/**
* For controlling hobby servos, continuous rotation servos
* @module j5e/servo
* @requires module:j5e/animation
* @requires module:j5e/easing
* @requires module:j5e/event
* @requires module:j5e/fn
*/
import Animation from "j5e/animation";
import { Emitter } from "j5e/event";
import { constrain, normalizeDevice, normalizeIO, getProvider, map, fmap, timer } from "j5e/fn";
import { inOutSine } from "j5e/easing";
/**
* Class representing a Servo
* @classdesc The Servo class allows for control of hobby servos
* @async
* @extends module:j5e/event.Emitter
* @fires move:complete - Fires when a servo reaches its requested position
*/
class Servo extends Emitter {
#state = {
history: [],
isRunning: false,
animation: null,
value: null
};
/**
* Instantiate a Servo
* @param {number|string|object} io - Pin identifier or IO Options (See {@tutorial C-INSTANTIATING})
* @example
* <caption>Sweep a servo back and forth</caption>
* import Servo from "j5e/servo";
*
* const servo = await new Servo(12);
* servo.sweep();
*
*/
constructor(io) {
return (async() => {
io = normalizeIO(io);
const Provider = await getProvider(io, "PWM");
super();
this.io = new Provider({
pin: io.pin,
mode: Provider.Output,
hz: 50
});
this.configure();
return this;
})();
}
/**
* Configure a Servo
* @returns {Servo} The instance on which the method was called
* @param {object} options - Device configuration options
* @param {(number|string)} [options.pin] - If passing an object, a pin number or pin identifier
* @param {(string|constructor)} [options.io=builtin/pwm] - If passing an object, a string specifying a path to the IO provider or a constructor
* @param {string} [options.type="standard"] - Type of servo ("standard" or "continuous")
* @param {number[]} [options.pwmRange=[600, 2400]] - The pulse width range in microseconds
* @param {number[]} [options.deadband=[90,90]] - The degree range at which a continuos motion servo will not turn
* @param {number[]} [options.range=[0, 180]] - The allowed range of motion in degrees
* @param {number[]} [options.deviceRange=[0, 180]] - The physical range (throw) of the servo in degrees
* @param {number} [options.startAt="Any value within options.range"] - The desired start position of the servo
* @param {number} [options.offset=0] - Adjust the position of the servo for trimming
* @param {boolean} [options.invert=false] - Reverses the direction of rotation
* @param {boolean} [options.center=false] - Center the servo on instantiation
* @example
* <caption>Move a continuos rotation servo forward</caption>
* import Servo from "j5e/servo";
*
* const servo = await new Servo({ pin: 12 });
* servo.configure({type: "continuous"});
* servo.cw();
*/
configure(options = {}) {
options = normalizeDevice(options);
this.#state.pwmRange = options.pwmRange || [600, 2400];
this.#state.deviceRange = options.deviceRange || [0, 180];
this.#state.deadband = options.deadband || [90, 90];
this.#state.offset = options.offset || 0;
this.#state.startAt = options.startAt || (this.#state.deviceRange[1] - this.#state.deviceRange[0]) / 2;
this.#state.range = options.range || [0 - this.offset, 180 - this.offset];
this.#state.type = options.type || "standard";
this.#state.invert = options.invert || false;
this.#state.isRunning = false;
this.initialize(options);
if (typeof options.startAt !== "undefined") {
this.to(options.startAt);
} else {
if (options.type === "continuous") {
this.stop();
} else {
this.center();
}
}
return this;
}
/**
* The last five position updates
* @returns {object[]}
* @property {date} timestamp - Timestamp of position update
* @property {number} target - The user requested position
* @property {number} degrees - The actual position (factors in offset and invert)
* @property {number} pulseWidth - The corrected pulseWidth (factors in offset and invert)
* @readonly
*/
get history() {
return this.#state.history.slice(-5);
}
/**
* The most recent position update
* @returns {object}
* @property {date} timestamp - Timestamp of position update
* @property {number} target - The user requested position
* @property {number} degrees - The actual position (factors in offset and invert)
* @property {number} pulseWidth - The corrected pulseWidth (factors in offset and invert)
* @readonly
*/
get last() {
if (this.#state.history.length) {
return this.#state.history[this.#state.history.length - 1];
} else {
return {
timestamp: Date.now(),
degrees: null,
target: null
};
}
}
/**
* The most recent request and corrected position (factors in offset and invert)
* @returns {number}
* @readonly
*/
get position() {
return this.#state.history.length ? this.#state.history[this.#state.history.length - 1].degrees : -1;
}
/**
* The initialization code for a servo
* @ignore
*/
initialize(options) {
// No operation here... Meant to be overwritten by subclasses
}
/**
* Calls the write param on the IO instance for this servo.
* @param {number} pulseWidth - The target pulseWidth
* @returns {Servo}
* @ignore
*/
update(degrees) {
// If same degrees return immediately.
if (this.last && this.last.degrees === degrees) {
return this;
}
let microseconds = fmap(degrees, this.#state.deviceRange[0], this.#state.deviceRange[1], this.#state.pwmRange[0], this.#state.pwmRange[1]);
// Presumably some IO's will support writeMicroseconds
if (this.io.writeMicroseconds) {
this.io.writeMicroseconds(microseconds | 0);
} else {
let value = fmap(microseconds, 0, 20_000, 0, 2 ** this.io.resolution - 1);
this.io.write(value | 0);
}
}
/**
* Set the servo's position to given degree over time.
*
* @param {Number|Object} degrees Degrees to move servo to or an animation object (See {@tutorial D-ANIMATING})
* @param {Number} [time] Time to spend in motion. If degrees is a number and this value is ommitted, the servo will move to the requested degrees as quickly as possible.
* @param {Number} [rate=20] The target frame rate of the motion transiton
* @return {Servo} instance
* @example
* <caption>Move a servo to 180° as quickly as possible</caption>
* import Servo from "j5e/servo";
*
* const servo = await new Servo(12);
* servo.to(180);
*
* @example
* <caption>Move a servo to 180° over one second</caption>
* import Servo from "j5e/servo";
*
* const servo = await new Servo(12);
* servo.to(180, 1000);
*
* @example
* <caption>Move a servo to 180° using an animation segment object</caption>
* import Servo from "j5e/servo";
* import { inOutQuad } from "j5e/easing";
*
* const servo = await new Servo(12);
* servo.to({
* duration: 1000,
* cuePoints: [0, 1.0],
* keyFrames: [ null, 180 ],
* easing: inOutQuad
* });
*/
to(degrees, time, rate) {
let options = {
duration: 1000,
cuePoints: [0, 1.0],
keyFrames: [
null,
{
value: typeof degrees.degrees === "number" ? degrees.degrees : this.startAt
}
],
oncomplete: () => {
// Enforce async execution for user "oncomplete"
timer.setImmediate(() => {
if (typeof degrees.oncomplete === "function") {
degrees.oncomplete();
}
this.emit("move:complete");
});
}
};
if (typeof degrees === "object") {
Object.assign(options, degrees);
this.#state.isRunning = true;
this.#state.animation = this.#state.animation || new Animation(this);
this.#state.animation.enqueue(options);
} else {
const target = degrees;
// Enforce limited range of motion
degrees = constrain(degrees, this.#state.range[0], this.#state.range[1]);
if (typeof time !== "undefined") {
options.duration = time;
options.keyFrames = [null, {
degrees: degrees
}];
options.fps = rate || 20;
this.to(options);
} else {
this.#state.value = degrees;
degrees += this.#state.offset;
if (this.#state.invert) {
degrees = map(
degrees,
this.#state.deviceRange[0], this.#state.deviceRange[1],
this.#state.deviceRange[1], this.#state.deviceRange[0]
);
}
this.update(degrees);
if (this.#state.history.length > 5) {
this.#state.history.shift();
}
this.#state.history.push({
timestamp: Date.now(),
degrees: degrees,
target: target
});
}
}
return this;
}
/**
* Update the servo position by specified degrees (over time)
*
* @param {Number} degrees Degrees to turn servo to.
* @param {Number} [time] Time to spend in motion.
* @return {Servo}
* @example
* <caption>Move a servo to 120° as quickly as possible</caption>
* import Servo from "j5e/servo";
*
* const servo = await new Servo(12);
* // The servo's default position is 90 degrees
* servo.step(30);
*
* @example
* <caption>Move a servo to 120° over one second</caption>
* import Servo from "j5e/servo";
*
* const servo = await new Servo(12);
* // The servo's default position is 90 degrees
* servo.step(30, 1000);
*/
step(degrees, time) {
return this.to(this.last.target + degrees, time);
}
/**
* min Set Servo to minimum degrees, defaults to 0deg
* @param {Number} [time] Time to spend in motion.
* @return {Servo}
* @example
* <caption>Move a servo to 0° as quickly as possible</caption>
* import Servo from "j5e/servo";
*
* const servo = await new Servo(12);
* servo.min();
*
* @example
* <caption>Move a servo to 0° over one second</caption>
* import Servo from "j5e/servo";
*
* const servo = await new Servo(12);
* servo.min(1000);
*/
min(time) {
return this.to(this.#state.deviceRange[0], time);
};
/**
* Set Servo to maximum degrees, defaults to 180deg
* @param {Number} [time] Time to spend in motion.
* @return {Object} instance
* @example
* <caption>Move a standard servo to 180° as quickly as possible</caption>
* import Servo from "j5e/servo";
*
* const servo = await new Servo(12);
* servo.max();
*
* @example
* <caption>Move a standard servo to 180° over one second</caption>
* import Servo from "j5e/servo";
*
* const servo = await new Servo(12);
* servo.max(1000);
*/
max(time) {
return this.to(this.#state.deviceRange[1], time);
}
/**
* Set Servo to centerpoint, defaults to 90deg
* @param {Number} [time] Time to spend in motion.
* @return {Object} instance
* @example
* <caption>Move a servo to 180° and then back to 90° as quickly as possible</caption>
* import Servo from "j5e/servo";
* import { timer } from "j5e/fn";
*
* const servo = await new Servo(12);
* servo.to(180);
*
* timer.setTimeout(function() {
* servo.center();
* }, 1000);
*
* @example
* <caption>Move a servo to 180° and then back to 90° over one second</caption>
* import Servo from "j5e/servo";
* import { timer } from "j5e/fn";
*
* const servo = await new Servo(12);
* servo.to(180);
*
* timer.setTimeout(function() {
* servo.center(1000);
* }, 1000);
*/
center(time) {
return this.to(Math.abs((this.#state.deviceRange[0] + this.#state.deviceRange[1]) / 2), time);
}
/**
* Return Servo to its startAt position
* @return {Servo}
* @example
* <caption>Move a servo to 180° and then back to 90° as quickly as possible</caption>
* import Servo from "j5e/servo";
* import { timer } from "j5e/fn";
*
* const servo = await new Servo(12);
* servo.to(180);
*
* timer.setTimeout(function() {
* servo.home();
* }, 1000);
*/
home() {
return this.to(this.#state.startAt);
}
/**
* Sweep the servo between min and max or provided range
* @param {Array|Object} opts An array describing the range of the sweep in degrees or an animation segment options object
* @return {Servo}
* @example
* <caption>Sweep a servo back and forth between 10° to 170°</caption>
* import Servo from "j5e/servo";
*
* const servo = await new Servo(12);
* servo.sweep([10, 170]));
*
* example
* <caption>Sweep a servo back and forth between 10° to 170° with inOutCirc easing</caption>
* import Servo from "j5e/servo";
* import {inOutCirc} from "j5e/easing";
*
* const servo = await new Servo(12);
* servo.sweep({
* keyFrames: [10, 170],
* cuePoints: [0, 1],
* easing: inOutCirc
* });
*/
sweep(opts) {
var options = {
keyFrames: [{
value: this.#state.deviceRange[0]
}, {
value: this.#state.deviceRange[1]
}],
metronomic: true,
loop: true,
easing: inOutSine,
duration: 1000
};
// If opts is an array, then assume a range was passed
if (Array.isArray(opts)) {
options.keyFrames = rangeToKeyFrames(opts);
} else {
if (typeof opts === "object" && opts !== null) {
Object.assign(options, opts);
if (Array.isArray(options.range)) {
options.keyFrames = rangeToKeyFrames(options.range);
}
}
}
return this.to(options);
}
/**
* Stop a moving servo
* return {Servo}
* @example
* <caption>Sweep a servo back and forth for two seconds then stop</caption>
* import Servo from "j5e/servo";
*
* const servo = await new Servo(12);
* servo.sweep([10, 170]));
*
* timer.setTimeout(function() {
* servo.stop();
* }, 2000);
*/
stop() {
if (this.#state.animation) {
this.#state.animation.stop();
}
if (this.#state.type === "continuous") {
this.to(
this.#state.deadband.reduce(function(a, b) {
return (a + b) / 2;
})
);
}
return this;
}
/**
* Move a continuous rotation servo clockwise
* @param {number} speed Speed between 0 and 1.
* @return {Servo}
* @example
* <caption>Move a continuos rotation servo clockwise</caption>
* import Servo from "j5e/servo";
*
* const servo = await new Servo({ pin: 12, type: "continuous"});
* servo.cw();
*
* @example
* <caption>Move a continuos rotation servo clockwise at half speed</caption>
* import Servo from "j5e/servo";
*
* const servo = await new Servo({ pin: 12, type: "continuous"});
* servo.cw(0.5);
*/
cw(speed = 1) {
speed = constrain(speed, 0, 1);
speed = map(speed, 0, 1, this.#state.deadband[1] + 1, this.#state.deviceRange[1]);
return this.to(speed);
}
/**
* Move a continuous rotation servo counter-clockwise
* @param {number} speed Speed between 0 and 1.
* @return {Servo}
* @example
* <caption>Move a continuos rotation servo counter-clockwise</caption>
* import Servo from "j5e/servo";
*
* const servo = await new Servo({ pin: 12, type: "continuous"});
* servo.ccw();
*
* @example
* <caption>Move a continuos rotation servo counter-clockwise at half speed</caption>
* import Servo from "j5e/servo";
*
* const servo = await new Servo({ pin: 12, type: "continuous"});
* servo.ccw(0.5);
*/
ccw(speed = 1) {
speed = constrain(speed, 0, 1);
speed = map(speed, 0, 1, this.#state.deadband[0] - 1, this.#state.deviceRange[0]);
return this.to(speed);
}
/**
* @param [number || object] keyFrames An array of step values or a keyFrame objects
* @ignore
*/
normalize(keyFrames) {
let last = this.last ? this.last.target : this.startAt;
// If user passes null as the first element in keyFrames use current position
if (keyFrames[0] === null) {
keyFrames[0] = {
value: last
};
}
// If user passes a number as the first element in keyFrames make it a step
if (typeof keyFrames[0] === "number") {
keyFrames[0] = {
value: last + keyFrames[0]
};
}
return keyFrames.map(function(frame) {
let value = frame;
/* istanbul ignore else */
if (frame !== null) {
// frames that are just numbers represent _step_
if (typeof frame === "number") {
frame = {
step: value,
};
} else {
if (typeof frame.degrees === "number") {
frame.value = frame.degrees;
delete frame.degrees;
}
if (typeof frame.copyDegrees === "number") {
frame.copyValue = frame.copyDegrees;
delete frame.copyDegrees;
}
}
}
return frame;
});
}
/**
* render
* @position [number] value to set the servo to
* @ignore
*/
render(position) {
return this.to(position[0]);
}
}
function rangeToKeyFrames(range) {
return range.map(function(value) {
return { value: value };
});
}
export default Servo;
