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heya

Heya

n. Heya: In sumo wrestling, a heya (部屋) is an organization of sumo wrestlers where they train and live.

Heya is a platform for quickly building sumobots. A Heya sumobot's software is split into two pieces: the controller and the driver. The controller takes input from some source and converts it into a common format. The driver then takes this normalized data and drives the motors.

Splitting the software this way makes it easy to mix and match various controllers and drivers.

Install with NPM:

npm install heya

Examples

This example uses the Web Keyboard controller and the Pawel Bot driver for controlling an Arduino based sumobot.

var heya = require('heya');
 
heya.create({
  controller: new heya.controllers.WebKeyboard(),
  driver: new heya.drivers.PawelBot({
    leftServo: 'A0',
    rightServo: 'A1'
  })
});

Included Controllers

Web Keyboard

The Web Keyboard starts a web server that you access from a browser. Within the browser, use the arrow keys or WASD keys to control the bot.

Options:

Options Type Description
port (optional) Number The port for the server to listen on
var heya = require('heya');
 
heya.create({
  controller: new heya.controllers.WebKeyboard(),
  driver: ...
});

Digital Joystick

The Digital Joystick uses a microcontroller to read values from a four-way contact joystick, e.g. a d-pad on a game controller.

Options:

Options Type Description
io (optional) Johnny-Five IO-plugin instance An instance of a Johnny-Five IO plugin to use to read the joystick values
left | right | up | down Number The pin number for each of the four direction contacts
var heya = require('heya');
 
heya.create({
  controller: new heya.controllers.DigitalJoystick({
    left: '5',
    right: '2',
    up: '3',
    down: '4'
  }),
  driver: ...
});

Included Drivers

Pawel Bot

The Pawel Bot driver drivers any sumobot that uses two servos in a differential configuration. Steering is accomplished via throttling the two wheels at different speeds. This incarnation of the Pawel Bot is used when the node instance running Heya directly calls Johnny-Five.

Options:

Options Type Description
io (optional) Johnny-Five IO-plugin instance An instance of a Johnny-Five IO plugin to use to drive the motors
leftServo | rightServo Number The pin number for each of the two servos
var heya = require('heya');
var Spark = require('spark-io');
 
heya.create({
  controller: ...,
  driver: new heya.drivers.PawelBot({
    leftServo: 'A0',
    rightServo: 'A1',
    io: new Spark({
      token: process.env.SPARK_TOKEN,
      deviceId: process.env.SPARK_DEVICE_ID
    })
  })
});

Remote Pawel Bot

The Remote Pawel Bot driver works the same as the normal Pawel Bot driver, except that it connects to a remote host that actually drives the motors, such as a Raspberry Pi, Beagle Bone Black, etc. Use this in conjunction with the heya-remote-pawel-bot moudle running on the remote host.

Options:

Options Type Description
url string The base URL of the remote server, minus a trailing slash, e.g. "http://1.2.3.4:8000"
var heya = require('heya');
 
heya.create({
  controller: ...,
  driver: new heya.drivers.RemotePawelBot({
    url: 'http://1.2.3.4:8000'
  })
});

Custom controllers and drivers

Controllers

A controller extends EventEmitter and emits a move event when input is received. The move event payload is an object with two properties: x and y. These two values can be thought of as representing the position of an analog joystick.

The controller also must implement a connect instance method. The connect method is where any initialization should take place. This method takes a single argument, a callback, that is to be called once initialization is complete.

See the Digital Joystick for an example.

Drivers

A driver implements two instance methods, but does not extend EventEmitter. Drivers must implement a connect method that behaves the same as a controller's connect method.

Drivers also must implement a move method that takes an object indicating the direction to move in, which is one of the values emitted by a controller.

See the Pawel Bot for an example.

License

The MIT License (MIT)

Copyright (c) 2015 Bryan Hughes bryan@theoreticalideations.com

Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.