https://github.com/nebrius/heya
A platform for creating SumoBots
https://github.com/nebrius/heya
Last synced: 10 months ago
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A platform for creating SumoBots
- Host: GitHub
- URL: https://github.com/nebrius/heya
- Owner: nebrius
- License: mit
- Created: 2015-05-24T21:16:53.000Z (about 11 years ago)
- Default Branch: master
- Last Pushed: 2017-04-21T07:27:03.000Z (over 9 years ago)
- Last Synced: 2025-08-17T09:39:24.295Z (11 months ago)
- Language: JavaScript
- Size: 266 KB
- Stars: 4
- Watchers: 1
- Forks: 2
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- Changelog: CHANGELOG.md
- License: LICENSE
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README
Heya
====
[](https://gitter.im/nebrius/heya?utm_source=badge&utm_medium=badge&utm_campaign=pr-badge&utm_content=badge) [](http://unmaintained.tech/)
_Note:_ I have a lot of other projects keeping me busy. Someday I'd love to return to this project, but I don't see that happening any time soon unfortunately.
_Note:_ The documentation here is for the next version of heya, tagged ```next``` in NPM. See the [docs in NPM](https://www.npmjs.com/package/heya) for the current version of the docs. THIS IS A WORK IN PROGRESS AND WILL CHANGE! You have been warned :)
noun. [Heya](https://en.wikipedia.org/wiki/Heya_%28sumo%29): 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 directly controlled robots, such as a Sumobot. A Heya robot'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 responds accordingly.
Splitting the software this way makes it easy to mix and match various controllers and drivers so that pesky interfacing bugs don't interfere with your path to glory!
Install with NPM:
```
npm install heya@next
```
## Example
This example uses the Web Keyboard controller and the Differential Servo driver for controlling an Arduino based [Sumobot Jr](https://github.com/makenai/sumobot-jr).
```JavaScript
var heya = require('heya');
var controller = new heya.WebKeyboard();
var bot = new heya.DifferentialServos({
leftServo: 'A0',
rightServo: 'A1'
});
heya.connect({
input: {
x: controller.direction.x,
y: controller.direction.y
},
output: bot.wheels
});
heya.run(function() {
console.log('Let's Sumo!');
});
```
For more examples, check out the [examples](eg) folder.
## 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_:
Option
Type
Description
port (optional)
Number
The port for the server to listen on
_Available Inputs_:
Input
Type
Description
direction
2D axis
This single input converts four buttons into an 8-way direction, like a d-pad on a game controller
### Gamepad
The Gamepad reads from a USB based gaming device, such as a joystick or PlayStation controller. This controller offers a set of gamepad templates for wiring up some common game controllers, although you can also pass in your own custom template.
_Options_:
Option
Type
Description
type
heya.Gamepad.CYBORG_EVO | custom
The controller mapping to use
Name
Description
CYBORG_EVO
Saitek Cyborg Evo USB joystick
_Available Inputs_:
THe available inputs are dependent on the ```type``` option passed in. See the table below for the inputs provided by the built-in templates, or the section on template format below to see how custom templates are mapped.
_Cyborg Evo Inputs_:
Input
Type
Description
primary
2D axis
The main stick movement, i.e. pushing forward, backward, left, or right
yaw
1D axis
Twisting the stick clockwise or counterclockwise
throttle
1D axis
This is the lever at the base of the stick
trigger
Button
The main trigger on the stick
button1 - button5
Button
The buttons labeled "1" through "5" on the head of the stick
buttonF1 - buttonF4
Button
THe function buttons on the sides of the base labeled "F1" through "F4"
leftUpButton, rightUpButton
Button
The button above the F buttons labeled as "^" on either side of the base
#### Template Format
The gamepad controller uses [node-gamepad](https://github.com/creationix/node-gamepad) under the hood. I recommend familiarizing yourself with the naming and numbering scheme that it uses when creating a custom template. To create a custom template, pass in an object with the following structure:
Property
Type
Description
axes
Object
A collection of named 1D or 2D axes on the gamepad. Each key is the name, and the value is an array of one or two numbers for a 1D or 2D input, respectively. The number(s) are the axis options sent by node-gamepad in move events
buttons
Object
A collection of named buttons on the gamepad. Each key is the name, and the value is a number. The number is the num option sent by node-gamepad in up and down events
Each axis or button name gets mapped to an input on the Gamepad instance. Consider the following example:
```JavaScript
{
axes: {
primary: [ 0, 1 ]
},
buttons: {
a: 0,
b: 1
}
}
```
This creates one 2D axis called ```primary``` and two buttons called ```a``` and ```b```. The axis gets mapped as ```myGamepadInstance.primary```, ```myGamepadInstance.a```, and ```myGamepadInstance.b```, respectively.
## Included Drivers
### Differential Servo
The Differential Servo driver drives any robot that uses two servos in a differential configuration, such as the [Sumobot Jr](https://github.com/makenai/sumobot-jr). Steering is accomplished via throttling the two wheels at different speeds. This driver should be used when the node instance running Heya directly calls Johnny-Five.
_Options_:
Option
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 | String
The pin for each of the two servos
## Custom controllers and drivers
Coming soon!
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.