Autonomous Vernie roaming example

2018-10-12 16:38:07 -07:00 · 2018-10-12 16:38:07 -07:00 · 4bc0e0e006
commit 4bc0e0e006
parent 1103d17204
1 changed files with 113 additions and 0 deletions
--- a/examples/vernie_roaming.js
+++ b/examples/vernie_roaming.js
@ -0,0 +1,113 @@
+/*
+ *
+ * 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;
+
+            }
+        });
+
+    }
+    
+});