sphero_control.js

var ds = require("dualshock-controller");
var sphero = require("spheron").sphero();
var spheroReady = false;


sphero.on("open", function() {
  console.log("sphero ready");
  spheroReady = true;

  sphero.setBackLED(0xff);
});

sphero.open(process.env.SPHERO_DEV);

const TO_DEGREES = 180 / Math.PI;

var controller = ds({
  config: "dualShock3"
});

controller.on("error", function(err) {
  console.log("some shit went wrong");
  console.log(err);
});

var centered = false;
var center = {};
var offset = {};

var lastHeading = 0;

controller.on("left:move", function(pos) {
  if(!centered) {
    offset = center = pos;
    centered = true;
    console.log("centered");
  }

  var heading = Math.round((Math.atan2(pos.x - center.x, pos.y - center.y) * TO_DEGREES) + 180);

  if(spheroReady) {
    console.log(heading);
    sphero.roll(0, heading, 2);
  }

  lastHeading = heading;
});

controller.connect();