motor.coffee

dgram = require 'dgram'

SIO_RIGHT = 2
SIO_LEFT = 1

ID_NECK = 0
ID_SHOULDER_ROTATION = 1
ID_SHOULDER_UP_DOWN = 2
ID_ELBOW = 4
ID_HIP_OPEN_CLOSE = 6
ID_HIP_BACK_FORTH = 7
ID_KNEE = 8
ID_ANKLE_UP_DOWN = 9
ID_ANKLE_OPEN_CLOSE = 10

POSITION_DEFAULT_MAX = 10000
POSITION_DEFAULT = 7500
POSITION_DEFAULT_MIN = 5000

makeIcs = (sio, id) ->
  return (id * 2) + (sio - 1)

json = [
  { frame: 50 }
  {
    ics: makeIcs SIO_RIGHT, ID_NECK
    value: 5000
  }
  { command: 3 }
]

message = new Buffer JSON.stringify json
client = dgram.createSocket 'udp4'
client.send message, 0, message.length, 3500, '*.*.*.*', (err, bytes) ->
  console.error err if err
  console.log "send #{bytes} bytes"
  console.log json
  client.close()