npm package discovery and stats viewer.

Discover Tips

  • General search

    [free text search, go nuts!]

  • Package details

    pkg:[package-name]

  • User packages

    @[username]

Sponsor

Optimize Toolset

I’ve always been into building performant and accessible sites, but lately I’ve been taking it extremely seriously. So much so that I’ve been building a tool to help me optimize and monitor the sites that I build to make sure that I’m making an attempt to offer the best experience to those who visit them. If you’re into performant, accessible and SEO friendly sites, you might like it too! You can check it out at Optimize Toolset.

About

Hi, 👋, I’m Ryan Hefner  and I built this site for me, and you! The goal of this site was to provide an easy way for me to check the stats on my npm packages, both for prioritizing issues and updates, and to give me a little kick in the pants to keep up on stuff.

As I was building it, I realized that I was actually using the tool to build the tool, and figured I might as well put this out there and hopefully others will find it to be a fast and useful way to search and browse npm packages as I have.

If you’re interested in other things I’m working on, follow me on Twitter or check out the open source projects I’ve been publishing on GitHub.

I am also working on a Twitter bot for this site to tweet the most popular, newest, random packages from npm. Please follow that account now and it will start sending out packages soon–ish.

Open Software & Tools

This site wouldn’t be possible without the immense generosity and tireless efforts from the people who make contributions to the world and share their work via open source initiatives. Thank you 🙏

© 2024 – Pkg Stats / Ryan Hefner

diff-steer

v0.0.2

Published

Differential steering algorithim for driving a two-motor bot with a two-axis joystick

Downloads

6

Readme

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
//   }
// ];