johnny-five/wip/walk.js

The JavaScript Arduino Programming Framework.

// TODO: This needs to be parameterized.
var starts = [ 91, 92, 98, 83, 89, 89 ];

var stepN = true;
var lastAngle = 90;

function walk(angle, speed) {
  var sequence;

  if (stepN) {
    angle = 90 + angle;
    if (angle === lastAngle) {
      stepN = !stepN;
      return;
    }


    sequence = [
      {
        moves: [ 75, lastAngle, lastAngle, 55, lastAngle, lastAngle ],
        lapse: speed
      },
      {
        moves: [ 75, angle, angle, 75, angle, angle ],
        lapse: speed + 100
      },
      {
        moves: [ 90, angle, angle, 90, angle, angle ],
        lapse: speed
      }
    ];

    stepN = !stepN;
  } else {
    angle = 90 - angle;

    if (angle === lastAngle) {
      stepN = !stepN;
      return;
    }

    sequence = [
      {
        moves: [ 125, lastAngle, lastAngle, 105, lastAngle, lastAngle ],
        lapse: speed
      },
      {
        moves: [ angle, angle, 105, angle, angle, 105 ],
        lapse: speed + 100
      },
      {
        moves: [ angle, angle, 90, angle, angle, 90 ],
        lapse: speed
      }
    ];

    stepN = !stepN;
  }

  sequence = sequence.map(function(seq) {
    return {
      lapse: seq.lapse,
      moves: seq.moves.map(function(move) {
        return move - 90;
      })
    };
  })
  // make temporal queue.
  //
  console.log( sequence );

  lastAngle = angle;
}


// walk(
//   // forward/backward
//   LSY > 512 ? 20 : -20,
//   1000 - Math.abs(LSY - 512) / 512 * 250
// );



module.exports = walk;