EV3: Proximity

eg/proximity-EV3.js

@@ -0,0 +1,14 @@
+var five = require("../lib/johnny-five.js");
+var board = new five.Board();
+
+board.on("ready", function() {
+  var proximity = new five.Proximity({
+    controller: "EV3",
+    pin: "BBS1"
+  });
+
+  proximity.on("change", function() {
+    console.log("The obstruction has moved.");
+    console.log(this.cm + "cm", this.in + "in");
+  });
+});

lib/button.js

@@ -55,14 +55,8 @@ var Controllers = {
         state.shield = EV3.shieldPort(opts.pin);
         state.register = EV3.Touch;
 
-        state.ev3 = new EV3(
-          Object.assign({}, opts, {
-            io: this.io
-          })
-        );
-
+        state.ev3 = new EV3(Object.assign(opts, { io: this.io }));
         state.ev3.setup(state.shield, EV3.Type_EV3_TOUCH);
-
         state.ev3.read(state.shield, EV3.Touch, EV3.Touch_Bytes, function(data) {
           var value = data[0];
           // Since i2cRead is continuous regardless of the reading,

lib/ev3.js

@@ -15,6 +15,8 @@ Bank.prototype.write = function(register, bytes) {
   this.io.i2cWrite(this.address, register, bytes);
 };
 
+// http://www.nr.edu/csc200/labs-ev3/ev3-user-guide-EN.pdf
+
 function EV3(options) {
   if (shared) {
     return shared;
@@ -77,7 +79,6 @@ EV3.shieldPort = function(pin) {
   };
 };
 
-
 EV3.prototype = Object.create(Emitter.prototype, {
   constructor: {
     value: EV3
@@ -159,15 +160,19 @@ EV3.S2_OFFSET = 52;
 /*
  * Sensor Read Registers
  */
-EV3.Touch = 0x83;
 EV3.Bump = 0x84;
+EV3.Proximity = 0x83;
+EV3.Touch = 0x83;
+
+
 
 
 /*
  * Sensor Read Byte Counts
  */
-EV3.Touch_Bytes = 1;
 EV3.Bump_Bytes = 1;
+EV3.Proximity_Bytes = 2;
+EV3.Touch_Bytes = 1;
 
 
 /*

lib/proximity.js

@@ -1,17 +1,16 @@
-var Board = require("../lib/board.js"),
-  within = require("./mixins/within"),
-  __ = require("./fn"),
-  events = require("events"),
-  util = require("util");
+var Board = require("../lib/board");
+var EV3 = require("../lib/ev3");
+var within = require("./mixins/within");
+var __ = require("./fn");
+var Emitter = require("events").EventEmitter;
+var util = require("util");
+var priv = new Map();
 
 function analogHandler(opts, dataHandler) {
-
   this.io.pinMode(this.pin, this.io.MODES.ANALOG);
-
   this.io.analogRead(this.pin, function(data) {
     dataHandler.call(this, data);
   }.bind(this));
-
 }
 
 var Controllers = {
@@ -220,7 +219,29 @@ var Controllers = {
         return raw;
       }
     }
-  }
+  },
+  EV3: {
+    initialize: {
+      value: function(opts, dataHandler) {
+        var state = priv.get(this);
+
+        state.shield = EV3.shieldPort(opts.pin);
+
+        state.ev3 = new EV3(Object.assign(opts, { io: this.io }));
+        state.ev3.setup(state.shield, EV3.Type_EV3);
+        state.ev3.read(state.shield, EV3.Proximity, EV3.Proximity_Bytes, function(data) {
+          var value = data[0] | (data[1] << 8);
+
+          dataHandler(value);
+        });
+      }
+    },
+    toCm: {
+      value: function(raw) {
+        return raw;
+      }
+    }
+  },
 };
 
 // Sensor aliases
@@ -282,7 +303,8 @@ function Proximity(opts) {
     return new Proximity(opts);
   }
 
-  var controller;
+  var controller = null;
+  var state = {};
   var raw = 0;
   var freq = opts.freq || 25;
   var last = 0;
@@ -305,6 +327,8 @@ function Proximity(opts) {
     };
   }
 
+  priv.set(this, state);
+
   Object.defineProperties(this, {
     /**
      * [read-only] Calculated centimeter value
@@ -374,7 +398,7 @@ Proximity.Controllers = [
   "0A02", "GP2Y0A02YK0F",
 ];
 
-util.inherits(Proximity, events.EventEmitter);
+util.inherits(Proximity, Emitter);
 
 __.mixin(Proximity.prototype, within);
 

test/button.js

@@ -1,11 +1,10 @@
-var MockFirmata = require("./util/mock-firmata");
 var sinon = require("sinon");
+var MockFirmata = require("./util/mock-firmata");
 var EV3 = require("../lib/ev3");
 var five = require("../lib/johnny-five");
 var Button = five.Button;
 var Board = five.Board;
 
-
 function newBoard() {
   var io = new MockFirmata();
   var board = new Board({