Test_Motor.js

const PiMotor = require('./');
const sleep = require('sleep');

// Name of individual motors
const m1 = new PiMotor.Motor('MOTOR1', 1);
const m2 = new PiMotor.Motor('MOTOR2', 1);
const m3 = new PiMotor.Motor('MOTOR3', 1);
const m4 = new PiMotor.Motor('MOTOR4', 1);

// To drive all motors together
const motorAll = new PiMotor.LinkedMotors(m1, m2, m3, m4);

//Names for individual arrows
const ab = new PiMotor.Arrow(1);
const al = new PiMotor.Arrow(2);
const af = new PiMotor.Arrow(3);
const ar = new PiMotor.Arrow(4);

// This segment drives the motors in the direction listed below:
// forward and reverse take speed in percentage (0-100).
// Node version only goes through the test routine once.

try{
    
    while(true){
      
      // Drive the motors forward
      console.log('Robot moving forward');
      af.on();
      motorAll.forward(50);
      sleep.sleep(5);
      
      // Drive the motors backward
      console.log('Robot moving backward');
      af.off();
      ab.on();
      motorAll.reverse();
      sleep.sleep(5);
    
      // Drive the motors left
      console.log('Robot moving left');
      ab.off();
      al.on();
      m1.stop();
      m2.stop();
      m3.forward();
      m4.forward();
      sleep.sleep(5);
    
      // Drive the motors right
      console.log('Robot moving right');
      al.off();
      ar.on();
      m1.forward();
      m2.forward();
      m3.stop();
      m4.stop();
      sleep.sleep(5);
    
      // Stop the motors
      console.log('Robot stop');
      al.off();
      af.off();
      ar.off();
      motorAll.stop();
      sleep(5);
      
    }

} finally {
  
  // Cleanup before exit
  if (process.platform === "win32") {
    let rl = require("readline").createInterface({
      input: process.stdin,
      output: process.stdout
    });
  
    rl.on("SIGINT", function () {
      process.emit("SIGINT");
    });
  }
  
  process.on('SIGINT', () => {
    motorAll.stop();
    process.exit();
  });
  
}