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example.js
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example.js
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var Ev3 = require ("./module/Ev3.js");
var Ev3_base = Ev3.base;
var motor_on_focus = "a";
var motor_output = {"a": 0, "b":0,"c":0, "d":0};
var example_program_motor = function(target){
var stdin = process.openStdin();
var stdin = process.stdin;
// without this, we would only get streams once enter is pressed
stdin.setRawMode( true );
// resume stdin in the parent process (node app won't quit all by itself
// unless an error or process.exit() happens)
stdin.resume();
// i don't want binary, do you?
stdin.setEncoding( 'utf8' );
// on any data into stdin
stdin.on( 'data', function( key ){
process_input(key,target);
});
};
var example_program_sensor = function(target){
// function registerSensor (port_number, sensor_mode, sensor_mode)
// port_number: 1-4
// sensor_type: S_TYPE_COLOR (implemented);
// S_TYPE_TOUCH (implemented);
// S_TYPE_IR (not implemented);
//
//
// S_TYPE_USONIC (not implemented);
// S_TYPE_GYRO (not implemented);
// sensor_mode: SM_COL_RINTENSITY => color sensor , reflaction intensity (implemented)
// SM_COL_AINTENSITY => color sensor , ambient intensity (implemented)
// SM_COL_COLOR => color sensor, detecting 8 colors (implemented)
// for details of color sensor working mode: http://www.ev-3.net/en/archives/847
//
// e.g. set port 1 as a color sensor in mode color
target.registerSensor(1,target.S_TYPE_COLOR,target.SM_COL_COLOR);
target.registerSensorListener(1,function(result){
if(result == Ev3.COL_NULL) {
console.log("color_less");
}
else if(result == Ev3.COL_BLACK){
console.log("color_black");
}
else if(result == Ev3.COL_YELLOW){
console.log("color_yellow");
}
else if(result == Ev3.COL_BLUE){
console.log("color_blue");
}
else if(result == Ev3.COL_GREEN){
console.log("color_green");
}
else if(result == Ev3.COL_RED){
console.log("color_red");
}
else if(result == Ev3.COL_WHITE){
console.log("color_white");
}
else if(result == Ev3.COL_BROWN){
console.log("color_brown");
}
});
/*
//set set port 1 as a color sensor (in light reflection intensity mode)
target.registerSensor(1,target.S_TYPE_COLOR,target.SM_COL_RINTENSITY)
target.registerSensorListener(1,function(result){
//should ge a numeric result ranging from 1 to 100
console.log(result);
});
//set set port 1 as a color sensor (in ambient light intensity mode)
target.registerSensor(1,target.S_TYPE_COLOR,target.SM_COL_AINTENSITY)
target.registerSensorListener(1,function(result){
//should ge a numeric result ranging from 1 to 100
console.log(result);
});
*/
//set set port 2 as a touch sensor
target.registerSensor(2,target.S_TYPE_TOUCH,0)
target.registerSensorListener(2,function(result){
//result is a bool value
console.log(result);
});
}
var process_input = function(key,target){
// ctrl-c ( end of text )
if ( key === '\u0003' ) {
target.disconnect();
process.exit();
}
else if( key == "a" || key == "b" || key == "c" || key == "d"){
motor_on_focus = key;
}
else if(key === '\u001b[A'){ //upper arrow sequence
if( motor_output[motor_on_focus] < 100){
motor_output[motor_on_focus]+=10;
}
}
else if(key === '\u001b[B'){ //down arrow sequence
if( motor_output[motor_on_focus] >- 100){
motor_output[motor_on_focus]-=10;
}
}
var output = target.getOutputSequence(motor_output["a"],motor_output["b"],motor_output["c"],motor_output["d"]);
target.sp.write( output,function(){});
// write the key to stdout all normal like
//process.stdout.write( key );
process.stdout.write( motor_on_focus + " motor output:" + motor_output[motor_on_focus] +"\n" );
};
// ----------------test---------------
var robot = new Ev3_base("/dev/tty.EV3-SerialPort"); // put your bluetooth socket.
robot.connect(function(){
//uncomment for motor sample
//robot.start_program(example_program_motor);
//uncomment for color sensor example
robot.start_program(example_program_sensor);
//robot.start_program(function(){});
});