Rapiro


Allows user to interact with the Rapiro robot using Cylon.js.

For more information click here.

How To Connect

Connecting to the Rapiro uses a simple serial port protocol. You will need to know which serial port the Rapiro's board is connected to.

var Cylon = require('cylon');

Cylon.robot({
  connections: {
    rapiro: { adaptor: 'rapiro', port: '/dev/ttyACM0' }
  },

  devices: {
    rapiro: { driver: 'rapiro' }
  },
});

How To Use

Example of a simple program that makes the Rapiro's LED blink.

var Cylon = require('cylon');

Cylon.robot({
  connections: {
    rapiro: { adaptor: 'rapiro', port: '/dev/ttyUSB0' }
  },

  devices: {
    rapiro: { driver: 'rapiro' }
  },

  work: function(my) {
    var on = false;
    every((1).second(), function() {
      if (on == true) {
        my.rapiro.led(0, 0, 0);
        on = false;
      } else {
        my.rapiro.led(255, 0, 0);
        on = true;
      }
    });
  }

Commands

move

Makes the Rapiro move, the specific movement is dependent on the provided motion number.

Params

  • motionNumber (Number) which movement to make

Returns

  • (undefined)

stop

Makes the Rapiro stop moving

Returns

  • (undefined)

forward

Makes the Rapiro move forward

Returns

  • (undefined)

backward

Makes the Rapiro move backward

Returns

  • (undefined)

Makes the Rapiro move to the right

Returns

  • (undefined)

left

Makes the Rapiro move to the left

Returns

  • (undefined)

happy

Makes the Rapiro make a 'happy' expression

Returns

  • (undefined)

unhappy

Makes the Rapiro make a 'unhappy' expression

Returns

  • (undefined)

concerned

Makes the Rapiro make a 'concerned' expression

Returns

  • (undefined)

mad

Makes the Rapiro make a 'mad' expression

Returns

  • (undefined)

push

Makes the Rapiro make a 'push' motion

Returns

  • (undefined)

led

Sets the Rapiro's LED color

Params

  • r (Number) red value

  • g (Number) green value

  • b (Number) blue value

Returns

  • (undefined)

setServo

Sets the angle of a specific Rapiro servo

The servos are:

  • 0: Head
  • 1: waist
  • 2: right shoulder roll
  • 3: right shoulder pitch
  • 4: right hand
  • 5: left shoulder roll
  • 6: left shoulder pitch
  • 7: left hand
  • 8: right foot yaw
  • 9: right foot pitch
  • 10: left foot yaw
  • 11: left foot pitch

Params

  • servo (Number) which servo to write to

  • angle (Number) angle to set

Returns

  • (undefined)

Sets the angle of Rapiro's head servo

Params

  • angle (Number) angle to set

Returns

  • (undefined)

waist

Sets the angle of Rapiro's waist servo

Params

  • angle (Number) angle to set

Returns

  • (undefined)

rightShoulderRoll

Sets the angle of Rapiro's right shoulder roll servo

Params

  • angle (Number) angle to set

Returns

  • (undefined)

rightShoulderPitch

Sets the angle of Rapiro's right shoulder pitch servo

Params

  • angle (Number) angle to set

Returns

  • (undefined)

rightHand

Sets the angle of Rapiro's right hand servo

Params

  • angle (Number) angle to set

Returns

  • (undefined)

leftShoulderRoll

Sets the angle of Rapiro's left shoulder roll servo

Params

  • angle (Number) angle to set

Returns

  • (undefined)

leftShoulderPitch

Sets the angle of Rapiro's left shoulder pitch servo

Params

  • angle (Number) angle to set

Returns

  • (undefined)

leftHand

Sets the angle of Rapiro's left hand servo

Params

  • angle (Number) angle to set

Returns

  • (undefined)

rightFootYaw

Sets the angle of Rapiro's right foot yaw servo

Params

  • angle (Number) angle to set

Returns

  • (undefined)

rightFootPitch

Sets the angle of Rapiro's right foot pitch servo

Params

  • angle (Number) angle to set

Returns

  • (undefined)

leftFootYaw

Sets the angle of Rapiro's left foot yaw servo

Params

  • angle (Number) angle to set

Returns

  • (undefined)

leftFootPitch

Sets the angle of Rapiro's left foot pitch servo

Params

  • angle (Number) angle to set

Returns

  • (undefined)

Compatibility