johnny-five/wip/x.js

Firmata based Arduino Programming Framework.

var XboxController = require("xbox-controller");
var controller = new XboxController();

// if (typeof WeakMap === "undefined") {
//   throw new Error("this program must be rung with --harmony");
// }

function to(deg) {
  deg = deg | 0;
  this.position = deg;
  console.log( this.id, deg );
}
// just a placeholder
var inits = [
  { pin: 12, id: "rh", startAt: 100 },
  { pin: 11, id: "rk", startAt: 90 },
  { pin: 10, id: "rf", startAt: 95 },
  { pin: 9,  id: "lh", startAt: 95, isInverted: true },
  { pin: 8,  id: "lk", startAt: 85, isInverted: true },
  { pin: 7,  id: "lf", startAt: 85, isInverted: true }
];
var legs = {};

inits.forEach(function(init) {
  legs[init.id] = {
    id: init.id,
    startAt: init.startAt,
    position: init.startAt,
    to: to
  };
});

function scale(x, fromLow, fromHigh, toLow, toHigh) {
  return (x - fromLow) * (toHigh - toLow) /
    (fromHigh - fromLow) + toLow;
}

function degrees(center, val) {
  if (val >= 0) {
    return scale(val, 0, -32768, center, 180);
  }
  return scale(val, 0, 32768, center - 1, 0);
}

// var side = -1;
// var index = 0;


var Group = {
    stash: {
      side: -1,
      index: 0
    },
    isGrouped: false,
    get side() {
      return Group.stash.side;
    },
    set side(value) {
      // -1 = both, 0 = right, 1 = left
      var which = value === -1 ?
        "both" : (value ? "left" : "right");

      console.log(
        "Controlling %s", which.toUpperCase()
      );

      Group.stash.side = value;
    },
    get index() {
      return Group.stash.index;
    },
    set index(value) {

      console.log(
        "Controlling %s", this.sets[value].name
      );

      Group.stash.index = value;
    },
    sets: [
      // Feet
      { name: "Feet", pins: [ 7, 10 ], parts: [ "lf", "rf" ] },
      // Knees
      { name: "Knees", pins: [ 8, 11 ], parts: [ "lk", "rk" ] },
      // Hips
      { name: "Hips", pins: [ 9, 12 ], parts: [ "lh", "rh" ] }
    ]
  };

controller.on("y:press", function() {
  var which = Group.side === -1 ?
    "both" : (Group.side ? "right" : "left");
  var part = Group.sets[Group.index].name;

  console.log(
    "Controlling %s %s", which, part
  );
});

controller.on("b:press", function() {
  Group.side = -1;
});

controller.on("dleft:press", function() {
  Group.side = 0;
});

controller.on("dright:press", function() {
  Group.side = 1;
});


controller.on("dup:press", function() {
  var next = Group.index + 1;

  if (next === Group.sets.length) {
    next = 0;
  }

  Group.index = next;
});

controller.on("ddown:press", function() {
  var next = Group.index - 1;

  if (next === -1) {
    next = Group.sets.length - 1;
  }

  Group.index = next;
});


controller.on("left:move", function(position) {
  var part = Group.sets[Group.index].parts[0];
  // var pos = degrees(legs[part].startAt, position.y);
  var pos = degrees(90, position.y);

  legs[part].to(pos);
});

controller.on("right:move", function(position) {
  var part = Group.sets[Group.index].parts[1];
  var pos = degrees(legs[part].startAt, position.y);

  legs[part].to(pos);
});

controller.on("lb:press", function() {
  tuner(0);
});

controller.on("rb:press", function() {
  tuner(1);
});

function tuner(index) {
  // Cannot control both at a time with RB
  if (Group.side === -1) {
    return;
  }

  var part = Group.sets[Group.index].parts[index];
  var step = index ? 1 : -1;
  var position = legs[part].position + step;

  legs[part].to(position);
}