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Autonomous Vernie roaming example

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Nathan Kellenicki 2018-10-12 16:38:07 -07:00
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commit 4bc0e0e006
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examples/vernie_roaming.js Normal file
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/*
*
* This example allows Vernie to roam a room and avoid obstacles.
*
*/
const PoweredUP = require("..");
const poweredUP = new PoweredUP.PoweredUP();
poweredUP.scan(); // Start scanning
console.log("Looking for Vernie...");
const Modes = {
ROAMING: 0,
AVOIDING: 1,
STALLED: 2,
CHANGING_DIRECTION: 3
}
const scan = (vernie) => {
return new Promise(async (resolve) => {
let lastDistance = 0;
vernie.on("distance", async (port, distance) => {
lastDistance = distance;
});
await vernie.wait([
vernie.setMotorAngle("A", 300, 50),
vernie.setMotorAngle("B", 300, -50),
vernie.setMotorAngle("D", 35, 20)
]);
await vernie.sleep(1000);
const rightDistance = lastDistance;
await vernie.wait([
vernie.setMotorAngle("A", 600, -50),
vernie.setMotorAngle("B", 600, 50),
vernie.setMotorAngle("D", 70, -20)
]);
await vernie.sleep(1000);
const leftDistance = lastDistance;
await vernie.wait([
vernie.setMotorAngle("A", 300, 50),
vernie.setMotorAngle("B", 300, -50),
vernie.setMotorAngle("D", 35, 20)
]);
await vernie.sleep(1000);
const forwardDistance = lastDistance;
return resolve({ leftDistance, forwardDistance, rightDistance });
});
}
poweredUP.on("discover", async (vernie) => { // Wait to discover Vernie
if (vernie instanceof PoweredUP.BoostMoveHub) {
let mode = Modes.ROAMING;
await vernie.connect();
console.log("Connected to Vernie!");
vernie.setLEDColor(PoweredUP.Consts.Colors.BLUE);
vernie.setMotorSpeed("AB", 50); // Start moving!
await vernie.sleep(1000);
vernie.on("distance", async (port, distance) => {
if (distance < 150 && mode === Modes.ROAMING) { // If we're roaming around and we detect an object in front of us, stop and scan
mode = Modes.AVOIDING;
vernie.setMotorSpeed("AB", 0);
await vernie.sleep(1000);
const { leftDistance, forwardDistance, rightDistance } = await scan(vernie);
console.log(leftDistance, forwardDistance, rightDistance);
if (rightDistance >= forwardDistance && rightDistance >= leftDistance) {
// Go right
await vernie.wait([
vernie.setMotorAngle("A", 300, 50),
vernie.setMotorAngle("B", 300, -50),
vernie.setMotorAngle("D", 35, 20)
]);
await vernie.sleep(1000);
await vernie.wait([
vernie.setMotorSpeed("AB", 50),
vernie.setMotorAngle("D", 35, -20)
]);
} else if (leftDistance >= forwardDistance && leftDistance >= rightDistance) {
// Go left
await vernie.wait([
vernie.setMotorAngle("A", 300, -50),
vernie.setMotorAngle("B", 300, 50),
vernie.setMotorAngle("D", 35, -20)
]);
await vernie.sleep(1000);
await vernie.wait([
vernie.setMotorSpeed("AB", 50),
vernie.setMotorAngle("D", 35, 20)
]);
} else {
// Go forward
vernie.setMotorSpeed("AB", 50);
}
mode = Modes.ROAMING;
}
});
}
});