eva backw

slave/deviceServers/evaV2Server.js

@@ -1,5 +1,43 @@
-var ev3 = require('ev3');
-var voltage = ev3.battery.getVoltage();
-console.log("battery voltage--- ", voltage);
-var speedA = ev3.Motor.getSpeed('A');
-console.log("speed for motor A---", speedA);
+var arg =  process.argv;
+var x = arg.shift();
+x = arg.shift();
+console.log("dskhskjhfkjsdhfkjdshgk ", arg);
+var fs = require('fs');
+var ev3 = require('ev3dev');
+var motorA = new ev3.Motor(ev3.MotorPort.A);
+var head = new ev3.Motor(ev3.MotorPort.C);
+console.log("-----hope this works -----", head.position);
+console.log("-----hope this works type of motor-----", head.type);
+
+var s = -1;
+
+function step() {
+  s = s * -1;
+  var pos = s * arg[1];
+  console.log("--started leg--", pos);
+  console.log("motor A firs position **********", motorA.position);
+
+  motorA.startMotor({
+    targetSpeed: arg[0] * s,
+    regulationMode: true,
+    time: 1500,
+    stopMode: 'hold'
+  });
+
+  console.log("motor head position **********", head.position);
+
+  setTimeout(function () {
+      head.startMotor({
+        targetSpeed: pos,
+        time: 200
+      });
+
+      console.log("motor A second position **********", motorA.position);
+    }
+    , 1700);
+}
+setInterval(step, 2500);
+
+//open file /sys/class/msensor/sensor1/value0 -- touch sensor
+var file =fs.readFileSync("/sys/class/msensor/sensor0/value0");
+console.log("file is--- ", JSON.parse(file));