Sumo.js

Sumo.js

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

    board = new five.Board({
    //   port: "/dev/rfcomm1"
      port: "/dev/tty.NodeBot-DevB"
    });

board.on("ready", function() {

    (new five.Led(13)).strobe(500);

    var motorLeft = new five.Motor({
        pins: {
            pwm: 10,
            dir: 8
        }
    });
    var motorRight = new five.Motor({
        pins: {
            pwm: 9,
            dir: 7
        }
    });

    var distance = new five.IR.Distance({
        device: "GP2Y0A21YK", //aka Sharp 2Y0A21
        pin: "A1",
        freq: 200
    });

    var reversing = false;
    var reversingTimeout = null;

    distance.on("data", function() {
        if (!reversing) {
            if (this.cm < 75 && this.cm > 10) {
                motorLeft.reverse((this.cm * 2) + 50);
                motorRight.reverse((this.cm * 2) + 50);
            } else if (this.cm < 10) {
                motorLeft.forward(255);
                motorRight.forward(50);
                reversing = true;
                clearTimeout(reversingTimeout);
                reversingTimeout = setTimeout(function() {
                    reversing = false;
                }, 1000);
            } else {
                motorLeft.reverse(255);
                motorRight.reverse(255);
            }
        }
        // console.log("cm: ", this.cm, this.raw, this.value);
    });
});