Index

"use strict";

var Cylon = require("cylon");

Cylon.robot({
  connections: {
    sphero: { adaptor: "sphero", port: "/dev/rfcomm0" }
  },

  devices: {
    sphero: { driver: "sphero" }
  },

  work: function(bot) {
    var color = 0x00FF00,
    bitFilter = 0xFFFF00;

    console.log("Setting up Collision Detection...");

    bot.sphero.on("dataStreaming", function(data) {
      console.log("data:");
      console.log(data);
    });

    bot.sphero.on("collision", function() {
      console.log("Collision:");
      color = color ^ bitFilter;
      console.log("Color: " + (color.toString(16)) + " ");
      bot.sphero.color(color);
      bot.sphero.roll(128, Math.floor(Math.random() * 360));
    });

    // The data sources available for data Streaming from the
    // sphero API are as follows:
    // ["motorsPWM", "imu", "accelerometer", "gyroscope", "motorsIMF"
    //  "quaternion", "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: 40,
      // m: int, number of data packets buffered before passing 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,
      dataSources: ["velocity", "odomoter"]
    };

    bot.sphero.setDataStreaming(opts);
    bot.sphero.detectCollisions();

    bot.sphero.color(color);
  }
}).start();