lib/intval/index.js

@@ -1,5 +1,7 @@
 'use strict'
 
+const log = require('../log')('intval')
+
 let Gpio
 try {
 	Gpio = require('onoff').Gpio
@@ -42,7 +44,7 @@ class Intval {
 				time : 0, //length of frame, in ms
 				delay : 0, //delay before start of frame, in ms
 
-				expected : 0 //expected length of frame, in ms
+				expected : 1000 //expected length of frame, in ms
 			},
 			release : {
 				time: 0,
@@ -55,6 +57,7 @@ class Intval {
 		}
 		this._releaseMin = 50
 		this._releaseSequence = 1000
+		this._microDelay = 10 // delay after stop signal before stopping motors
 		this._declarePins()
 		process.on('SIGINT', this._undeclarePins)
 	}
@@ -88,8 +91,8 @@ class Intval {
 	*
 	*/
  	_startFwd () {
-		this._pin.fwd.set(1)
-		this._pin.bwd.set(0)
+		this._pin.fwd.writeSync(1)
+		this._pin.bwd.writeSync(0)
 		//start high-cpu watch
 	}
 	/**
@@ -97,16 +100,16 @@ class Intval {
 	*
 	*/
 	_startBwd () {
-		this._pin.fwd.set(0)
-		this._pin.bwd.set(1)
+		this._pin.fwd.writeSync(0)
+		this._pin.bwd.writeSync(1)
 	}
 	/** 
 	* Stop motor by setting both motor pins to 0 (LOW)
 	*
 	*/
 	_stop () {
-		this._pin.fwd.set(0)
-		this._pin.bwd.set(0)
+		this._pin.fwd.writeSync(0)
+		this._pin.bwd.writeSync(0)
 
 		let len = (+new Date()) - this._state.frame.start
 
@@ -119,8 +122,9 @@ class Intval {
 	/**
 	* Callback for watching relese switch state changes.
 	* Using GPIO 06 on Raspberry Pi Zero W.
-	* * If closed, start timer.
-	* * If opened, check timer AND
+	*
+	* 1) If closed AND frame active, start timer, set state primed to `true`.
+	* 1) If opened AND frame active, stop frame
 	*
 	* Microswitch + 10K ohm resistor 
 	* * 1 === open 
@@ -132,11 +136,26 @@ class Intval {
 	*
 	*/
 	_watchMicro (err, val) {
+		const NOW = +new Date()
 		if (err) {
 			console.error(err)
 		}
-		this._state.frame.val = val
 		//determine when to stop
+		if (val === 0 && this._state.frame.active) {
+			if (!this._state.micro.primed) {
+				this._state.micro.primed = true
+				this._state.micro.time = NOW
+				console.log('Mircoswitch primed to stop motor')
+			}
+		} else if (val === 1 && this._state.frame.active) {
+			if (this._state.micro.primed) {
+				this._state.micro.primed = false
+				this._state.micro.time = 0
+				setTimeout( () => {
+					console.log(`Stopped frame after ${NOW - this._state.micro.time}ms`)
+				}, this._microDelay)
+			}
+		}
 	}
 	/**
 	* Callback for watching relese switch state changes.
@@ -178,7 +197,7 @@ class Intval {
 				} else if (press >= this._releaseSequence) {
 					this.sequence()
 				}
-				console.log(`Release closed for ${press}`)
+				console.log(`Release closed for ${press}ms`)
 				this._state.release.time = 0
 				this._state.release.active = false
 			}