left overs from NKO4

sphero-bridge.js

Math.TAU = Math.PI + Math.PI;

const TO_DEGREES = 180 / Math.PI;
const TO_RADIANS = Math.PI / 180;

function headingFromDelta(x, y) {
  var a = Math.atan2(y, x);
  if(a < 0) a = (a + Math.PI) + Math.PI;
  // janky rotation by 90deg
  a = Math.round(a * TO_DEGREES);
  a -= 270;
  if(a < 0) a = 360 + a;

  return a;
};

function magFromDelta(x, y) {
  return Math.round(Math.sqrt((x * x) + (y * y)));
};

module.exports = function(server) {
  var spheron = require("spheron");
  var sphero = spheron.sphero();

  sphero.open(process.env.SPHERO_DEV);
  sphero.on("open", function() {
    //sphero.write(commands.api.setStabalisation(false));
    console.log("sphero opened");
    sphero.getPowerState(0x01);
    sphero.setPowerNotification(0x01);
  });
  sphero.on("error", console.log.bind(console));
  sphero.on("oob", console.log.bind(console));
  sphero.on("message", console.log.bind(console));
  sphero.on("notification", function(data) {
    switch(data.ID_CODE) {
      case 0x01: // power
        switch(parseInt(data.data.toString())) {
          case 0x01: //changing
          break;
          case 0x02: //ok
          break;
          case 0x03: //
          break;
          case 0x01: //changing
          break;
        }
      break;
    }
  });

  console.log("setting up socket.io");
  var socketio = require("socket.io");
  var sio = socketio.listen(server);
  var lastHeading = 0x00;

  sio.sockets.on("connection", function(socket) {
    console.log("connection");
    socket.on("control", function(d) {
      var heading = headingFromDelta(d[0], d[1]);
      var mag = magFromDelta(d[0], d[1]);

      console.log(heading, mag);
      if(heading === 90 && mag === 0) {
        console.log("Stopping");
        sphero.roll(0x00, lastHeading, 0x00);
      } else {
        sphero.roll(mag * 3, heading, 1);
        lastHeading = heading;
      }
    });
  });
};

module.exports.headingFromDelta = headingFromDelta;
module.exports.magFromDelta = magFromDelta;