func main() {
gbot := gobot.NewGobot()
beagleboneAdaptor := beaglebone.NewBeagleboneAdaptor("beaglebone")
led := gpio.NewDirectPinDriver(beagleboneAdaptor, "led", "P8_10")
button := gpio.NewDirectPinDriver(beagleboneAdaptor, "button", "P8_9")
work := func() {
gobot.Every(500*time.Millisecond, func() {
if button.DigitalRead() == 1 {
led.DigitalWrite(1)
} else {
led.DigitalWrite(0)
}
})
}
robot := gobot.NewRobot("pinBot",
[]gobot.Connection{beagleboneAdaptor},
[]gobot.Device{led},
work,
)
gbot.AddRobot(robot)
gbot.Start()
}
func main() {
gbot := gobot.NewGobot()
firmataAdaptor := firmata.NewFirmataAdaptor("myFirmata", "/dev/ttyACM0")
pin := gpio.NewDirectPinDriver(firmataAdaptor, "pin", "13")
work := func() {
level := byte(1)
gobot.Every(1*time.Second, func() {
pin.DigitalWrite(level)
if level == 1 {
level = 0
} else {
level = 1
}
})
}
robot := gobot.NewRobot("pinBot",
[]gobot.Connection{firmataAdaptor},
[]gobot.Device{pin},
work,
)
gbot.AddRobot(robot)
gbot.Start()
}
func main() {
gbot := gobot.NewGobot()
e := edison.NewEdisonAdaptor("edison")
m := mqtt.NewMqttAdaptor("mqtt", "tcp://192.168.0.90:1883", "pump")
lever := gpio.NewButtonDriver(e, "lever", "2")
fault := gpio.NewButtonDriver(e, "fault", "4")
pump := gpio.NewDirectPinDriver(e, "pump", "13")
work := func() {
dgram := url.Values{
"name": {"Four"},
"dispenser_id": {"4"},
"drink_id": {"0"},
"event": {"online"},
"details": {"dispenser"},
}
pumping := false
served := byte(0)
m.On("startPump", func(data []byte) {
if !pumping {
pumping = true
pump.DigitalWrite(1)
served++
dgram.Set("event", "online")
dgram.Set("drink_id", fmt.Sprintf("%v", served))
m.Publish("pumped", []byte(dgram.Encode()))
gobot.After(2*time.Second, func() {
pump.DigitalWrite(0)
pumping = false
})
}
})
gobot.On(lever.Event("push"), func(data interface{}) {
m.Publish("pump", []byte{})
})
m.On("startFault", func(data []byte) {
dgram.Set("event", "error")
m.Publish("fault", []byte(dgram.Encode()))
})
gobot.On(fault.Event("push"), func(data interface{}) {
m.Publish("startFault", []byte{})
})
}
gbot.AddRobot(gobot.NewRobot("brewmachine",
[]gobot.Connection{e, m},
[]gobot.Device{lever, fault, pump},
work,
))
gbot.Start()
}
// Run some simple GPIO interactions
// by taking control of the Direct Pin abstraction
func setDirectPin(state int) {
beagleboneAdaptor := beaglebone.NewBeagleboneAdaptor("beaglebone")
gpioPin := gpio.NewDirectPinDriver(beagleboneAdaptor, "myDevice", "P9_12")
// Initialize the internal representation of the pinout
beagleboneAdaptor.Connect()
// Cast to byte because we are returning an int from a function
// and not passing in an int literal.
gpioPin.DigitalWrite(byte(state))
}
func main() {
// Use Gobot to control BeagleBone's digital pins directly
beagleboneAdaptor := beaglebone.NewBeagleboneAdaptor("beaglebone")
gpioPin := gpio.NewDirectPinDriver(beagleboneAdaptor, "myDevice", "P9_12")
// Initialize the internal representation of the pinout
beagleboneAdaptor.Connect()
// Cast to byte because we are returning an int from a function
// and not passing in an int literal.
gpioPin.DigitalWrite(byte(myStateFunction()))
}
func main() {
flag.Parse()
gbot := gobot.NewGobot()
e := edison.NewEdisonAdaptor("edison")
pwmA := gpio.NewDirectPinDriver(e, "pwmA", "3")
breakA := gpio.NewDirectPinDriver(e, "breakA", "9")
dirA := gpio.NewDirectPinDriver(e, "dirA", "12")
pwmB := gpio.NewDirectPinDriver(e, "pwmB", "5")
breakB := gpio.NewDirectPinDriver(e, "breakB", "8")
dirB := gpio.NewDirectPinDriver(e, "dirB", "13")
work := func() {
tank := tank.NewTank(pwmA, breakA, dirA, pwmB, breakB, dirB, *maxspeed, *maxrotate)
go func() {
wb := webbot.New(*host, *video, *pass, tank)
for {
if err := wb.Run(); err != nil {
log.Printf("RUN ERROR: %v\n", err.Error())
}
time.Sleep(1 * time.Second)
}
}()
}
robot := gobot.NewRobot("dartBot",
[]gobot.Connection{e},
[]gobot.Device{pwmA},
[]gobot.Device{breakA},
[]gobot.Device{dirA},
[]gobot.Device{pwmB},
[]gobot.Device{dirB},
[]gobot.Device{breakB},
work,
)
gbot.AddRobot(robot)
gbot.Start()
}
func main() {
var code string
beagleboneAdaptor := beaglebone.NewBeagleboneAdaptor("beaglebone")
//NewDirectPinDriver returns a pointer - this wasn't immediately obvious to me
splate := gpio.NewDirectPinDriver(beagleboneAdaptor, "splate", "P9_11")
c := &serial.Config{Name: "/dev/ttyUSB0", Baud: 9600}
u, err := serial.OpenPort(c)
if err != nil {
fmt.Print(err)
os.Exit(1)
}
//Configure ZMQ publisher
publisher, err := zmq.NewSocket(zmq.PUB)
if err != nil {
fmt.Print(err)
os.Exit(1)
}
publisher.Bind("tcp://*:5556")
//Configure ZMQ publisher
go http.HandleFunc("/", func(w http.ResponseWriter, r *http.Request) {
w.Write([]byte("Code: "))
w.Write([]byte(code))
})
// the anonymous function here allows us to call openDoor with splate remaining in scope
go http.HandleFunc("/open", func(w http.ResponseWriter, r *http.Request) {
w.Write([]byte("Okay"))
openDoor(*splate, publisher)
})
go http.ListenAndServe(":8080", nil)
buf := make([]byte, 16)
for {
n, err := io.ReadFull(u, buf)
if err != nil {
fmt.Print(err)
os.Exit(1)
}
// We need to strip the stop and start bytes from the tag, so we only assign a certain range of the slice
code = string(buf[1 : n-3])
var request bytes.Buffer
request.WriteString("https://members.pumpingstationone.org/rfid/check/FrontDoor/")
request.WriteString(code)
resp, err := http.Get(request.String())
if err != nil {
fmt.Printf("Whoops!")
publisher.SendMessage("door.rfid.error", fmt.Sprintf("Auth Server Error: %s", err))
os.Exit(1)
}
if resp.StatusCode == 200 {
fmt.Println("Success!")
publisher.SendMessage("door.rfid.accept", "RFID Accepted")
code = ""
openDoor(*splate, publisher)
} else if resp.StatusCode == 403 {
fmt.Println("Membership status: Expired")
publisher.SendMessage("door.rfid.deny", "RFID Denied")
} else {
fmt.Println("Code not found")
publisher.SendMessage("door.rfid.deny", "RFID not found")
}
}
}
func main() {
var code string
beagleboneAdaptor := beaglebone.NewBeagleboneAdaptor("beaglebone")
//NewDirectPinDriver returns a pointer - this wasn't immediately obvious to me
splate := gpio.NewDirectPinDriver(beagleboneAdaptor, "splate", "P9_11")
c := &serial.Config{Name: "/dev/ttyUSB0", Baud: 9600}
u, err := serial.OpenPort(c)
if err != nil {
fmt.Print(err)
os.Exit(1)
}
//Configure ZMQ publisher
publisher, err := zmq.NewSocket(zmq.PUB)
if err != nil {
fmt.Print(err)
os.Exit(1)
}
publisher.Bind("tcp://*:5556")
//Configure ZMQ publisher
go http.HandleFunc("/", func(w http.ResponseWriter, r *http.Request) {
w.Write([]byte("Code: "))
w.Write([]byte(code))
})
// the anonymous function here allows us to call openDoor with splate remaining in scope
go http.HandleFunc("/open", func(w http.ResponseWriter, r *http.Request) {
w.Write([]byte("Okay"))
openDoor(*splate, publisher)
})
go http.ListenAndServe(":8080", nil)
buf := make([]byte, 16)
for {
n, err := io.ReadFull(u, buf)
if err != nil {
fmt.Print(err)
os.Exit(1)
}
// We need to strip the stop and start bytes from the tag, so we only assign a certain range of the slice
code = string(buf[1 : n-3])
// Now open the cache db to check if it's already here
cacheDB, err = bolt.Open("rfid-tags.db", 0600, nil)
if err != nil {
fmt.Println(err)
}
cacheDB.Update(func(tx *bolt.Tx) error {
_, err := tx.CreateBucketIfNotExists([]byte("RFIDBucket"))
if err != nil {
return fmt.Errorf("create bucket: %s", err)
}
return nil
})
// Before checking the site for the code, let's check our cache
if checkCacheDBForTag(code) == false {
var request bytes.Buffer
request.WriteString("https://members.pumpingstationone.org/rfid/check/FrontDoor/")
request.WriteString(code)
resp, err := http.Get(request.String())
if err != nil {
fmt.Printf("Whoops!")
publisher.SendMessage("door.rfid.error", fmt.Sprintf("Auth Server Error: %s", err))
os.Exit(1)
}
if resp.StatusCode == 200 {
// We got 200 back, so we're good to add this
// tag to the cache
addTagToCacheDB(code)
fmt.Println("Success!")
publisher.SendMessage("door.rfid.accept", "RFID Accepted")
code = ""
openDoor(*splate, publisher)
} else if resp.StatusCode == 403 {
fmt.Println("Membership status: Expired")
publisher.SendMessage("door.rfid.deny", "RFID Denied")
} else {
fmt.Println("Code not found")
publisher.SendMessage("door.rfid.deny", "RFID not found")
}
} else {
// If we're here, we found the tag in the cache, so
// let's just go and open the door for 'em
fmt.Println("Success!")
publisher.SendMessage("door.rfid.accept", "RFID Accepted")
code = ""
openDoor(*splate, publisher)
}
cacheDB.Close()
}
}
