obniz/parts/Moving/DCMotor/index.js

obniz sdk for javascript

class DCMotor {
  constructor() {
    this.keys = ['forward', 'back'];
    this.requiredKeys = ['forward', 'back'];
  }

  static info() {
    return {
      name: 'DCMotor',
    };
  }

  wired(obniz) {
    this.status = {
      direction: null,
      power: null,
    };

    this.pwm1_io_num = this.params.forward;
    this.pwm2_io_num = this.params.back;

    this.pwm1 = obniz.getFreePwm();
    this.pwm1.start({ io: this.pwm1_io_num });
    this.pwm1.freq(100000);
    this.pwm2 = obniz.getFreePwm();
    this.pwm2.start({ io: this.pwm2_io_num });
    this.pwm2.freq(100000);
    this.power(30);
  }

  // Module functions

  forward() {
    this.move(true);
  }

  reverse() {
    this.move(false);
  }

  stop() {
    if (this.status.direction === null) {
      return;
    }
    this.status.direction = null;
    this.pwm1.duty(0);
    this.pwm2.duty(0);
  }

  move(forward) {
    if (forward) {
      if (this.status.direction === true) {
        return;
      }
      this.status.direction = true;
    } else {
      if (this.status.direction === false) {
        return;
      }
      this.status.direction = false;
    }
    let power = this.power();
    this.power(0);
    this.power(power);
  }

  power(power) {
    if (power === undefined) {
      return this.status.power;
    }
    this.status.power = power;
    if (this.status.direction === null) {
      this.pwm1.duty(0);
      this.pwm2.duty(0);
      return;
    }
    if (this.status.direction) {
      this.pwm1.duty(power);
      this.pwm2.duty(0);
    } else {
      this.pwm1.duty(0);
      this.pwm2.duty(power);
    }
  }
}

if (typeof module === 'object') {
  module.exports = DCMotor;
}