Node.js bindings for libroboticscape for BeagleBoard.org BeagleBone Blue or Robotics Cape
http://www.strawsondesign.com/#!manual-init-cleanup
$ sudo npm install --global roboticscape$ git clone https://github.com/jadonk/node-roboticscape
$ cd node-roboticscape
$ sudo npm install --globalvar rc = require('roboticscape');
/* Allocate the userspace usage of the robotics cape features */
rc.initialize();
/* Set the state to RUNNING */
rc.state("RUNNING");
/* Exercise the robotics cape hardware */
rc.led("GREEN", true);
rc.on("PAUSE_PRESSED", function() {
console.log("PAUSE pressed");
/* Set the state to EXITING */
rc.state("EXITING");
});
rc.motor("ENABLE");
rc.motor(0.3);
/* Read encoder every second until PAUSE button pressed */
setInterval(function() {
if(rc.state() == "RUNNING") {
var enc1 = rc.encoder(1);
console.log("encoder 1 = " + enc1);
} else {
/* The robotics cape userspace interface is automatically freed on exit */
process.exit();
}
}, 1000);Allocate the userspace usage of the robotics cape features and initialize the hardware functions.
See the Init and Cleanup libroboticscape documentation.
Examples
var init = rc.initialize();Returns Number where
- -2 : invalid contents in PID_FILE
- -1 : existing project failed to close cleanly and had to be killed
- 0 : No existing program is running
- 1 : An existing program was running but it shut down cleanly.
Set or read the libroboticscape program state.
See the Program Flow State libroboticscape documentation.
Examples
rc.state("RUNNING");
var state = rc.state();Parameters
stateString state to enter must be one of "UNINITIALIZED", "RUNNING", "PAUSED" or "EXITING". If undefined, the current state will be returned instead of entering a new state.
Returns String when no arguments are provided with one of the following values
- "UNINITIALIZED"
- "RUNNING"
- "PAUSED"
- "EXITING"
Set the red and green user LEDs.
See the LEDs libroboticscape documentation.
Examples
rc.led("GREEN", true);Parameters
ledString led name to set state should be either "RED" or "GREEN".stateBoolean true for on and false for off.
Register event callbacks. Currently, only the button press events have been implemented.
See the Buttons libroboticscape documentation.
Examples
rc.on("MODE_RELEASED", function() { console.log("MODE button released."); });Parameters
eventString name of event should be one of "PAUSE_PRESSED", "PAUSE_RELEASED", "MODE_PRESSED" or "MODE_RELEASED".callbackFunction function doesn't take any arguments.
Control the DC motor outputs.
See the DC Motors libroboticscape documentation.
Examples
rc.motor("ENABLE");
rc.motor(1, 0.3);Parameters
motorNumber the motor to target. (Optional, defaults to setting the value for all motors. Remove if not used; do not just set toundefined.)valueString | Number value or mode to set motor or motors. Can be one of "ENABLE", "DISABLE", "FREE_SPIN", "BRAKE" or a number from -1 to 1. The "ENABLE" and "DISABLE" arguments can currently only be applied when no motor is specified.
Read and set the count on the quadrature encoder input counters.
See the Quadrature Encoder Counting libroboticscape documentation.
Examples
var enc1 = rc.encoder(1);
rc.encoder(1, 0);Parameters
encoderNumber the index of the encoder to read or set.valueNumber value to which to set the encoder count. (Optional, defaults to reading only.)
Returns Number current encoder count.
Read a channel of the analog-to-digital converter.
See the Analog to Digital Converter libroboticscape documentation.
Examples
var value = rc.adc(1);Parameters
channelNumber | String the channel to read. Possible values are "BATTERY", "DC_JACK", 0, 1, 2 or 3.
Returns Number voltage measured by the ADC on the specified channel.
Read the inertial measurement unit sensor (IMU).
See the Inertial Measurment Unit libroboticscape documentation.
Examples
var state = rc.imu();Parameters
Returns Object IMU state