132 lines
3.7 KiB
JavaScript
132 lines
3.7 KiB
JavaScript
/*
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*
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* This example allows Vernie to roam a room and avoid obstacles.
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*
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*/
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const PoweredUP = require("..");
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const poweredUP = new PoweredUP.PoweredUP();
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poweredUP.scan(); // Start scanning
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console.log("Looking for Vernie...");
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const Modes = {
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ROAMING: 0,
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AVOIDING: 1,
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STALLED: 2,
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CHANGING_DIRECTION: 3
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}
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const turnRight = async (vernie, multiplier = 1) => {
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await vernie.wait([
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vernie.setMotorAngle("A", 300 * multiplier, 50),
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vernie.setMotorAngle("B", 300 * multiplier, -50)
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]);
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}
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const turnHeadRight = async (vernie, multiplier = 1) => {
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await vernie.setMotorAngle("D", 35 * 1, 20);
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}
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const turnLeft = async (vernie, multiplier = 1) => {
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await vernie.wait([
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vernie.setMotorAngle("A", 300 * multiplier, -50),
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vernie.setMotorAngle("B", 300 * multiplier, 50)
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]);
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}
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const turnHeadLeft = async (vernie, multiplier = 1) => {
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await vernie.setMotorAngle("D", 35 * 1, -20);
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}
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const scan = (vernie) => {
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return new Promise(async (resolve) => {
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let lastDistance = 0;
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vernie.on("distance", async (port, distance) => {
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lastDistance = distance;
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});
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await vernie.wait([
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turnRight(vernie),
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turnHeadRight(vernie)
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]);
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await vernie.sleep(1000);
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const rightDistance = lastDistance;
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await vernie.wait([
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turnLeft(vernie, 2),
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turnHeadLeft(vernie, 2)
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]);
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await vernie.sleep(1000);
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const leftDistance = lastDistance;
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await vernie.wait([
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turnRight(vernie),
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turnHeadRight(vernie)
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]);
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await vernie.sleep(1000);
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const forwardDistance = lastDistance;
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return resolve({ leftDistance, forwardDistance, rightDistance });
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});
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}
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poweredUP.on("discover", async (vernie) => { // Wait to discover Vernie
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if (vernie instanceof PoweredUP.BoostMoveHub) {
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let mode = Modes.ROAMING;
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await vernie.connect();
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console.log("Connected to Vernie!");
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vernie.setLEDColor(PoweredUP.Consts.Colors.BLUE);
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await vernie.sleep(1000);
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vernie.setMotorSpeed("AB", 50); // Start moving!
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vernie.on("distance", async (port, distance) => {
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if (distance < 150 && mode === Modes.ROAMING) { // If we're roaming around and we detect an object in front of us, stop and scan
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mode = Modes.AVOIDING;
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vernie.setMotorSpeed("AB", 0);
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await vernie.sleep(1000);
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const { leftDistance, forwardDistance, rightDistance } = await scan(vernie);
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if (rightDistance >= forwardDistance && rightDistance >= leftDistance) {
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// Go right
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await vernie.wait([
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turnRight(vernie),
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turnHeadRight(vernie)
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]);
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await vernie.sleep(1000);
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await vernie.wait([
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vernie.setMotorSpeed("AB", 50),
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turnHeadLeft(vernie)
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]);
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} else if (leftDistance >= forwardDistance && leftDistance >= rightDistance) {
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// Go left
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await vernie.wait([
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turnLeft(vernie),
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turnHeadLeft(vernie)
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]);
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await vernie.sleep(1000);
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await vernie.wait([
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vernie.setMotorSpeed("AB", 50),
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turnHeadRight(vernie)
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]);
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} else {
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// Go forward
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vernie.setMotorSpeed("AB", 50);
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}
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mode = Modes.ROAMING;
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}
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});
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}
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}); |