eggbot.js

var Eggbot, SerialPort;

SerialPort = require("serialport").SerialPort;

Eggbot = (function() {
  function Eggbot(serialPath, onReady) {
    this.shaftAngle = 0;
    this.armAngle = 0;
    this.serial = new SerialPort(serialPath);
    this.serial.open(function(error) {
      if (error) {
        return console.log(error);
      }
      if (onReady) {
        return setTimeout(onReady, 100);
      }
    });
  }

  Eggbot.prototype.sleepUntil = function(time) {
    var i;
    i = 0;
    while (i < 1e7) {
      if (new Date().getTime() >= time) {
        break;
      }
      i++;
    }
    return time;
  };

  Eggbot.prototype.move = function(newShaftAngle, newArmAngle, ms) {
    var armSteps, shaftSteps;
    if (ms == null) {
      ms = this.duration;
    }
    console.log("" + (Math.round(newShaftAngle)) + " \t " + (Math.round(newArmAngle)));
    shaftSteps = newShaftAngle - this.shaftAngle;
    armSteps = newArmAngle - this.armAngle;
    this.serial.write("SM," + ms + "," + (Math.round(shaftSteps)) + "," + (Math.round(armSteps)) + "\r", function(err) {
      if (err) {
        return console.log(err);
      }
    });
    this.shaftAngle = newShaftAngle;
    return this.armAngle = newArmAngle;
  };

  Eggbot.prototype.startLoop = function(duration, updateLoop) {
    this.duration = duration;
    this.updateLoop = updateLoop;
    this.last = new Date().getTime();
    return setImmediate((function(_this) {
      return function() {
        return _this.loop();
      };
    })(this));
  };

  Eggbot.prototype.loop = function() {
    this.last = this.sleepUntil(this.last + this.duration);
    this.updateLoop(this.last);
    return setImmediate((function(_this) {
      return function() {
        return _this.loop();
      };
    })(this));
  };

  return Eggbot;

})();