clawbot.js

var powerMotorLeft  = brick.motor(M2);
var powerMotorRight = brick.motor(M1);
var motorHandUpDown = brick.motor(M4);
var handServo       = brick.motor(M3);
var lightL = brick.sensor(A1);
var lightR = brick.sensor(A2);
var distance = brick.sensor(D1);

var stopBack    = false;
var stopForward = false;
var Gy = 0;

gamepad.pad.connect(
  function(padId, x, y) {
    if (padId == 1) {
      motorHandUpDown.setPower(-y)/10;
      handServo.setPower(x)/10;
    }

    if (padId == 2) {
      Gy = y;
      if(stopBack) {
      	Gy = Gy > 0 ? Gy : 0;
      }
      if(stopForward) {
      	Gy = Gy < 0 ? Gy : 0;
      }
      powerMotorLeft.setPower(Gy+x);
      powerMotorRight.setPower(Gy-x);
    }
  }
)

gamepad.padUp.connect(
  function(padId, x, y) {
    if (padId == 1) {
      motorHandUpDown.powerOff();
      handServo.powerOff();
    } else if (padId == 2) {
      powerMotorLeft.powerOff();
      powerMotorRight.powerOff();
    }
  }
)

gamepad.button.connect(
  function(buttonId, pressed) {
    switch (buttonId) {
      case 1: {
        brick.say("Hello, i am TRIK");
        break;
      }
      case 2: {
        brick.sadSmile();
        script.wait(2000);
        brick.smile();
        break;
      }
      case 5: {
        script.system("/etc/init.d/mjpg-encoder-ov7670 restart");
        script.wait(3000);
        script.system("/etc/init.d/mjpg-streamer-ov7670.sh restart");
      }
      default: break;
    }
  }
)

var dold = 0;
var bordersLoop = function() {
  if(lightL.read() > 6 || lightR.read() > 6) {
    stopBack = true;
    if(Gy < 0) {
      powerMotorLeft.powerOff();
      powerMotorRight.powerOff();
    }
  } else {
    stopBack = false;
  }
  var d = distance.read()
  if((d + dold) / 2 < 30) {
    stopForward = true;
    if(Gy > 0) {
      powerMotorLeft.powerOff();
      powerMotorRight.powerOff();
    }
  } else {
    stopForward = false;
  }
  print(lightL.read(), lightR.read(), (d + dold) / 2);
  dold = d;
}

var timer = script.timer(100);
timer.timeout.connect(bordersLoop); 
timer.start();

script.system("/etc/init.d/mjpg-encoder-ov7670 restart");
script.wait(3000);
script.system("/etc/init.d/mjpg-streamer-ov7670.sh restart");
script.run();