control/contrl.js

// PCF8591 数模转换芯片
const i2cBus = require("i2c-bus")
const sleep = (ms) => new Promise((resolve) => setTimeout(resolve, ms));
class ContrlService {
    constructor() {
        this.BUS = i2cBus.openSync(1)
        // 寄存器地址
        this.ADR = 0x48
        // 电位器地址->对应模块in1,in2
        this.P1 = 0x41
        this.P2 = 0x42
        this.P3 = 0x43
        this.P4 = 0x44
    }

    async run() {
        // 数模初始值
        const data = this.Orientation()
        process.send(data);
        await sleep(0.03)
        this.run()
    }

    // 获取值
    async Orientation() {
        this.BUS.write_byte(this.ADR, this.P1)
        const v0 = this.BUS.read_byte(this.ADR)
        await sleep(0.02)
        this.BUS.write_byte(this.ADR, this.P2)
        const v1 = this.BUS.read_byte(this.ADR)
        await sleep(0.02)
        this.BUS.write_byte(this.ADR, this.P3)
        const v2 = this.BUS.read_byte(this.ADR)
        await sleep(0.02)
        this.BUS.write_byte(this.ADR, this.P4)
        const v3 = this.BUS.read_byte(this.ADR)
        // 接入socket 发送数据
        db = `{"type":"conctrl","conctrl":{"v0":${v0},"v1":${v1},"v2":${v2},"v3":${v3}}}`
        return db
    }

}
new ContrlService()