diff-steer
v0.0.2
Published
Differential steering algorithim for driving a two-motor bot with a two-axis joystick
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diff-steer
Provides a simple interface to a differential steering algorithm to control two motors from one two-axis joystick.
Installation
npm i diff-steer --save
Usage
diff-steer
accepts two inputs, a x-axis value and a y-axis value from a two-axis joystick. The first argument is the x-axis (from -1 to 1) and the second argument is the y-axis (-1 to 1):
var diffSteer = require('diff-steer');
diffSteer(0, -1); // UP
// > [255, 255]
diffSteer(0, 1); // DOWN
// > [-255, -255]
diffSteer(-1, 0); // LEFT
// > [-255, 255]
diffSteer(1, 0); // RIGHT
// > [255, -255]
diffSteer(0.8, -0.74); // UPPER RIGHT
// > [255, -5.100000000000005]
The return value is an array of motor speeds for each motor ranging from 255 to -255. A positive number is "forward", and a negative number is "backward". You can then use those values however you need to.
It is configured out of the box to work with USB gamepads. For more information on interfacing with USB gamepads, checkout gamepad
or node-gamepad
.
Additional Configuration
Axis Input values
If your device does not return values between -1 and 1 for each axis, you can configure diff-steer
:
diffSteer.maxAxis = 1023;
diffSteer.minAxis = 0;
UP/DOWN values
USB gamepads return a negative number of UP
and a positive number for DOWN
. If your device does not follow this pattern (or you'd prefer a different control scheme), you can flip the axis:
diffSteer.maxAxis = 1023;
diffSteer.minAxis = 0;
Johnny-Five
If you are using Johnny-Five, you can pass your five.Motors
collection to the motor_control
module and diff-steer
will handle driving your motors for you:
var steerMotors = require('diff-steer/motor_control');
// Refer to J5 docs for more info on motor shield configs
var config = five.Motor.SHIELD_CONFIGS.ADAFRUIT_V1;
var wheels = new five.Motors([config.M1, config.M2]);
// ...
gamepad.on('move', function(id, axis, value) {
if(axis == 0 || axis == 1) {
var device = gamepad.deviceAtIndex(id);
steerMotors(wheels, device.axisStates[0], device.axisStates[1]);
}
});
If you'd rather control the motors yourself, motor_control
also returns an array of motor commands:
var motorCmds = steerMotors(null, device.axisStates[0], device.axisStates[1]);
console.info(motorCmds);
// [
// {
// direction: 'fwd',
// speed: 255
// },
// {
// direction: 'rev',
// speed: -255
// }
// ];