johnny-five/wip/d.js

The JavaScript Arduino Programming Framework.

var dualShock = require("dualshock-controller");
var controller = dualShock({
  config: "dualShock3",
  analogStickSmoothing: true
});

controller.isConnected = false;

controller.on("right:move", function(position) {
  console.log( position );
});

controller.connect();
return;

function to(deg) {
  if (controller.isConnected) {
    deg = deg | 0;
    this.position = deg;

    console.log( "%s -> %d", this.id, deg );
  }
}

// just a placeholder
var inits = [
  { pin: 10, id: "rf", startAt: 91 },
  { pin: 11, id: "rk", startAt: 92 },
  { pin: 12, id: "rh", startAt: 98 },

  { pin: 7,  id: "lf", startAt: 83, isInverted: true },
  { pin: 8,  id: "lk", startAt: 89, isInverted: true },
  { pin: 9,  id: "lh", startAt: 89, 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 >= 128) {
    return scale(val, 128, 255, center - 1, 0);
  }
  return scale(val, 127, 0, center, 180);
}

var labels = [ "Foot", "Knee", "Hip" ];

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 ? "right" : "left");

    console.log(
      "------- %s %s -------",
      which.toUpperCase(),
      labels[Group.stash.index].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" ],
      values: [ null, null ]
    },
    // Knees
    { name: "Knees",
      pins: [ 8, 11 ],
      parts: [ "lk", "rk" ],
      values: [ null, null ]
    },
    // Hips
    { name: "Hips",
      pins: [ 9, 12 ],
      parts: [ "lh", "rh" ],
      values: [ null, null ]
    }
  ]
};

controller.on("connected", function() {
  controller.isConnected = true;
});

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

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

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


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

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

  Group.index = next;
});

controller.on("dpadDown: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);

  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("l1:press", function() {
  tuner(-1);
});

controller.on("r1:press", function() {
  tuner(1);
});

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

  var set = Group.sets[Group.index];
  var part = set.parts[Group.side];
  var value = set.values[Group.side];

  if (value === null) {
    value = legs[part].startAt;
  }

  if (step < 0) {
    value--;
  } else {
    value++;
  }

  process.nextTick(function() {
    legs[part].to(value);
  });

  set.values[Group.side] = value;
}

controller.connect();