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test_motors_platform.js
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test_motors_platform.js
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var SerialPort = require("serialport");
// this is the openImmediately flag [default is true]
var my_uart = new SerialPort
(
"/dev/ttyS0",
{
baudRate: 256000
},
false
);
//maximum speed is 13 in this demo version
var ramp = 0;
var dir = 0;
var motor = 0;
var max_speed = 55;
var speed_increment = 10;
var speed = 0;
my_uart.on
(
"open",
function()
{
console.log("Port is open!");
//Periodically send the current server time to the client in string form
setInterval
(
function()
{
//Speed Processor
//if: accelerate
if (ramp == 0)
{
//increase speed
speed += speed_increment;
//if maximum speed
if (speed >= max_speed)
{
//clip speed
speed = max_speed;
//decelerate
ramp = 1;
}
}
//if: decelerate
else
{
//decrease speed
speed -= speed_increment;
//if minimum
if (speed <= 0)
{
//clip speed
speed = 0;
//accelerate
ramp = 0;
//change direction
dir = 1 -dir;
//if i did a full cycle
if (dir == 0)
{
//Use the other motor
motor = 1 -motor;
}
}
}
//PWM Assign
//if: right motor
if (motor == 0)
{
if (dir == 0)
{
//operate right motor
set_dc_motor_pwm( speed, 0 );
}
else
{
//operate right motor
set_dc_motor_pwm( -speed, 0 );
}
}
//if: left motor
else
{
if (dir == 0)
{
//operate right motor
set_dc_motor_pwm( 0, speed );
}
else
{
//operate right motor
set_dc_motor_pwm( 0, -speed );
}
}
},
//Send every * [ms]
300
);
}
);
my_uart.on
(
'data',
function(data)
{
console.log('data received: ' + data);
}
);
//Send ping message to keep the connection alive
function send_ping( )
{
my_uart.write
(
"P\0",
function(err, res)
{
if (err)
{
console.log("err ", err);
}
}
);
}
//Compute the speed message to send to maze runner
function set_dc_motor_pwm( vel_r, vel_l )
{
var msg;
msg = "PWMR" + vel_r + "L" + vel_l + "\0";
my_uart.write
(
msg,
function(err, res)
{
if (err)
{
console.log("err ", err);
}
else
{
console.log("Sent: ", msg);
}
}
);
}