sphero-sensor

index.js

var Cylon = require('cylon');

Cylon.robot({
  connection: [
    { name: 'sphero', adaptor: 'sphero', port: '/dev/cu.Sphero-PRO-AMP-SPP' }
  ],
  device: [
    { name: 'sphero', driver: 'sphero' }
  ],

  work: function(my) {

    after((1).seconds(), function() {
      console.log("Setting up Collision Detection...");
      my.sphero.detectCollisions();
      // To detect locator, accelOne and velocity from the sphero
      // we use setDataStreaming.
      // sphero API data sources for locator info are as follows:
      // ['locator', 'accelOne', 'velocity']
      // It is also possible to pass an opts object to setDataStreaming():
      var opts = {
        // n: int, divisor of the max sampling rate, 400 hz/s
        // n = 40 means 400/40 = 10 data samples per second,
        // n = 200 means 400/200 = 2 data samples per second
        n: 100,
        // m: int, number of data packets buffered before passing them to the stream
        // m = 10 means each time you get data it will contain 10 data packets
        // m = 1 is usually best for real time data readings.
        m: 1,
        // pcnt: 1 -255, how many packets to send.
        // pcnt = 0 means unlimited data Streaming
        // pcnt = 10 means stop after 10 data packets
        pcnt: 0,
      };
      my.sphero.setDataStreaming(['locator'], opts);

      my.sphero.configureLocator(1, 0, 0, 0);
      my.sphero.startCalibration();
      my.sphero.stop();
    });

    my.sphero.on('data', function(data) {
      console.log("data:");
      console.log(data);
    });

    my.sphero.on('collision', function(data) {
      my.sphero.finishCalibration();
    });

  }
}).start();

package.json

{
  "name": "sphero",
  "version": "1.0.0",
  "description": "",
  "main": "index.js",
  "scripts": {
    "test": "echo \"Error: no test specified\" && exit 1"
  },
  "author": "",
  "license": "MIT",
  "dependencies": {
    "cylon": "^0.18.0",
    "cylon-sphero": "^0.14.1"
  }
}

起動するとキャリブレーションが始まって叩くと、キャリブレーションが終了。
その後、センサーの情報が送られてくる