From c81ba6ddc74e8afdc91481ba0c293ed9bd95b9f8 Mon Sep 17 00:00:00 2001
From: ysandler <ysandler@tzed.io>
Date: Tue, 26 Jan 2021 16:15:43 -0600
Subject: [PATCH] feat: added y axis motor

---
 src/Robotics/Entities/MotorMover.ts | 21 +++++++++++++--------
 src/Robotics/main.ts                | 15 ++++++++++++++-
 2 files changed, 27 insertions(+), 9 deletions(-)

diff --git a/src/Robotics/Entities/MotorMover.ts b/src/Robotics/Entities/MotorMover.ts
index 7efe126..e826329 100644
--- a/src/Robotics/Entities/MotorMover.ts
+++ b/src/Robotics/Entities/MotorMover.ts
@@ -17,9 +17,9 @@ class MotorMover implements IMotorMover {
 
   public moveClockwise = () => {
     if (this.movementState === 'CLOCKWISE') return
-
-    this.moveProcess?.kill()
-    this.moveProcess = null
+    else {
+      if (!this.moveProcess?.killed) this.moveProcess?.kill()
+    }
 
     const motorProcessArguments = [
       'src/Robotics/moveStepper.py',
@@ -38,9 +38,9 @@ class MotorMover implements IMotorMover {
 
   public moveCounterClockwise = () => {
     if (this.movementState === 'COUNTERCLOCKWISE') return
-
-    this.moveProcess?.kill()
-    this.moveProcess = null
+    else {
+      if (!this.moveProcess?.killed) this.moveProcess?.kill()
+    }
 
     const motorProcessArguments = [
       'src/Robotics/moveStepper.py',
@@ -52,13 +52,18 @@ class MotorMover implements IMotorMover {
       this.pauseIntervalTime.toString()
     ]
 
+    console.log('start counterclockwise')
     this.moveProcess = childProcesses.spawn('python', motorProcessArguments)
     this.movementState = 'COUNTERCLOCKWISE'
   }
 
   public stopMovement = () => {
-    this.moveProcess?.kill()
-    this.movementState = 'IDLE'
+    if (this.movementState === 'IDLE') return
+    else {
+      if (!this.moveProcess?.killed) this.moveProcess?.kill()
+      console.log('start idle')
+      this.movementState = 'IDLE'
+    }
   }
 }
 
diff --git a/src/Robotics/main.ts b/src/Robotics/main.ts
index b0863c1..2c1c95a 100644
--- a/src/Robotics/main.ts
+++ b/src/Robotics/main.ts
@@ -18,6 +18,11 @@ const main = () => {
     pauseIntervalTime: 0.05
   })
 
+  const yAxisMotorMover: IMotorMover = makeMotorMover({
+    motor: { pinOne: 13, pinTwo: 15, pinThree: 19, pinFour: 21 },
+    pauseIntervalTime: 0.05
+  })
+
   eventManager.listen('onReceiveOffsets', (offsets: any[]) => {
     if (offsets[0]?.x > 50) {
       xAxisMotorMover.moveCounterClockwise()
@@ -26,7 +31,15 @@ const main = () => {
     } else {
       xAxisMotorMover.stopMovement()
     }
-    console.log(`moving ${xAxisMotorMover.movementState}`)
+    
+    if (offsets[0]?.y > 50) {
+      yAxisMotorMover.moveClockwise()
+    } else if (offsets[0]?.y < - 50) {
+      yAxisMotorMover.moveCounterClockwise()
+    } else {
+      yAxisMotorMover.stopMovement()
+    }
+    // console.log(`moving ${xAxisMotorMover.movementState}`)
   })
 }