Initial commit

.gitignore

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+node_modules

README.md

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+AlphaBot
+===
+
+***Work in progress.***
+
+This app controls the [AplhaBot](http://www.waveshare.com/wiki/AlphaBot).
+
+To install the app:
+* `git clone` or download and unzip this repo.
+* `cd` to the checkout, and type in `npm install`.
+
+To run the app:
+
+```
+sudo npm start
+```

config.js

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+module.exports = {
+  // Duration between actions in the bot. Sensor polling interval, if you like.
+  // Too low, and you don't have enough sensor data to act
+  // Too high, and you react too sluggishly
+  // 50ms is a good number.
+  clock: 50,  // milliseconds
+}

hardware.js

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+// This is a duplex stream that pipes out data from the sensors
+// every config.clock milliseconds.
+// Motor commands can be piped into this stream, which then get sent
+// to the motors.
+
+const { Duplex } = require('stream');
+const hal = require('alphabot-hal')();
+const config = require('./config');
+
+const hardware = new Duplex({
+  readableObjectMode: true,
+  writableObjectMode: true,
+  write(chunk, encoding, done) {
+    hal.wheels.left((chunk.wheels && chunk.wheels.left) || 0);
+    hal.wheels.right((chunk.wheels && chunk.wheels.right) || 0);
+
+    done();
+  },
+  read() {}
+});
+
+// Buffer up tick counts
+var ticks = { left: 0, right: 0 };
+hal.on('leftTick', () => ticks.left++);
+hal.on('rightTick', () => ticks.right++);
+
+// Write to the stream every config.clock milliseconds
+setInterval(() => {
+  hardware.push({
+    ticks,
+    obstacleSensors: {
+      left: hal.obstacleSensors.left(),
+      right: hal.obstacleSensors.right()
+    },
+    batteryVoltage: hal.batteryVoltage(),
+    ts: Date.now()
+  });
+
+  ticks.left = ticks.right = 0;
+}, config.clock);
+
+process.on('exit', () => {
+  // Stop motors when exiting
+  hal.wheels.left(0);
+  hal.wheels.right(0);
+});
+
+module.exports = hardware;

index.js

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+const hardware = require('./hardware');
+const { obj: map } = require('through2-map');
+
+// Give the robot a placeholder brain.
+// Act braindead, ignore sensors, don't move
+const brains = map(sensors => ({
+  wheels: { left: 0, right: 0 }
+}))
+
+hardware.pipe(brains).pipe(hardware);