Merge pull request #22 from saraford/training

Gestures for BB-8

Author: mintuz

commands/gestures.js

@@ -0,0 +1,109 @@
+var keypress = require('keypress');
+
+module.exports = function (bb8) {
+
+  var stdin = process.stdin;
+  stdin.setEncoding('utf8');
+  keypress(stdin);
+
+  console.log("Welcome to BB-8 Gestures!");
+  console.log("Press 'e' to calibrate. Press 'q' to finish calibration.");
+  console.log("Press 'y' for yes. Press 'n' for no. Press 't' to do the twist!");
+  console.log("Put BB-8 into the dock and press 'h' for head roll. ");
+  console.log("Press ctrl+c to exit.");
+  console.log("Listening for key presses...");
+  bb8.color("white");
+
+  stdin.on("keypress", function(ch,key) {
+
+    if (key && key.ctrl && key.name === 'c') {
+      bb8.disconnect(function() {
+        console.log("BB-8 says goodbye!");
+      });
+
+      process.stdin.pause();
+      process.exit();
+    }
+
+    // how to use setRawMotors - from https://github.com/orbotix/DeveloperDocumentation/blob/0a4b007600f55c05889734aa3aa6727f86dc1d51/src/content/imports/sphero-js/devices/sphero.md#setrawmotorsopts-callback
+    // Possible modes:
+    //
+    // 0x00: Off (motor is open circuit)
+    // 0x01: Forward
+    // 0x02: Reverse
+    // 0x03: Brake (motor is shorted)
+    // 0x04: Ignore (motor mode and power is left unchanged
+
+    if(key && key.name === 'h') {
+
+      // head roll
+      setTimeout(function() { opts = {lmode: 1, lpower: 100, rmode: 0, rpower: 0}; bb8.setRawMotors(opts, function() { }); }, 100);
+      setTimeout(function() { opts = {lmode: 0, lpower: 0, rmode: 0, rpower:  0}; bb8.setRawMotors(opts, function() { }); bb8.setStabilization(1, function() { }); }, 800);
+    }
+
+    // let's do the twist
+    if(key && key.name === 't') {
+
+      bb8.setStabilization(0, function() { });
+
+      // twist right
+      setTimeout(function() { opts = {lmode: 1, lpower: 150, rmode: 2, rpower: 150}; bb8.setRawMotors(opts, function() { }); }, 100);
+      setTimeout(function() { opts = {lmode: 0, lpower: 0, rmode: 0, rpower:  0}; bb8.setRawMotors(opts, function() { } ); }, 300);
+
+      // twist left
+      setTimeout(function() { opts = {lmode: 2, lpower: 150, rmode: 1, rpower: 150}; bb8.setRawMotors(opts, function() { }); }, 400);
+      setTimeout(function() { opts = {lmode: 0, lpower: 0, rmode: 0, rpower:  0}; bb8.setRawMotors(opts, function() { }); bb8.setStabilization(1, function() { }); }, 600);
+
+      // twist right
+      setTimeout(function() { opts = {lmode: 1, lpower: 150, rmode: 2, rpower: 150}; bb8.setRawMotors(opts, function() { }); }, 700);
+      setTimeout(function() { opts = {lmode: 0, lpower: 0, rmode: 0, rpower:  0}; bb8.setRawMotors(opts, function() { }); bb8.setStabilization(1, function() { }); }, 900);
+
+    }
+
+    // Found at https://github.com/orbotix/sphero.js/issues/45#issuecomment-221169893
+    if(key && key.name === 'y') {
+
+      // YES
+      opts = {lmode: 2, lpower: 80, rmode: 2, rpower: 80};
+      bb8.setRawMotors(opts, function() { });
+      setTimeout(function() { opts = {lmode: 1, lpower: 80, rmode: 1, rpower: 80}; bb8.setRawMotors(opts, function() { }); }, 100);
+      setTimeout(function() { opts = {lmode: 2, lpower: 80, rmode: 2, rpower: 80}; bb8.setRawMotors(opts, function() { }); }, 200);
+      setTimeout(function() { opts = {lmode: 1, lpower: 80, rmode: 1, rpower: 80}; bb8.setRawMotors(opts, function() { }); }, 300);
+      setTimeout(function() { opts = {lmode: 0, lpower:  0, rmode: 0, rpower:  0}; bb8.setRawMotors(opts, function() { }); bb8.setStabilization(1, function() { }); }, 400);
+
+    }
+
+    if(key && key.name === 'n') {
+
+      // NO
+      bb8.roll(0,60);
+      setTimeout(function() { bb8.roll(0,300); }, 200);
+      setTimeout(function() { bb8.roll(0,60); }, 400);
+      setTimeout(function() { bb8.roll(0,300); }, 600);
+      setTimeout(function() { bb8.roll(0,60); }, 400);
+      setTimeout(function() { bb8.roll(0,300); }, 600);
+      setTimeout(function() { bb8.roll(0,0); }, 800);
+
+    }
+
+    // Calbiration from drive.js
+    if(key && key.name === 'e') {
+      bb8.startCalibration ();
+      bb8.roll(1, 90, 2, function() {
+        setTimeout(function() {
+          bb8.setHeading(0, function() {
+            bb8.roll(0,0,1);
+          });
+        }, 300);
+      });
+    }
+
+    if(key && key.name === 'q') {
+      bb8.finishCalibration();
+    }
+  });
+
+  stdin.setRawMode(true);
+  stdin.resume();
+
+};

index.js

@@ -93,6 +93,13 @@ program
     executeCommand('power');
   });
 
+program
+  .command('gestures')
+  .description('Some gestures for your BB-8')
+  .action(function (options) {
+    executeCommand('gestures');
+  });
+
 program
   .command('drive')
   .description('Command to accept keyboard input--use arrow keys')