Hardware Reference
In-Depth Information
var
CW
=
1
,
// Clockwise
CCW
= -
1
,
pos
=
0
,
// current position and direction
direction
=
CW
;
// Initialize motor control pins to be OUTPUTs
var
i
;
for
(
i
=
0
;
i
<
controller
.
length
;
i
++) {
b
.
pinMode
(
controller
[
i
],
b
.
OUTPUT
);
}
// Put the motor into a known state
updateState
(
states
[
0
]);
rotate
(
direction
);
var
timer
=
setInterval
(
move
,
ms
);
// Rotate back and forth once
function
move
() {
pos
+=
direction
;
console
.
log
(
"pos: "
+
pos
);
// Switch directions if at end.
if
(
pos
>=
max
||
pos
<=
min
) {
direction
*= -
1
;
}
rotate
(
direction
);
}
// This is the general rotate
function
rotate
(
direction
) {
// console.log("rotate(%d)", direction);
// Rotate the state acording to the direction of rotation
curState
+=
direction
;
if
(
curState
>=
states
.
length
) {
curState
=
0
;
}
else if
(
curState
<
0
) {
curState
=
states
.
length
-
1
;
}
updateState
(
states
[
curState
]);
}
// Write the current input state to the controller
function
updateState
(
state
) {
console
.
log
(
"state: "
+
state
);
for
(
i
=
0
;
i
<
controller
.
length
;
i
++) {
b
.
digitalWrite
(
controller
[
i
],
state
[
i
]);
