gcode-xbox

#!/usr/local/bin/node
// control Grbl-based CNC machine (Carvey, X-Carve, etc) from an Xbox controller
//
//  by samy kamkar
//
// todo: speed of bit, feedrate speed, fast movements dpad, controlled motion analog stick, curves
// usage: ./gcode-xbox [/dev/cu.GRBL_SERIAL_PORT]


// list possible serial ports
var serialPort = require("serialport");
serialPort.list(function (err, ports) {
	ports.forEach(function(port) {
		console.log(port.comName, port.pnpId, port.manufacturer);
	});
});

var args = process.argv.slice(2);
var SerialPort = require("serialport").SerialPort;
var openSP = true;
var sp;
var dint; // d-pad interval

if (args[0])
	sp = args[0];
else
{
	const fs = require('fs');
	var files = fs.readdirSync('/dev');
	var usb = 0;
	for (var file in files)
	{
		if (files[file].indexOf('cu.usb') == 0)
		{
			sp = '/dev/' + files[file];
			console.log('Found potential serial port: ' + sp);
			usb++;
		}
	}

	if (usb != 1)
	{
		console.log("usage: gcode-xbox /dev/cu.[grbl serial port]");

		// wait for serial port callbacks to be displayed
		setInterval(function() {
			process.exit(1);
		}, 1000);
	}
}

serialPort = new SerialPort(sp, {
	baudrate: 115200
});

var XboxController = require('xbox-controller');
var xbox = new XboxController();


if (xbox.serialNumber)
	console.log(xbox.serialNumber + ' Xbox controller online');
else
	console.log('No Xbox controller found');


function scale(x, x0, x1, y0, y1)
{
    var y = y0 + (y1 - y0) * (x - x0) / (x1 - x0)
		return y;
}

function logslider(position, min, max) {
	var neg = false;

	if (position < 0)
	{
		position = Math.abs(position);
		neg = true;
	}

	// position will be between 0 and 100
	var minp = 0;
	var maxp = 32768;

	// The result should be between .0254mm - 2mm
	var minv = Math.log(min ? min : 25);
	var maxv = Math.log(max ? max : 30000); // faster??
	//var maxv = Math.log(max ? max : 3000); // slower?? XXX test

	// calculate adjustment factor
	var scale = (maxv-minv) / (maxp-minp);

	var out = Math.exp(minv + scale*(position-minp)) / 100000;
	return neg ? out * -1 : out;
}



var gox, goy, goz, dox, doy, running;
gox = goy = goz = dox = doy = running = 0;
var xon = false;
var cruisecontrol = false;

var gcode = function(code, unimportant)
{
	if (unimportant && running)
	{
		console.log("GCODE [ignoring]> " + code);
		return;
	}

	console.log("GCODE> " + code);
	running = 1;
	if (openSP)
		serialPort.write(code + "\n", function(err, results) {
			running = 0;
			if (typeof err !== 'undefined')
				console.log('err ' + err);
			console.log('results ' + results);
		});
};


if (openSP)
	serialPort.on("open", function () {
		console.log('open');
		serialPort.on('data', function(data) {
			console.log('data received: ' + data);
		});
		gcode("?"); // current status
		gcode("$X"); // kill alarm clock
		gcode("?"); // current status
		gcode("G90"); // absolute dist
		gcode("G91"); // relative dist
		gcode("G21"); // mm
		//gcode("G28"); // return to home
	});


/*
 * A,B,X,Y buttons
 */

xbox.on('a:press', function (key) {
	gcode("G91");
	gcode("G21");
	gcode("G0 Z5");
	gcode("M5");
	//gcode("G28");
  var message = JSON.stringify({ serialNumber: xbox.serialNumber, button: 'a', action:'press' });
  console.log(message);
});

xbox.on('a:release', function(key) {
  var message = JSON.stringify({ serialNumber: xbox.serialNumber, button: 'a', action:'release' });
  console.log(message);
});


xbox.on('b:press', function(key) {
  var message = JSON.stringify({ serialNumber: xbox.serialNumber, button: 'b', action:'press' });
  console.log(message);
});

xbox.on('b:release', function(key) {
  var message = JSON.stringify({ serialNumber: xbox.serialNumber, button: 'b', action:'release' });
  console.log(message);
});


// CUT!
xbox.on('x:press', function(key) {
	cruisecontrol = false;
	xon = true;
	xbox.setLed(0x01);
	gcode("M3 S12000");
  var message = JSON.stringify({ serialNumber: xbox.serialNumber, button: 'x', action:'press' });
  console.log(message);
});

xbox.on('x:release', function(key) {
	xon = false;
	if (!cruisecontrol)
	{
		xbox.setLed(0x06);
		gcode("M5"); // stop cut
	}

  var message = JSON.stringify({ serialNumber: xbox.serialNumber, button: 'x', action:'release' });
  console.log(message);
});


xbox.on('y:press', function(key) {
  var message = JSON.stringify({ serialNumber: xbox.serialNumber, button: 'y', action:'press' });
  console.log(message);
});

xbox.on('y:release', function(key) {
  var message = JSON.stringify({ serialNumber: xbox.serialNumber, button: 'y', action:'release' });
  console.log(message);
});


/*
 * Triggers
 */

xbox.on('lefttrigger', function(position){
  var message = JSON.stringify({ serialNumber: xbox.serialNumber, button: 'lefttrigger', action:position });
  console.log(message);

  xbox.rumble(0,position);
});

xbox.on('righttrigger', function(position){
	if (xon)
		cruisecontrol = true;

  var message = JSON.stringify({ serialNumber: xbox.serialNumber, button: 'righttrigger', action:position });
  console.log(message);

  xbox.rumble(position,0);
});


/*
 * Analog sticks
 */

// this happens after dpad so use dpad coords if set to 0
xbox.on('left:move', function(position){
	var message = JSON.stringify({ serialNumber: xbox.serialNumber, button: 'leftmove', action:position });
	console.log(message);

	// stop
	if (position.x == 0 && position.y == 0)
	{
		gox = dox;
		goy = doy;
	}
	else
	{
		gox = logslider(position.x);
		goy = logslider(position.y);
		//gox = scale(position.x, -32768, 32768, -1, 1);
		//goy = scale(position.y, -32768, 32768, -1, 1);
		//gox = position.x / 1000000;
		//goy = position.y / 1000000;
	}

});

xbox.on('right:move', function(position){
    var message = JSON.stringify({ serialNumber: xbox.serialNumber, button: 'rightmove', action:position });
    console.log(message);

  if(position.x == 0 && position.y == 0)
		goz = 0;
	else
		goz = logslider(position.y, 25, 4000) * -1;
});


xbox.on('leftstick:press', function (key) {
  var message = JSON.stringify({ serialNumber: xbox.serialNumber, button: 'leftstick', action:'press' });
  console.log(message);
});

xbox.on('leftstick:release', function (key) {
  var message = JSON.stringify({ serialNumber: xbox.serialNumber, button: 'leftstick', action:'release' });
  console.log(message);
});


xbox.on('rightstick:press', function (key) {
  var message = JSON.stringify({ serialNumber: xbox.serialNumber, button: 'rightstick', action:'press' });
  console.log(message);
});

xbox.on('rightstick:release', function (key) {
  var message = JSON.stringify({ serialNumber: xbox.serialNumber, button: 'rightstick', action:'release' });
  console.log(message);
});


/*
 * Top buttons
 */

xbox.on('back:press', function (key) {
  var message = JSON.stringify({ serialNumber: xbox.serialNumber, button: 'back', action:'press' });
  console.log(message);
});

xbox.on('back:release', function (key) {
  var message = JSON.stringify({ serialNumber: xbox.serialNumber, button: 'back', action:'release' });
  console.log(message);
});


xbox.on('xboxbutton:press', function (key) {
  var message = JSON.stringify({ serialNumber: xbox.serialNumber, button: 'xboxbutton', action:'press' });
  console.log(message);
});

xbox.on('xboxbutton:release', function (key) {
  var message = JSON.stringify({ serialNumber: xbox.serialNumber, button: 'xboxbutton', action:'release' });
  console.log(message);
});


xbox.on('start:press', function (key) {
	gcode("G28");
  var message = JSON.stringify({ serialNumber: xbox.serialNumber, button: 'start', action:'press' });
  console.log(message);


});

xbox.on('start:release', function (key) {
  var message = JSON.stringify({ serialNumber: xbox.serialNumber, button: 'start', action:'release' });
  console.log(message);
	gcode("G28");
});


/*
 * D pad
 */

xbox.on('dup:press', function (key) {
	doy = goy = 0.01;
	//dint = setInterval(function() { goy = 0.01; }, 300);
  var message = JSON.stringify({ serialNumber: xbox.serialNumber, button: 'dup', action:'press' });
  console.log(message);
});

xbox.on('dup:release', function(key) {
  doy = goy = 0;
	//clearInterval(dint);
  var message = JSON.stringify({ serialNumber: xbox.serialNumber, button: 'dup', action:'release' });
  console.log(message);
});


xbox.on('ddown:press', function (key) {
	doy = goy = -0.01;
	//dint = setInterval(function() { goy = -0.01; }, 300);
  var message = JSON.stringify({ serialNumber: xbox.serialNumber, button: 'ddown', action:'press' });
  console.log(message);
});

xbox.on('ddown:release', function(key) {
  doy = goy = 0;
	//clearInterval(dint);
  var message = JSON.stringify({ serialNumber: xbox.serialNumber, button: 'ddown', action:'release' });
  console.log(message);
});


xbox.on('dleft:press', function (key) {
	//dint = setInterval(function() { gox = -0.01; }, 300);
	dox = gox = -0.01;
  var message = JSON.stringify({ serialNumber: xbox.serialNumber, button: 'dleft', action:'press' });
  console.log(message);
});

xbox.on('dleft:release', function(key) {
	dox = gox = 0;
	//clearInterval(dint);
  var message = JSON.stringify({ serialNumber: xbox.serialNumber, button: 'dleft', action:'release' });
  console.log(message);
});


xbox.on('dright:press', function (key) {
	//dint = setInterval(function() { gox = 0.01; }, 300);
	dox = gox = 0.01;
  var message = JSON.stringify({ serialNumber: xbox.serialNumber, button: 'dright', action:'press' });
  console.log(message);
});

xbox.on('dright:release', function(key) {
	dox = gox = 0;
	//clearInterval(dint);
  var message = JSON.stringify({ serialNumber: xbox.serialNumber, button: 'dright', action:'release' });
  console.log(message);
});


/*
 * Shoulder
 */

xbox.on('rightshoulder:press', function (key) {
  var message = JSON.stringify({ serialNumber: xbox.serialNumber, button: 'rightshoulder', action:'press' });
  console.log(message);
});

xbox.on('rightshoulder:release', function(key) {
  var message = JSON.stringify({ serialNumber: xbox.serialNumber, button: 'rightshoulder', action:'release' });
  console.log(message);
});


xbox.on('leftshoulder:press', function (key) {
  var message = JSON.stringify({ serialNumber: xbox.serialNumber, button: 'leftshoulder', action:'press' });
  console.log(message);
});

xbox.on('leftshoulder:release', function(key) {
  var message = JSON.stringify({ serialNumber: xbox.serialNumber, button: 'leftshoulder', action:'release' });
  console.log(message);
});





/*
 * Setup
 */

xbox.on('connected', function() {
  console.log('Xbox controller connected');
  xbox.setLed(LED)
});

xbox.on('not-found', function() {
  console.log('Xbox controller could not be found');
});


setInterval(function() {
	if (gox || goy)
		gcode("G0 X" + gox + " Y" + goy, true);
	if (goz)
		gcode("G0 Z" + goz, true);

}, 10);

// data received: <Idle,MPos:-184.444,-91.687,-7.203,WPos:113.054,98.811,40.650,Pin:000|1|0000>

/* vim: set syntax=javascript filetype=javascript */