toioで追っかけっこするやつ。公式のサンプルの chase/index.js を置き換えてください。

index.js

/**
 * Original code:
 * Copyright (c) 2019-present, Sony Interactive Entertainment Inc.
 *
 * This source code is licensed under the MIT license found in the
 * LICENSE file in the root directory of this source tree.
 * 
 * modified by ksasao
 */

const { NearScanner } = require('@toio/scanner')

// calculate chasing cube's motor speed
function chase(x1, y1, x2, y2, y2Angle) {
  const diffX = x1 - x2
  const diffY = y1 - y2

  const distance = Math.sqrt(diffX * diffX + diffY * diffY)
  if (distance < 50) {
    return [0, 0] // stop
  }

  let relAngle = (Math.atan2(diffY, diffX) * 180) / Math.PI - y2Angle
  relAngle = relAngle % 360
  if (relAngle < -180) {
    relAngle += 360
  } else if (relAngle > 180) {
    relAngle -= 360
  }

  const ratio = 1 - Math.abs(relAngle) / 90 / 2
  let speed = 40
  if (relAngle > 0) {
    return [speed, speed * ratio]
  } else {
    return [speed * ratio, speed]
  }
}

async function main() {
  // start a scanner to find nearest two cubes
  const cubes = await new NearScanner(3).start()

  // connect two cubes (tom chases jerry)
  const jerry = await cubes[0].connect()
  const tom = await cubes[1].connect()
  const spike = await cubes[2].connect()

  // set light color and store position
  let jerryX = 0
  let jerryY = 0
  let jerryAngle = 0
  jerry.turnOnLight({ durationMs: 0, red: 255, green: 255, blue: 255 })
  jerry.on('id:position-id', data => {
    jerryX = data.x
    jerryY = data.y
    jerryAngle = data.angle
  })

  // set light color and store position
  let tomX = 0
  let tomY = 0
  let tomAngle = 0
  tom.turnOnLight({ durationMs: 0, red: 255, green: 255, blue: 255 })
  tom.on('id:position-id', data => {
    tomX = data.x
    tomY = data.y
    tomAngle = data.angle
  })

  // set light color and store position
  let spikeX = 0
  let spikeY = 0
  let spikeAngle = 0
  spike.turnOnLight({ durationMs: 0, red: 255, green: 255, blue: 255 })
  spike.on('id:position-id', data => {
    spikeX = data.x
    spikeY = data.y
    spikeAngle = data.angle
  })


  // loop
  setInterval(() => {
    spike.move(...chase(tomX, tomY, spikeY, spikeY, spikeAngle), 100)
    tom.move(...chase(jerryX, jerryY, tomX, tomY, tomAngle), 100)
    jerry.move(...chase(spikeX, spikeY, jerryX, jerryY, jerryAngle), 100)
  }, 50)
}

main()