johnny-five/wip/turn.js

The JavaScript Arduino Programming Framework.

function turn(a, speed) {
  a += 90;

  var d = a + (90 - a) / 2;

  var sequence = [
    [-15,  0,  0,-35,  0,  0 ],
    [-15,  0,  0,-15,  0,  0 ],
    [-15,  d,  d,-15,  d,  d ],
    [  0,  d,  d,  0,  d,  d ],
    [ 35,  d,  d, 15,  d,  d ],
    [ 15,  d,  d, 15,  d,  d ],
    [  0,  a,  a,  0,  a,  a ],
    [  0,  0,  0,  0,  0,  0 ]
  ];

  var queue = sequence.map(function(relative) {
    // Convert the relative movement values
    // to absolute servo positions.
    absolute = relative.moves.map(function(value, i) {
      return value + starts[i];
    });

    return {
      wait: speed,
      task: function() {
        move(absolute, speed);
      }
    }
  });

  if (set.isLooped) {
    queue.push({
      wait: 10,
      task: function() {
        isTurning = false;
      }
    });
  }

  task = temporal.queue(queue);
}

var LSX = 513;
var LSX = 511;

move(turn( LSX > 512 ? 30 : -30, 250);