Example of controlling an Omni-directional robot (Alf) with Johnny-Five

bot.js

var five = require("johnny-five");

var ports = [
  { id: "Alf", port: "/dev/tty.Alf-DevB"},
  { id: "Joystick", port: "/dev/tty.usbmodem1451" }
];

var boards = five.Boards(ports);

var normalizedPosition = { x: 0, y: 0 };

boards.on("ready", function() {
  var alf = this[0];
  var joystick = this[1];

  var m1 = new five.Motor({
    name: "M1",
    controller: 'ADAMOTOV1',
    board: alf
  });

  var m2 = new five.Motor({
    name: "M2",
    controller: 'ADAMOTOV1',
    board: alf
  });

  var m3 = new five.Motor({
    name: "M3",
    controller: 'ADAMOTOV1',
    board: alf
  });

  var m4 = new five.Motor({
    name: "M4",
    controller: 'ADAMOTOV1',
    board: alf
  });

  alf.repl.inject({
    m1: m1,
    m2: m2,
    m3: m3,
    m4: m4,
    move: move, 
    moveAngle: moveAngle,
    stop: stop, 
    spin: spin
  });

  function getComponents(angle, magnitude) {
    var vx = Math.cos(angle) * magnitude;
    var vy = Math.sin(angle) * magnitude;

    return {
      vx: vx,
      vy: vy
    }
  }

  function getVectors(vx, vy) {
    var c = Math.sqrt(3/2);

    return {
      w1: -vx,
      w2: 0.5 * vx - c * vy,
      w3: 0.5 * vx + c * vy
    }
  }

  function moveWheel(motor, magnitude) {
    var minValue = 0;
    
    if(magnitude < 0 ) {
      motor.rev(Math.abs(magnitude) + minValue);
    } else {
      motor.fwd(magnitude + minValue);
    }
  }

  function moveAngle(angle, magnitude) {
    var components = getComponents(angle, magnitude);
    move(components.vx, components.vy);
  }

  function move(vx, vy) {
    var wheels = getVectors(vx, vy);

    moveWheel(m1, wheels.w1);
    moveWheel(m2, wheels.w2);
    moveWheel(m3, wheels.w3);
  }

  function spin() {
    m1.fwd();
    m2.fwd();
    m3.fwd();
  }

  function stop() {
    m1.stop();
    m2.stop();
    m3.stop();
    m4.stop();
  }

  var position = { x: 0, y: 0 };

  var x = five.Sensor({
    pin: 'A0',
    board: joystick
  });

  var y = five.Sensor({
    pin: 'A1',
    board: joystick
  });

  x.on("data", function() {
    position.x = this.value;
    process();
  });

  y.on("data", function() {
    position.y = this.value;
    process();
  });

  function normalized(position) {
    var x = position.x - 528;
    var y = -1 * (position.y - 513);
    return {
      x: position.x - 528,
      y: -1 * (position.y - 513)
    };
  }

  function process() {
    normalizedPosition = normalized(position);
  }

  setInterval(function() {
    move(normalizedPosition.x, normalizedPosition.y);
  }, 200);


});