Прошивка для сумобота тип Б

sumobot.js

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

var EtherPortClient = require("etherport-client").EtherPortClient;
var board = new five.Board({
port: new EtherPortClient({
host: "10.0.1.8",
port: 3030
}),
timeout: 1e5,
repl: false
});

board.on("ready", function() {
console.log("READY!");

  var leftWheel= new five.Motor({
    pins: {
      pwm: 15,
      dir: 13,
      cdir: 12
    }
  });


  var rightWheel = new five.Motor({
    pins: {
      pwm: 14,
      dir: 2,
      cdir: 0
    }
  });

leftWheel.setPWM(15,0);
leftWheel.setPin(13,0);
leftWheel.setPin(12,0);

rightWheel.setPWM(14,0);
rightWheel.setPin(2,0);
rightWheel.setPin(0,0);

  keypress(process.stdin);
  process.stdin.resume();
  process.stdin.setEncoding('utf8');
  process.stdin.setRawMode(true);
  console.log("press a key");
  process.stdin.on('keypress', function (ch, key) {
 
    var speed = 1600

  if ( !key ) { return; }

    if ( key.name === 'q' ) {

      console.log('Quitting');
      process.exit();

    } else if ( key.name === 'up' ) {

      console.log('Forward');
      leftWheel.setPWM(15,speed);
      leftWheel.setPin(13,1);
      leftWheel.setPin(12,0);

      rightWheel.setPWM(14,speed);
      rightWheel.setPin(2,1);
      rightWheel.setPin(0,0);

    } else if ( key.name === 'down' ) {

      console.log('Backward');
      leftWheel.setPWM(15,speed);
      leftWheel.setPin(13,0);
      leftWheel.setPin(12,1);

      rightWheel.setPWM(14,speed);
      rightWheel.setPin(2,0);
      rightWheel.setPin(0,1);

    } else if ( key.name === 'right' ) {

      console.log('Right');
      leftWheel.setPWM(15,speed / 4);
      leftWheel.setPin(13,0);
      leftWheel.setPin(12,1);

      rightWheel.setPWM(14,speed / 8);
      rightWheel.setPin(2,1);
      rightWheel.setPin(0,0);

    } else if ( key.name === 'left' ) {

      console.log('Left');
      leftWheel.setPWM(15,speed / 8);
      leftWheel.setPin(13,1);
      leftWheel.setPin(12,0);

      rightWheel.setPWM(14,speed / 4);
      rightWheel.setPin(2,0);
      rightWheel.setPin(0,1);

   } else if ( key.name === 'space' ) {

      console.log('Stopping');
      leftWheel.setPWM(15,speed);
      leftWheel.setPin(13,0);
      leftWheel.setPin(12,0);

      rightWheel.setPWM(14,speed);
      rightWheel.setPin(2,0);
      rightWheel.setPin(0,0);
    }

  });

});