func main() {
gbot := gobot.NewGobot()
joystickAdaptor := joystick.NewJoystickAdaptor("ps3")
joystick := joystick.NewJoystickDriver(joystickAdaptor,
"ps3",
"./platforms/joystick/configs/dualshock3.json",
)
work := func() {
gobot.On(joystick.Event("square_press"), func(data interface{}) {
fmt.Println("square_press")
})
gobot.On(joystick.Event("square_release"), func(data interface{}) {
fmt.Println("square_release")
})
gobot.On(joystick.Event("triangle_press"), func(data interface{}) {
fmt.Println("triangle_press")
})
gobot.On(joystick.Event("triangle_release"), func(data interface{}) {
fmt.Println("triangle_release")
})
gobot.On(joystick.Event("left_x"), func(data interface{}) {
fmt.Println("left_x", data)
})
gobot.On(joystick.Event("left_y"), func(data interface{}) {
fmt.Println("left_y", data)
})
gobot.On(joystick.Event("right_x"), func(data interface{}) {
fmt.Println("right_x", data)
})
gobot.On(joystick.Event("right_y"), func(data interface{}) {
fmt.Println("right_y", data)
})
}
robot := gobot.NewRobot("joystickBot",
[]gobot.Connection{joystickAdaptor},
[]gobot.Device{joystick},
work,
)
gbot.AddRobot(robot)
gbot.Start()
}
func main() {
gbot := gobot.NewGobot()
joystickAdaptor := joystick.NewJoystickAdaptor("xbox360")
joystick := joystick.NewJoystickDriver(joystickAdaptor,
"xbox360",
"./platforms/joystick/configs/joystick/configs/xbox360_power_a_mini_proex.json",
)
work := func() {
gobot.On(joystick.Event("a_press"), func(data interface{}) {
fmt.Println("a_press")
})
gobot.On(joystick.Event("a_release"), func(data interface{}) {
fmt.Println("a_release")
})
gobot.On(joystick.Event("b_press"), func(data interface{}) {
fmt.Println("b_press")
})
gobot.On(joystick.Event("b_release"), func(data interface{}) {
fmt.Println("b_release")
})
gobot.On(joystick.Event("up"), func(data interface{}) {
fmt.Println("up", data)
})
gobot.On(joystick.Event("down"), func(data interface{}) {
fmt.Println("down", data)
})
gobot.On(joystick.Event("left"), func(data interface{}) {
fmt.Println("left", data)
})
gobot.On(joystick.Event("right"), func(data interface{}) {
fmt.Println("right", data)
})
gobot.On(joystick.Event("left_x"), func(data interface{}) {
fmt.Println("left_x", data)
})
gobot.On(joystick.Event("left_y"), func(data interface{}) {
fmt.Println("left_y", data)
})
gobot.On(joystick.Event("right_x"), func(data interface{}) {
fmt.Println("right_x", data)
})
gobot.On(joystick.Event("right_y"), func(data interface{}) {
fmt.Println("right_y", data)
})
}
robot := gobot.NewRobot("joystickBot",
[]gobot.Connection{joystickAdaptor},
[]gobot.Device{joystick},
work,
)
gbot.AddRobot(robot)
gbot.Start()
}
func main() {
gbot := gobot.NewGobot()
m := mqtt.NewMqttAdaptor("mqtt", "tcp://192.168.0.90:1883", "gcs")
ardroneAdaptor := ardrone.NewArdroneAdaptor("Drone", "192.168.0.40")
joystickAdaptor := joystick.NewJoystickAdaptor("ps3")
joystick := joystick.NewJoystickDriver(joystickAdaptor,
"ps3",
"./dualshock3.json",
)
drone := ardrone.NewArdroneDriver(ardroneAdaptor, "Drone")
work := func() {
dgram := url.Values{
"name": {"gcs"},
"dispenser_id": {"3"},
"drink_id": {"0"},
"event": {"available"},
"details": {"drone"},
}
m.Publish("gcs", []byte(dgram.Encode()))
offset := 32767.0
rightStick := pair{x: 0, y: 0}
leftStick := pair{x: 0, y: 0}
m.On("drone", func(data []byte) {
dgram.Set("event", "delivery complete")
m.Publish("gcs", []byte(dgram.Encode()))
})
gobot.On(joystick.Event("circle_press"), func(data interface{}) {
fmt.Println("Drop!")
m.Publish("drop", []byte{})
})
gobot.On(joystick.Event("square_press"), func(data interface{}) {
drone.TakeOff()
dgram.Set("event", "en route")
m.Publish("gcs", []byte(dgram.Encode()))
})
gobot.On(joystick.Event("triangle_press"), func(data interface{}) {
drone.Hover()
})
gobot.On(joystick.Event("x_press"), func(data interface{}) {
drone.Land()
dgram.Set("event", "available")
m.Publish("gcs", []byte(dgram.Encode()))
})
gobot.On(joystick.Event("left_x"), func(data interface{}) {
val := float64(data.(int16))
if leftStick.x != val {
leftStick.x = val
}
})
gobot.On(joystick.Event("left_y"), func(data interface{}) {
val := float64(data.(int16))
if leftStick.y != val {
leftStick.y = val
}
})
gobot.On(joystick.Event("right_x"), func(data interface{}) {
val := float64(data.(int16))
if rightStick.x != val {
rightStick.x = val
}
})
gobot.On(joystick.Event("right_y"), func(data interface{}) {
val := float64(data.(int16))
if rightStick.y != val {
rightStick.y = val
}
})
gobot.Every(10*time.Millisecond, func() {
pair := leftStick
if pair.y < -10 {
drone.Forward(validatePitch(pair.y, offset))
} else if pair.y > 10 {
drone.Backward(validatePitch(pair.y, offset))
} else {
drone.Forward(0)
}
if pair.x > 10 {
drone.Right(validatePitch(pair.x, offset))
} else if pair.x < -10 {
drone.Left(validatePitch(pair.x, offset))
} else {
drone.Right(0)
}
})
gobot.Every(10*time.Millisecond, func() {
pair := rightStick
if pair.y < -10 {
drone.Up(validatePitch(pair.y, offset))
} else if pair.y > 10 {
drone.Down(validatePitch(pair.y, offset))
} else {
drone.Up(0)
}
if pair.x > 20 {
drone.Clockwise(validatePitch(pair.x, offset))
} else if pair.x < -20 {
drone.CounterClockwise(validatePitch(pair.x, offset))
} else {
drone.Clockwise(0)
}
})
}
robot := gobot.NewRobot("ardrone",
[]gobot.Connection{joystickAdaptor, ardroneAdaptor, m},
[]gobot.Device{joystick, drone},
work,
)
gbot.AddRobot(robot)
gbot.Start()
}
func main() {
gbot := gobot.NewGobot()
joystickAdaptor := joystick.NewJoystickAdaptor("ps3")
joystick := joystick.NewJoystickDriver(joystickAdaptor,
"ps3",
"./platforms/joystick/configs/dualshock3.json",
)
bebopAdaptor := bebop.NewBebopAdaptor("Drone")
drone := bebop.NewBebopDriver(bebopAdaptor, "Drone")
work := func() {
offset := 32767.0
rightStick := pair{x: 0, y: 0}
leftStick := pair{x: 0, y: 0}
recording := false
gobot.On(joystick.Event("circle_press"), func(data interface{}) {
if recording {
drone.StopRecording()
} else {
drone.StartRecording()
}
recording = !recording
})
gobot.On(joystick.Event("square_press"), func(data interface{}) {
drone.HullProtection(true)
drone.TakeOff()
})
gobot.On(joystick.Event("triangle_press"), func(data interface{}) {
drone.Stop()
})
gobot.On(joystick.Event("x_press"), func(data interface{}) {
drone.Land()
})
gobot.On(joystick.Event("left_x"), func(data interface{}) {
val := float64(data.(int16))
if leftStick.x != val {
leftStick.x = val
}
})
gobot.On(joystick.Event("left_y"), func(data interface{}) {
val := float64(data.(int16))
if leftStick.y != val {
leftStick.y = val
}
})
gobot.On(joystick.Event("right_x"), func(data interface{}) {
val := float64(data.(int16))
if rightStick.x != val {
rightStick.x = val
}
})
gobot.On(joystick.Event("right_y"), func(data interface{}) {
val := float64(data.(int16))
if rightStick.y != val {
rightStick.y = val
}
})
gobot.Every(10*time.Millisecond, func() {
pair := leftStick
if pair.y < -10 {
drone.Forward(validatePitch(pair.y, offset))
} else if pair.y > 10 {
drone.Backward(validatePitch(pair.y, offset))
} else {
drone.Forward(0)
}
if pair.x > 10 {
drone.Right(validatePitch(pair.x, offset))
} else if pair.x < -10 {
drone.Left(validatePitch(pair.x, offset))
} else {
drone.Right(0)
}
})
gobot.Every(10*time.Millisecond, func() {
pair := rightStick
if pair.y < -10 {
drone.Up(validatePitch(pair.y, offset))
} else if pair.y > 10 {
drone.Down(validatePitch(pair.y, offset))
} else {
drone.Up(0)
}
if pair.x > 20 {
drone.Clockwise(validatePitch(pair.x, offset))
} else if pair.x < -20 {
drone.CounterClockwise(validatePitch(pair.x, offset))
} else {
drone.Clockwise(0)
}
})
}
robot := gobot.NewRobot("bebop",
[]gobot.Connection{joystickAdaptor, bebopAdaptor},
[]gobot.Device{joystick, drone},
work,
)
gbot.AddRobot(robot)
gbot.Start()
}
func main() {
pwd, _ := os.Getwd()
joystickConfig := pwd + "/dualshock3.json"
gbot := gobot.NewGobot()
joystickAdaptor := joystick.NewJoystickAdaptor("ps3")
joystick := joystick.NewJoystickDriver(joystickAdaptor,
"ps3",
joystickConfig,
)
droneAdaptor := ble.NewBLEAdaptor("ble", os.Args[1])
drone := ble.NewBLEMinidroneDriver(droneAdaptor, "drone")
work := func() {
offset := 32767.0
rightStick := pair{x: 0, y: 0}
leftStick := pair{x: 0, y: 0}
gobot.On(joystick.Event("triangle_press"), func(data interface{}) {
drone.TakeOff()
})
gobot.On(joystick.Event("square_press"), func(data interface{}) {
drone.Stop()
})
gobot.On(joystick.Event("x_press"), func(data interface{}) {
drone.Land()
})
gobot.On(joystick.Event("left_x"), func(data interface{}) {
val := float64(data.(int16))
if leftStick.x != val {
leftStick.x = val
}
})
gobot.On(joystick.Event("left_y"), func(data interface{}) {
val := float64(data.(int16))
if leftStick.y != val {
leftStick.y = val
}
})
gobot.On(joystick.Event("right_x"), func(data interface{}) {
val := float64(data.(int16))
if rightStick.x != val {
rightStick.x = val
}
})
gobot.On(joystick.Event("right_y"), func(data interface{}) {
val := float64(data.(int16))
if rightStick.y != val {
rightStick.y = val
}
})
gobot.Every(10*time.Millisecond, func() {
pair := rightStick
if pair.y < -10 {
drone.Forward(validatePitch(pair.y, offset))
} else if pair.y > 10 {
drone.Backward(validatePitch(pair.y, offset))
} else {
drone.Forward(0)
}
if pair.x > 10 {
drone.Right(validatePitch(pair.x, offset))
} else if pair.x < -10 {
drone.Left(validatePitch(pair.x, offset))
} else {
drone.Right(0)
}
})
gobot.Every(10*time.Millisecond, func() {
pair := leftStick
if pair.y < -10 {
drone.Up(validatePitch(pair.y, offset))
} else if pair.y > 10 {
drone.Down(validatePitch(pair.y, offset))
} else {
drone.Up(0)
}
if pair.x > 20 {
drone.Clockwise(validatePitch(pair.x, offset))
} else if pair.x < -20 {
drone.CounterClockwise(validatePitch(pair.x, offset))
} else {
drone.Clockwise(0)
}
})
}
robot := gobot.NewRobot("minidrone",
[]gobot.Connection{joystickAdaptor, droneAdaptor},
[]gobot.Device{joystick, drone},
work,
)
gbot.AddRobot(robot)
gbot.Start()
}