CoffeeRobot

This library provides high-level control over a Raspberry Pi-controlled robot, in javascript with nodeJS.

Install

just add coffeerobot to your node project using :

npm install @superpingu/coffeerobot

Usage

First create the robot with

var robot = require("@superpingu/coffeerobot")();

Sequence

To make complex action programming easier, it is possible to create sequences of instruction, that will executed automatically.

Here is a simple example :

// two AX12 are connected to the robot
robot.xAxis = robot.ax12(140);
robot.yAxis = robot.ax12(141);

var seq = robot.sequence()
     .xAxis.moveTo(-50)
     .yAxis.moveTo(90)
     .then() // wait until the actions are completed before going on
     .xAxis.moveTo(0)
     .then() // wait until the actions are completed before going on
     .yAxis.moveTo(-90);

// a callback can be called when the sequence has been fully executed
seq.done(function() { console.log("sequence finished !") });

// execute the sequence
seq.start();

robot.sequence()

Returns a new empty sequence. All functions in the robot object when this function is called will be available in the returned sequence.

sequence.then()

Wait for all the previous actions to be completed before going on. Returns the sequence (is chainable).

sequence.run()

Run a function in the sequence. If the function calls a callback after completing its task, its only argument should be named exactly 'callback'.

For example :

var seq = robot.sequence().run(function(callback) { /* ... */ })
    .then()
    /* ... */
    .start();

Returns the sequence (is chainable).

sequence.done(callback)

Set up a function called when the sequence is fully executed.
Returns the sequence (is chainable).

sequence.start(callback)

Start a sequence from the beginning. A sequence can be executed several times.
callback : a function to be called when the sequence is fully executed. Returns the sequence (is chainable).

sequence.stop()

Stop sequence execution.

sequence.create()

Returns a new sequence starting with the sequence it is created from.