
var Controllers = {
GP2Y0A21YK: {
// https://www.sparkfun.com/products/242
initialize: {
value: analogHandler
},
toCm: {
value: function(raw) {
return toFixed(12343.85 * Math.pow(raw, -1.15), 2);
}
}
},
GP2D120XJ00F: {
// https://www.sparkfun.com/products/8959
initialize: {
value: analogHandler
},
toCm: {
value: function(raw) {
return toFixed((2914 / (raw + 5)) - 1, 2);
}
}
},
GP2Y0A02YK0F: {
// https://www.sparkfun.com/products/8958
// 15cm - 150cm
initialize: {
value: analogHandler
},
toCm: {
value: function(raw) {
return toFixed(10650.08 * Math.pow(raw, -0.935) - 10, 2);
}
}
},
GP2Y0A41SK0F: {
// https://www.sparkfun.com/products/12728
// 4cm - 30cm
initialize: {
value: analogHandler
},
toCm: {
value: function(raw) {
return toFixed(2076 / (raw - 11), 2);
}
}
},
GP2Y0A710K0F: {
// https://www.adafruit.com/products/1568
// 100cm - 500cm
initialize: {
value: analogHandler
},
toCm: {
value: function(raw) {
// http://www.basicx.com/Products/robotbook/ir%20curve%20fit.pdf
return toFixed(3.8631e8 * Math.pow(raw, -2.463343), 0);
}
}
},
SRF10: {
initialize: {
value: function(opts, dataHandler) {
var address = opts.address || 0x70;
var msUntilNextRead = 65;
opts.address = address;
// Set up I2C data connection
this.io.i2cConfig(opts);
// Startup parameter
this.io.i2cWrite(address, [0x01, 16]);
this.io.i2cWrite(address, [0x02, 255]);
function read() {
this.io.i2cWrite(address, [0x02]);
this.io.i2cReadOnce(address, 2, function(data) {
dataHandler((data[0] << 8) | data[1]);
}.bind(this));
prime.call(this);
}
function prime() {
// 0x51 result in cm (centimeters)
this.io.i2cWrite(address, [0x00, 0x51]);
setTimeout(read.bind(this), msUntilNextRead);
}
prime.call(this);
}
},
toCm: {
value: function(raw) {
return raw;
}
}
},
// LV-MaxSonar-EZ
// LV-MaxSonar-EZ0
// LV-MaxSonar-EZ1
MB1000: {
initialize: {
value: analogHandler
},
toCm: {
value: function(raw) {
// From http://www.maxbotix.com/articles/032.htm
// ADC -> inches -> cm
return (raw / 2) * 2.54;
}
}
},
// HRLV-MaxSonar-EZ0
MB1003: {
initialize: {
value: analogHandler
},
toCm: {
value: function(raw) {
// http://www.maxbotix.com/articles/032.htm
return raw / 2;
}
}
},
// XL-MaxSonar-EZ3
MB1230: {
initialize: {
value: analogHandler
},
toCm: {
value: function(raw) {
// From http://www.maxbotix.com/articles/016.htm
// Using a Standard Range XL-MaxSonar with an ADC (Analog Digital Converter)
// When using a standard XL-MaxSonar with an ADC, verify that the sensor
// and micro-controller are referencing the same power supply and ground.
// This also assumes that the ADC being used is perfectly accurate.
// When reading the sensor's output with the scaling in centimeters with a
// 10-bit ADC, the range can be read directly off the ADC.
// If the ADC output reads 700 the range in centimeters is 700 centimeters.
//
// ADC -> cm
return raw;
}
}
},
HCSR04: {
initialize: {
value: function(opts, dataHandler) {
var pinValue = opts.pinValue;
if (Pins.isFirmata(this)) {
if (typeof pinValue === "string" && pinValue[0] === "A") {
pinValue = this.io.analogPins[+pinValue.slice(1)];
}
pinValue = +pinValue;
if (this.io.analogPins.includes(pinValue)) {
opts.pin = pinValue;
}
this.pin = opts.pin;
}
// Private settings object
var settings = {
pin: opts.pin,
value: this.io.HIGH,
pulseOut: 5,
};
var read = function() {
this.io.pingRead(settings, function(microseconds) {
dataHandler(microseconds);
setTimeout(read, 65);
});
}.bind(this);
read();
}
},
toCm: {
value: function(raw) {
return toFixed(raw / 29.1 / 2, 3);
}
}
},
HCSR04I2CBACKPACK: {
initialize: {
value: function(opts, datahandler) {
var address = opts.address || 0x27;
var msToNextRead = 90;
opts.address = address;
// set up IO connection:
this.io.i2cConfig(opts);
if (typeof opts.pin === "undefined") {
this.pin = 8;
}
var read = function() {
// Read the 2 data bytes from the "register" for the pin.
// When firmware is complete, update to:
// this.io.i2cReadOnce(address, this.pin, 2, function(data) {
this.io.i2cReadOnce(address, 2, function(data) {
datahandler((data[0] << 8) + data[1]);
setTimeout(read, msToNextRead);
});
}.bind(this);
read();
}
},
toCm: {
value: function(raw) {
return toFixed(raw / 29.1 / 2, 3);
}
}
},
LIDARLITE: {
REGISTER: {
value: {
ENABLE: 0x00,
READ: 0x8F,
}
},
initialize: {
value: function(opts, dataHandler) {
var address = 0x62;
opts.address = address;
this.io.i2cConfig(opts);
var read = function() {
this.io.i2cWrite(address, this.REGISTER.ENABLE, 0x04);
setTimeout(function() {
this.io.i2cReadOnce(address, this.REGISTER.READ, 2, function(bytes) {
// http://www.robotshop.com/media/files/pdf/operating-manual-llm20c132i500s011.pdf
// Step 5 of Quick Start Guide
dataHandler((bytes[0] << 8) + bytes[1]);
read();
});
}.bind(this), 20);
}.bind(this);
read();
}
},
toCm: {
value: function(raw) {
return raw;
}
}
},
EVS_EV3_IR: {
initialize: {
value: function(opts, dataHandler) {
var state = priv.get(this);
state.shield = EVS.shieldPort(opts.pin);
state.ev3 = new EVS(Object.assign(opts, {
io: this.io
}));
state.ev3.setup(state.shield, EVS.Type_EV3);
state.ev3.read(state.shield, EVS.Proximity, EVS.Proximity_Bytes, function(data) {
var value = data[0] | (data[1] << 8);
dataHandler(value);
});
}
},
toCm: {
value: function(raw) {
return raw;
}
}
},
EVS_EV3_US: {
initialize: {
value: function(opts, dataHandler) {
var state = priv.get(this);
state.shield = EVS.shieldPort(opts.pin);
state.ev3 = new EVS(Object.assign(opts, {
io: this.io
}));
state.ev3.setup(state.shield, EVS.Type_EV3);
state.ev3.read(state.shield, EVS.Proximity, EVS.Proximity_Bytes, function(data) {
var value = data[0] | (data[1] << 8);
dataHandler(value);
});
}
},
toCm: {
value: function(raw) {
return raw / 10;
}
}
},
};
// Sensor aliases
// IR
Controllers["2Y0A21"] = Controllers.GP2Y0A21YK;
Controllers["2D120X"] = Controllers.GP2D120XJ00F;
Controllers["2Y0A02"] = Controllers.GP2Y0A02YK0F;
Controllers["0A41"] = Controllers.GP2Y0A41SK0F;
Controllers["0A21"] = Controllers.GP2Y0A21YK;
Controllers["0A02"] = Controllers.GP2Y0A02YK0F;
Controllers["41SK0F"] = Controllers.GP2Y0A41SK0F;
Controllers["21YK"] = Controllers.GP2Y0A21YK;
Controllers["2YK0F"] = Controllers.GP2Y0A02YK0F;
// Sonar
Controllers.MB1010 = Controllers.MB1000;
Controllers["LV-MaxSonar-EZ"] = Controllers.MB1000;
Controllers["LV-MaxSonar-EZ0"] = Controllers.MB1000;
Controllers["LV-MaxSonar-EZ1"] = Controllers.MB1010;
Controllers["HRLV-MaxSonar-EZ0"] = Controllers.MB1003;
Controllers["XL-MaxSonar-EZ3"] = Controllers.MB1230;
// Ping
[
"HC-SR04",
"SR04",
"SRF05",
"SRF06",
"PARALLAXPING",
"SEEEDPING",
"GROVEPING",
"PING_PULSE_IN",
"ULTRASONIC_PING",
].forEach(function(alias) {
Controllers[alias] = Controllers.HCSR04;
});
// Ping/HCSR04 I2C Backpack
[
"HCSR04-I2C-BACKPACK",
"HC-SR04-I2C-BACKPACK",
"SR04-I2C-BACKPACK",
"SR04I2CBACKPACK",
"PINGI2CBACKPACK",
"PING-I2C-BACKPACK",
"HCSR04_I2C_BACKPACK",
"HC_SR04_I2C_BACKPACK",
"SR04_I2C_BACKPACK",
"SR04I2CBACKPACK",
"PINGI2CBACKPACK",
"PING_I2C_BACKPACK",
].forEach(function(alias) {
Controllers[alias] = Controllers.HCSR04I2CBACKPACK;
});
// LIDAR Lite
Controllers["LIDAR-Lite"] = Controllers.LIDARLITE;
/**
* Proximity
* @constructor
*
* five.Proximity("A0");
*
* five.Proximity({
* controller: "GP2Y0A41SK0F",
* pin: "A0",
* freq: 100
* });
*
*
* @param {Object} opts [description]
*
*/
function Proximity(opts) {
if (!(this instanceof Proximity)) {
return new Proximity(opts);
}
var controller = null;
var state = {};
var raw = 0;
var freq = opts.freq || 25;
var last = 0;
var pinValue = typeof opts === "object" ? opts.pin : opts;
Board.Component.call(
this, opts = Board.Options(opts)
);
if (typeof opts.controller === "string") {
controller = Controllers[opts.controller];
} else {
controller = opts.controller || Controllers["GP2Y0A21YK"];
}
Board.Controller.call(this, controller, opts);
if (!this.toCm) {
this.toCm = opts.toCm || function(x) {
return x;
};
}
priv.set(this, state);
Object.defineProperties(this, {
/**
* [read-only] Calculated centimeter value
* @property centimeters
* @type Number
*/
centimeters: {
get: function() {
return this.toCm(raw);
}
},
cm: {
get: function() {
return this.centimeters;
}
},
/**
* [read-only] Calculated inch value
* @property inches
* @type Number
*/
inches: {
get: function() {
return toFixed(this.centimeters * 0.39, 2);
}
},
in: {
get: function() {
return this.inches;
}
},
});
if (typeof this.initialize === "function") {
opts.pinValue = pinValue;
this.initialize(opts, function(data) {
raw = data;
});
}
setInterval(function() {
if (raw === undefined) {
return;
}
var data = {
cm: this.cm,
centimeters: this.centimeters,
in: this.in,
inches: this.inches
};
this.emit("data", data);
if (raw !== last) {
last = raw;
this.emit("change", data);
}
}.bind(this), freq);
}
Proximity.Controllers = [
"2Y0A21", "GP2Y0A21YK",
"2D120X", "GP2D120XJ00F",
"2Y0A02", "GP2Y0A02YK0F",
"OA41SK", "GP2Y0A41SK0F",
"0A21", "GP2Y0A21YK",
"0A02", "GP2Y0A02YK0F",
];
util.inherits(Proximity, Emitter);
Object.assign(Proximity.prototype, within);
/**
* new Proximity.Collection();
*/
Proximity.Collection = function(numsOrObjects) {
if (!(this instanceof Proximity.Collection)) {
return new Proximity.Collection(numsOrObjects);
}
Object.defineProperty(this, "type", {
value: Proximity
});
Collection.Emitter.call(this, numsOrObjects);
};
Proximity.Collection.prototype = Object.create(Collection.Emitter.prototype, {
constructor: {
value: Proximity.Collection
}
});
Collection.installMethodForwarding(
Proximity.Collection.prototype, Proximity.prototype
);
/* istanbul ignore else */
if (IS_TEST_MODE) {
Proximity.purge = function() {
priv.clear();
};
}
module.exports = Proximity;