octanis1_rover_ds3_controller

ps3controller_test.js

"use strict";


var GamePad = require( 'node-gamepad' );
var Cylon = require('cylon');
var controller = new GamePad( 'ps3/dualshock3' );



var rover_state = {
  control: {
    current_controlled_strut: 1
  }
};

var controller_command_map = [
  {'event':'dpadUp:press', 'commands':['motf']},
  {'event':'dpadDown:press', 'commands':['motb']},
  {'event':'dpadLeft:press', 'commands':['motl']},
  {'event':'dpadRight:press', 'commands':['motr']},
  {'event':'dpadUp:release', 'commands':['motx']},
  {'event':'dpadDown:release', 'commands':['motx']},
  {'event':'dpadLeft:release', 'commands':['motx']},
  {'event':'dpadRight:release', 'commands':['motx']},
  {'event':'select:press', 'commands':['motx','moth1','moth2','moth3','moth4']},
  {'event':'start:press', 'commands':['motn']},
  {'event':'r1:press', 'commands':[ function(){ RoverSelectStrut(1); } ]},
  {'event':'r2:press', 'commands':[ function(){ RoverSelectStrut(2); } ]},
  {'event':'l1:press', 'commands':[ function(){ RoverSelectStrut(3); } ]},
  {'event':'l2:press', 'commands':[ function(){ RoverSelectStrut(4); } ]},
  {'event':'triangle:press', 'commands':[ function(my){ RoverWriteToConsole(my, 'motu'+RoverGetStrut()) }] },
  {'event':'x:press', 'commands':[ function(my){ RoverWriteToConsole(my, 'motd'+RoverGetStrut()) }] },
  {'event':'circle:press', 'commands':[ function(my){ RoverWriteToConsole(my, 'moth'+RoverGetStrut()) }] },
]

//connect the dualshock3 controller
controller.connect();

//start robot handler
Cylon.robot({
  connections: {
    bluetooth: { adaptor: 'ble', uuid: 'cbef787e50934150ace41ce6385efabf' }
  },

  devices: {
   octanis1_rover_ble: {
     driver: "ble-characteristic",
     serviceId: "ffe0", characteristicId: "ffe1",
     connection: "bluetooth"
   }
  },

  work: function(my) {

    RoverMapCommands(my, controller_command_map);
    RoverHandleBLENotifications(my.octanis1_rover_ble);

  }
}).start();


//rover specifics
function RoverHandleBLENotifications(ble_device){
  ble_device.notifyCharacteristic(function(err, data) {
    if (err) { return console.error("NotifyError: ", err); }
    console.log("NotifyData: ", data);
  });
}

function RoverMapCommands(my, controller_command_map){
  controller_command_map.forEach(function(map){
    controller.on(map.event, function(){

      map.commands.forEach(function(cmd){

        if(typeof cmd === "function"){
          cmd(my);
        }else{
          RoverWriteToConsole(my, cmd);
        }

      });

    });
  });
}

function RoverWriteToConsole(my, command_string){
  console.log("Sent: "+command_string);
  my.octanis1_rover_ble.writeCharacteristic(command_string, function(err, data) {
    if (err) { return console.error("Error: ", err); }
    console.log("Data: ", data);
  });
}

function RoverSelectStrut(strutNum){
  console.log("selected strut "+strutNum+" for control");
  rover_state.control.current_controlled_strut = strutNum;
}

function RoverGetStrut(){
  return rover_state.control.current_controlled_strut;
}

controller.on('battery:change', function (value) {
     console.log("DS3 Controller Battery: " + value);
});

make sure to have a packages.json filled with
{
"name":"sandbox",
"dependencies": {
"cylon": "",
"node-gamepad": "0.1.14",
"cylon-ble": ""
}}