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December 21, 2016 08:14
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Save PatchworkBoy/f964c25529611be8448063207143274e to your computer and use it in GitHub Desktop.
Node-Red flow for Pololu DRV8835 & 2x 12v DC motors + USB MS Sidewinder Gamepad with Nexstar Protocol over TCP support (for SkySafari etc). No feedback encoders yet. Requires wiring-pi to be installed as a node_module within node-red folder and added to global context via settings.js (see “wiring-pi module” section at http://nodered.org/docs/har…
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| "connection": "2ea0db0d.dcda1c", | |
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| "t": "cont", | |
| "v": "20", | |
| "vt": "str" | |
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| "t": "cont", | |
| "v": "10", | |
| "vt": "str" | |
| }, | |
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| "type": "function", | |
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| "name": "BufferHex to String", | |
| "func": "msg.payload = msg.payload.toString('hex');\nreturn msg;", | |
| "outputs": 1, | |
| "noerr": 0, | |
| "x": 290, | |
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| "wires": [ | |
| [ | |
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| "type": "function", | |
| "z": "6e9dcce8.16d0ac", | |
| "name": "MotorSpeed Logic", | |
| "func": "var stepsize = 22;\nvar currspeed = global.get(\"motorspeed\");\nif (msg.payload.slice(-2) == \"20\"||msg.payload.slice(-2)==\"20\") {\n currspeed = currspeed + stepsize;\n} else if (msg.payload.slice(-2) == \"10\"||msg.payload.slice(-2)==\"10\") {\n currspeed = currspeed - stepsize;\n}\nif (currspeed = 480) {\n currspeed = 480\n}\nglobal.set(\"motorspeed\", currspeed);\nmsg.payload = currspeed;\nvar log = {};\nif (currspeed == 22) {\n log.payload = \"Motor Speed now \"+currspeed+\" (MIN)\";\n} else if (currspeed == 480) {\n log.payload = \"Motor Speed now \"+currspeed+\" (MAX)\";\n} else {\n log.payload = \"Motor Speed now \"+currspeed;\n}\n\nreturn [msg,log];", | |
| "outputs": "2", | |
| "noerr": 0, | |
| "x": 670, | |
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| { | |
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| "type": "function", | |
| "z": "6e9dcce8.16d0ac", | |
| "name": "Init Global Vars", | |
| "func": "global.set(\"motorspeed\",44);\nglobal.set(\"m1dir\",1);\nglobal.set(\"m2dir\",1);", | |
| "outputs": 1, | |
| "noerr": 0, | |
| "x": 280, | |
| "y": 100, | |
| "wires": [ | |
| [] | |
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| }, | |
| { | |
| "id": "1fe4527a.912056", | |
| "type": "function", | |
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| "name": "Motor Direction Handler", | |
| "func": "var mg1, mg2, m1={}, m2={}, m3={}, m4={}, m5={}, m6={}, v = 0;\nvar speed = global.get(\"motorspeed\");\nif (msg.payload == '3f0000'){\n global.set(\"m2dir\",1);\n m6.payload = speed;\n v = 1;\n}\nif (msg.payload == '3f7f00'){\n global.set(\"m2dir\",0);\n m6.payload = speed;\n v = 1;\n}\nif (msg.payload == '7f3f00'){\n global.set(\"m1dir\",1);\n m5.payload = speed;\n v = 1;\n}\nif (msg.payload == '003f00'){\n global.set(\"m1dir\",0);\n m5.payload = speed;\n v = 1;\n}\nif (msg.payload == '7f0000'){\n global.set(\"m1dir\",1);\n global.set(\"m2dir\",1);\n m5.payload = speed;\n m6.payload = speed;\n v = 1;\n}\nif (msg.payload == '7f7f00'){\n global.set(\"m1dir\",1);\n global.set(\"m2dir\",0);\n m5.payload = speed;\n m6.payload = speed;\n v = 1;\n}\nif (msg.payload == '007f00'){\n global.set(\"m1dir\",0);\n global.set(\"m2dir\",0);\n m5.payload = speed;\n m6.payload = speed;\n v = 1;\n}\nif (msg.payload == '000000'){\n global.set(\"m1dir\",0);\n global.set(\"m2dir\",1);\n m5.payload = speed;\n m6.payload = speed;\n v = 1;\n}\nif (msg.payload == '3f3f00'){\n global.set(\"m1dir\",1);\n global.set(\"m2dir\",1);\n\n// m5.payload = speed;\n// m6.payload = speed;\n v = 1;\n}\nif (v == 1) {\n var gm1 = global.get(\"m1dir\");\n if (gm1 == 1) {\n mg1 = \"Forward\";\n } else {\n mg1 = \"Reverse\";\n }\n var gm2 = global.get(\"m2dir\");\n if (gm2 == 1) {\n mg2 = \"Forward\";\n } else {\n mg2 = \"Reverse\";\n }\n m1.payload = \"M1 Direction: \" + mg1;\n m2.payload = \"M2 Direction: \" + mg2;\n m3.payload = gm1;\n m4.payload = gm2;\n return [m5,m3,m2,m1,m6,m4];\n}", | |
| "outputs": "6", | |
| "noerr": 0, | |
| "x": 850, | |
| "y": 300, | |
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| { | |
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| "name": "Connected HID Devices", | |
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| "order": 3, | |
| "width": "", | |
| "height": "", | |
| "name": "Controller Motor Speed", | |
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| "label": "Current Speed", | |
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| "once": true, | |
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| "name": "Usable Speed Range", | |
| "label": "Usable Speed Range", | |
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| "wires": [ | |
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| "topic": "", | |
| "payload": "0", | |
| "payloadType": "num", | |
| "repeat": "", | |
| "crontab": "", | |
| "once": true, | |
| "x": 1550, | |
| "y": 240, | |
| "wires": [ | |
| [ | |
| "768f7064.9ee06", | |
| "22baf9b8.3b14ce" | |
| ] | |
| ] | |
| }, | |
| { | |
| "id": "fabe2704.90897", | |
| "type": "inject", | |
| "z": "6e9dcce8.16d0ac", | |
| "name": "", | |
| "topic": "", | |
| "payload": "1", | |
| "payloadType": "num", | |
| "repeat": "", | |
| "crontab": "", | |
| "once": true, | |
| "x": 1250, | |
| "y": 320, | |
| "wires": [ | |
| [ | |
| "321f9e0a.7d180a" | |
| ] | |
| ] | |
| }, | |
| { | |
| "id": "6b84fa1d.1f5e74", | |
| "type": "inject", | |
| "z": "6e9dcce8.16d0ac", | |
| "name": "", | |
| "topic": "", | |
| "payload": "1", | |
| "payloadType": "num", | |
| "repeat": "", | |
| "crontab": "", | |
| "once": true, | |
| "x": 1210, | |
| "y": 640, | |
| "wires": [ | |
| [ | |
| "652d3f0e.09ae2" | |
| ] | |
| ] | |
| }, | |
| { | |
| "id": "78bbbaaa.159494", | |
| "type": "link in", | |
| "z": "6e9dcce8.16d0ac", | |
| "name": "Nexstar Motor Receiver", | |
| "links": [ | |
| "dd2234e7.8d6228", | |
| "1bf4eeb.c5f9211" | |
| ], | |
| "x": 215, | |
| "y": 300, | |
| "wires": [ | |
| [ | |
| "8f75bcab.a520c" | |
| ] | |
| ] | |
| }, | |
| { | |
| "id": "8f75bcab.a520c", | |
| "type": "function", | |
| "z": "6e9dcce8.16d0ac", | |
| "name": "Nexstar Motor Parser", | |
| "func": "var payload = msg.payload.split(\"x\");\nif (payload[0]=='M1' && payload[1]=='1'){\n msg.payload=\"3f0000\";\n}\nif (payload[0]=='M1' && payload[1]=='0'){\n msg.payload=\"3f7f00\";\n}\nif (payload[0]=='M2' && payload[1]=='1'){\n msg.payload=\"7f3f00\";\n}\nif (payload[0]=='M2' && payload[1]=='0'){\n msg.payload=\"003f00\";\n}\nglobal.set(\"motorspeed\",payload[2]);\nreturn msg;", | |
| "outputs": "1", | |
| "noerr": 0, | |
| "x": 420, | |
| "y": 300, | |
| "wires": [ | |
| [ | |
| "1fe4527a.912056" | |
| ] | |
| ] | |
| }, | |
| { | |
| "id": "aba9d692.9e9578", | |
| "type": "tcp in", | |
| "z": "6e9dcce8.16d0ac", | |
| "name": "Nexstar In", | |
| "server": "server", | |
| "host": "", | |
| "port": "4030", | |
| "datamode": "stream", | |
| "datatype": "utf8", | |
| "newline": "", | |
| "topic": "", | |
| "base64": false, | |
| "x": 80, | |
| "y": 500, | |
| "wires": [ | |
| [ | |
| "9f0f41a.b40c4c", | |
| "ba604dc1.013278" | |
| ] | |
| ] | |
| }, | |
| { | |
| "id": "7ac85152.5f29b", | |
| "type": "tcp out", | |
| "z": "6e9dcce8.16d0ac", | |
| "host": "", | |
| "port": "", | |
| "beserver": "reply", | |
| "base64": false, | |
| "end": false, | |
| "name": "reply to Nexstar", | |
| "x": 560, | |
| "y": 500, | |
| "wires": [] | |
| }, | |
| { | |
| "id": "9f0f41a.b40c4c", | |
| "type": "function", | |
| "z": "6e9dcce8.16d0ac", | |
| "name": "Nexstar Protocol", | |
| "func": "if (msg.payload == \"V#\"){\n // SS sends V#\n // Respond with 23# (for v2.3)\n data = \"23#\";\n}\nif (msg.payload == \"t\"){\n // SS sends t#\n // Respond with 1# (Alt/Az)\n // Options: 0 = Off\n // 1 = Alt/Az\n // 2 = EQ North\n // 3 = EQ South\n data = \"49#\";\n}\nif (msg.payload == \"e\"){\n // SS sends e#\n data = \"34AB0500,12CE0500#\";\n}\nmsg.payload = data;\nreturn msg;", | |
| "outputs": 1, | |
| "noerr": 0, | |
| "x": 310, | |
| "y": 500, | |
| "wires": [ | |
| [ | |
| "7ac85152.5f29b" | |
| ] | |
| ] | |
| }, | |
| { | |
| "id": "ba604dc1.013278", | |
| "type": "function", | |
| "z": "6e9dcce8.16d0ac", | |
| "name": "filter for motor cmd", | |
| "func": "if(!String.prototype.startsWith){\n String.prototype.startsWith = function (str) {\n return !this.indexOf(str);\n }\n}\nif (msg.payload !== \"e\"){\n if (msg.payload.startsWith('P')){\n return msg;\n }\n if (msg.payload == \"M\"){\n global.set(\"motorspeed\",0);\n }\n}", | |
| "outputs": "1", | |
| "noerr": 0, | |
| "x": 310, | |
| "y": 560, | |
| "wires": [ | |
| [ | |
| "d436423.a85394", | |
| "54c6b28f.c778a4" | |
| ] | |
| ] | |
| }, | |
| { | |
| "id": "e888f7a5.5f1bb", | |
| "type": "base64", | |
| "z": "6e9dcce8.16d0ac", | |
| "name": "b64 encode", | |
| "x": 634, | |
| "y": 560, | |
| "wires": [ | |
| [ | |
| "32e73aa3.b9996e" | |
| ] | |
| ] | |
| }, | |
| { | |
| "id": "32e73aa3.b9996e", | |
| "type": "function", | |
| "z": "6e9dcce8.16d0ac", | |
| "name": "parse motor cmd", | |
| "func": "var axis = msg.payload.substr(3,1);\nvar dire = msg.payload.substr(5,1);\nvar sped = msg.payload.substr(6,1);\nif (sped == 'I') {\n sped = '120'; //guiding\n} else if (sped == 'U') {\n sped = '240'; //centering\n} else if (sped == 'c') {\n sped = '360'; //finding\n} else if (sped == 'k') {\n sped = '480'; //max!\n} else if (sped == 'A') {\n sped = '0';\n}\nsped = ' '+sped;\n\nif (axis == 'R' && dire == 'A'){\n msg.payload = \"M1x1x\"+sped;\n} else if (axis == 'R' && dire == 'Q'){\n msg.payload = \"M1x0x\"+sped;\n} else if (axis == 'Q' && dire == 'A'){\n msg.payload = \"M2x1x\"+sped;\n} else if (axis == 'Q' && dire == 'Q'){\n msg.payload = \"M2x0x\"+sped;\n}\nreturn msg;", | |
| "outputs": 1, | |
| "noerr": 0, | |
| "x": 814, | |
| "y": 560, | |
| "wires": [ | |
| [ | |
| "1bf4eeb.c5f9211" | |
| ] | |
| ] | |
| }, | |
| { | |
| "id": "1bf4eeb.c5f9211", | |
| "type": "link out", | |
| "z": "6e9dcce8.16d0ac", | |
| "name": "Nexstar Motor Control", | |
| "links": [ | |
| "78bbbaaa.159494" | |
| ], | |
| "x": 959, | |
| "y": 560, | |
| "wires": [] | |
| }, | |
| { | |
| "id": "78dbe29a.3bb26c", | |
| "type": "comment", | |
| "z": "6e9dcce8.16d0ac", | |
| "name": "Nexstar Remote", | |
| "info": "This module handles Nexstar Serial Protocol over TCP,\notherwise known as \"SkyFi\".\n\nSimply connect to scope.local with port 4030", | |
| "x": 100, | |
| "y": 460, | |
| "wires": [] | |
| }, | |
| { | |
| "id": "d436423.a85394", | |
| "type": "switch", | |
| "z": "6e9dcce8.16d0ac", | |
| "name": "", | |
| "property": "payload", | |
| "propertyType": "msg", | |
| "rules": [ | |
| { | |
| "t": "nnull" | |
| } | |
| ], | |
| "checkall": "true", | |
| "outputs": 1, | |
| "x": 481.5, | |
| "y": 560, | |
| "wires": [ | |
| [ | |
| "e888f7a5.5f1bb" | |
| ] | |
| ] | |
| }, | |
| { | |
| "id": "54c6b28f.c778a4", | |
| "type": "switch", | |
| "z": "6e9dcce8.16d0ac", | |
| "name": "", | |
| "property": "payload", | |
| "propertyType": "msg", | |
| "rules": [ | |
| { | |
| "t": "nnull" | |
| } | |
| ], | |
| "checkall": "true", | |
| "outputs": 1, | |
| "x": 482, | |
| "y": 615, | |
| "wires": [ | |
| [ | |
| "3651e217.e9b266" | |
| ] | |
| ] | |
| }, | |
| { | |
| "id": "3651e217.e9b266", | |
| "type": "debug", | |
| "z": "6e9dcce8.16d0ac", | |
| "name": "", | |
| "active": true, | |
| "console": "false", | |
| "complete": "true", | |
| "x": 616.5, | |
| "y": 615, | |
| "wires": [] | |
| }, | |
| { | |
| "id": "22baf9b8.3b14ce", | |
| "type": "ui_gauge", | |
| "z": "6e9dcce8.16d0ac", | |
| "name": "", | |
| "group": "529fa907.5b11e8", | |
| "order": 1, | |
| "width": 0, | |
| "height": 0, | |
| "gtype": "gage", | |
| "title": "Az Speed", | |
| "label": "PWM Drive", | |
| "format": "{{value}}", | |
| "min": "-480", | |
| "max": "480", | |
| "colors": [ | |
| "#CA3838", | |
| "#00B500", | |
| "#CA3838" | |
| ], | |
| "x": 1961.5, | |
| "y": 99, | |
| "wires": [] | |
| }, | |
| { | |
| "id": "5eafacb5.382f3c", | |
| "type": "ui_gauge", | |
| "z": "6e9dcce8.16d0ac", | |
| "name": "", | |
| "group": "16013277.c83b7e", | |
| "order": 1, | |
| "width": 0, | |
| "height": 0, | |
| "gtype": "gage", | |
| "title": "Az Speed", | |
| "label": "PWM Drive", | |
| "format": "{{value}}", | |
| "min": "-480", | |
| "max": "480", | |
| "colors": [ | |
| "#CA3838", | |
| "#00B500", | |
| "#CA3838" | |
| ], | |
| "x": 1914, | |
| "y": 338, | |
| "wires": [] | |
| }, | |
| { | |
| "id": "17540ba2.acbf54", | |
| "type": "function", | |
| "z": "6e9dcce8.16d0ac", | |
| "name": "", | |
| "func": "if (global.get(\"m1dir\")==0) {\n msg.payload = msg.payload*(-1);\n}\nreturn msg;", | |
| "outputs": 1, | |
| "noerr": 0, | |
| "x": 1707.5, | |
| "y": 58, | |
| "wires": [ | |
| [ | |
| "3e5949e7.deb77e", | |
| "22baf9b8.3b14ce" | |
| ] | |
| ] | |
| }, | |
| { | |
| "id": "f1d65120.e97d88", | |
| "type": "function", | |
| "z": "6e9dcce8.16d0ac", | |
| "name": "", | |
| "func": "if (global.get(\"m2dir\")==0) {\n msg.payload = msg.payload*(-1);\n}\nreturn msg; ", | |
| "outputs": 1, | |
| "noerr": 0, | |
| "x": 1711, | |
| "y": 420, | |
| "wires": [ | |
| [ | |
| "a4ae907d.6bb7f8", | |
| "5eafacb5.382f3c" | |
| ] | |
| ] | |
| }, | |
| { | |
| "id": "529fa907.5b11e8", | |
| "type": "ui_group", | |
| "z": "", | |
| "name": "Motor 1 (Azimuth)", | |
| "tab": "49822692.fee8a8", | |
| "order": null, | |
| "disp": true, | |
| "width": "6" | |
| }, | |
| { | |
| "id": "16013277.c83b7e", | |
| "type": "ui_group", | |
| "z": "", | |
| "name": "Motor 2 (Altitude)", | |
| "tab": "49822692.fee8a8", | |
| "order": 5, | |
| "disp": true, | |
| "width": "6" | |
| }, | |
| { | |
| "id": "2ea0db0d.dcda1c", | |
| "type": "HIDConfig", | |
| "z": "", | |
| "vid": "1118", | |
| "pid": "39", | |
| "name": "Gamepad" | |
| }, | |
| { | |
| "id": "f50f09aa.7b4da", | |
| "type": "ui_group", | |
| "z": "", | |
| "name": "Gamepad Control", | |
| "tab": "49822692.fee8a8", | |
| "order": 5, | |
| "disp": true, | |
| "width": "6" | |
| }, | |
| { | |
| "id": "49822692.fee8a8", | |
| "type": "ui_tab", | |
| "z": "", | |
| "name": "Drive", | |
| "icon": "dashboard", | |
| "order": 0 | |
| } | |
| ] |
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