func Open() error {
ctx := usb.NewContext()
// ctx.Debug(10)
devs, err := ctx.ListDevices(func(desc *usb.Descriptor) bool {
if desc.Vendor.String() == "0590" {
return true
}
return false
})
if err != nil {
for _, v := range devs {
err := v.Close()
if err != nil {
lg.Errorln(err)
}
}
return err
}
usbdevice = devs[0]
return nil
}
// Turret executes the turret command on the minion.
func Turret(data string) {
cmd, value := SplitTwo(data)
if cmd == "" {
Send("turret error no command")
log.Printf("turret: no command")
return
}
ctx := usb.NewContext()
turrets, err := turret.Find(ctx)
if err != nil {
Send("turret error " + err.Error())
log.Printf("turret: %s", err)
return
}
for _, t := range turrets {
switch cmd {
case "blinkon":
t.BlinkOn(getBlinks(value))
case "blinkoff":
t.BlinkOff(getBlinks(value))
case "light":
t.Light(getBoolean(value))
case "stop":
t.Stop()
case "fire":
t.Fire(getShots(value))
case "left":
t.Left(getDuration(value))
t.Stop()
case "dance":
t.BlinkOn(3)
t.Left(2 * time.Second)
t.Stop()
t.BlinkOn(3)
t.Up(2 * time.Second)
t.Stop()
t.BlinkOn(3)
t.Right(2 * time.Second)
t.Stop()
t.BlinkOn(3)
t.Down(2 * time.Second)
t.Stop()
case "right":
t.Right(getDuration(value))
t.Stop()
case "up":
t.Up(getDuration(value))
t.Stop()
case "down":
t.Down(getDuration(value))
t.Stop()
case "reset":
t.Reset()
case "type":
Send("turret type " + t.HumanReadableType())
}
}
for _, t := range turrets {
t.Close()
}
ctx.Close()
Send("turret ok")
}