func main() {
gbot := gobot.NewGobot()
m := mqtt.NewMqttAdaptor("mqtt", "tcp://192.168.0.90:1883", "drone")
digisparkAdaptor := digispark.NewDigisparkAdaptor("digispark")
servo := gpio.NewServoDriver(digisparkAdaptor, "servo", "0")
work := func() {
servo.Move(10)
m.On("drop", func(data []byte) {
servo.Move(150)
m.Publish("drone", []byte("Dropped"))
})
}
robot := gobot.NewRobot("servoBot",
[]gobot.Connection{digisparkAdaptor, m},
[]gobot.Device{servo},
work,
)
gbot.AddRobot(robot)
gbot.Start()
}
func main() {
gbot := gobot.NewGobot()
mqttAdaptor := mqtt.NewMqttAdaptor("server", "tcp://test.mosquitto.org:1883", "blinker")
firmataAdaptor := firmata.NewFirmataAdaptor("arduino", "/dev/ttyACM0")
led := gpio.NewLedDriver(firmataAdaptor, "led", "13")
work := func() {
mqttAdaptor.On("lights/on", func(data []byte) {
led.On()
})
mqttAdaptor.On("lights/off", func(data []byte) {
led.Off()
})
data := []byte("")
gobot.Every(1*time.Second, func() {
mqttAdaptor.Publish("lights/on", data)
})
gobot.Every(2*time.Second, func() {
mqttAdaptor.Publish("lights/off", data)
})
}
robot := gobot.NewRobot("mqttBot",
[]gobot.Connection{mqttAdaptor, firmataAdaptor},
[]gobot.Device{led},
work,
)
gbot.AddRobot(robot)
gbot.Start()
}
func main() {
gbot := gobot.NewGobot()
mqttAdaptor := mqtt.NewMqttAdaptor("server", "tcp://test.mosquitto.org:1883", "pinger")
work := func() {
mqttAdaptor.On("hello", func(data []byte) {
fmt.Println("hello")
})
mqttAdaptor.On("hola", func(data []byte) {
fmt.Println("hola")
})
data := []byte("o")
gobot.Every(1*time.Second, func() {
mqttAdaptor.Publish("hello", data)
})
gobot.Every(5*time.Second, func() {
mqttAdaptor.Publish("hola", data)
})
}
robot := gobot.NewRobot("mqttBot",
[]gobot.Connection{mqttAdaptor},
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()
}
func hqRobot() *gobot.Robot {
m := mqtt.NewMqttAdaptor("mqtt", "tcp://192.168.0.90:1883", "hq")
work := func() {
watch := func(msg string) {
fmt.Println(msg)
m.Publish("watch", []byte(msg))
}
post := func(val []byte) {
v, _ := url.ParseQuery(string(val))
_, err := http.PostForm("https://brewmachine.herokuapp.com/drinks",
v,
)
if err != nil {
fmt.Println(err)
}
}
m.On("pump", func(data []byte) {
m.Publish("startPump", []byte{})
})
m.On("pumped", func(data []byte) {
go post(data)
v, _ := url.ParseQuery(string(data))
watch(fmt.Sprintf("Customers served: %v", v.Get("drink_id")))
})
m.On("fault", func(data []byte) {
go post(data)
watch("There was a fault!")
})
m.On("drone", func(data []byte) {
go post(data)
watch(fmt.Sprintf("Message from drone: %v", string(data)))
})
m.On("gcs", func(data []byte) {
fmt.Println(string(data))
go post(data)
})
}
return gobot.NewRobot("mqtt",
[]gobot.Connection{m},
work,
)
}
func pebbleRobot() *gobot.Robot {
p := pebble.NewPebbleAdaptor("pebble")
m := mqtt.NewMqttAdaptor("mqtt", "tcp://192.168.0.90:1883", "pebble")
watch := pebble.NewPebbleDriver(p, "pebble")
work := func() {
m.On("watch", func(data []byte) {
watch.SendNotification(string(data))
})
}
return gobot.NewRobot("pebble",
[]gobot.Connection{p, m},
[]gobot.Device{watch},
work,
)
}
func main() {
gbot := gobot.NewGobot()
mqttAdaptor := mqtt.NewMqttAdaptor("server", "tcp://0.0.0.0:1883", "pinguClient")
tux := pingu.NewTux("/dev/cu.usbmodem1411")
work := func() {
mqttAdaptor.On("pingu", func(data []byte) {
fmt.Println("PINGU!!!")
tux.Wave()
})
}
robot := gobot.NewRobot("mqttBot",
[]gobot.Connection{mqttAdaptor},
work,
)
go tux.Run("5")
go tux.Run("3")
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()
}
