Example #1
0
func main() {
	deviceName := flag.String("device", "", "path to Sphero device")
	flag.Parse()

	gbot := gobot.NewGobot()

	adaptor := sphero.NewSpheroAdaptor("sphero", *deviceName)
	driver := sphero.NewSpheroDriver(adaptor, "sphero")

	work := func() {
		gobot.Every(3*time.Second, func() {
			driver.Roll(30, uint16(gobot.Rand(360)))
		})
	}

	robot := gobot.NewRobot("sphero",
		[]gobot.Connection{adaptor},
		[]gobot.Device{driver},
		work,
	)

	gbot.AddRobot(robot)

	gbot.Start()
}
Example #2
0
func main() {
	gbot := gobot.NewGobot()

	leapAdaptor := leap.NewLeapMotionAdaptor("leap", "127.0.0.1:6437")
	spheroAdaptor := sphero.NewSpheroAdaptor("Sphero", "/dev/tty.Sphero-YBW-RN-SPP")

	leapDriver := leap.NewLeapMotionDriver(leapAdaptor, "leap")
	spheroDriver := sphero.NewSpheroDriver(spheroAdaptor, "sphero")

	work := func() {
		gobot.On(leapDriver.Event("message"), func(data interface{}) {
			hands := data.(leap.Frame).Hands

			if len(hands) > 0 {
				x := math.Abs(hands[0].Direction[0])
				y := math.Abs(hands[0].Direction[1])
				z := math.Abs(hands[0].Direction[2])
				spheroDriver.SetRGB(scale(x), scale(y), scale(z))
			}
		})
	}

	robot := gobot.NewRobot("leapBot",
		[]gobot.Connection{leapAdaptor, spheroAdaptor},
		[]gobot.Device{leapDriver, spheroDriver},
		work,
	)

	gbot.AddRobot(robot)

	gbot.Start()
}
Example #3
0
func main() {
	gbot := gobot.NewGobot()
	api.NewAPI(gbot).Start()

	spheros := map[string]string{
		"Sphero-BPO": "/dev/rfcomm0",
	}

	for name, port := range spheros {
		spheroAdaptor := sphero.NewSpheroAdaptor("sphero", port)

		spheroDriver := sphero.NewSpheroDriver(spheroAdaptor, "sphero")

		work := func() {
			spheroDriver.SetRGB(uint8(255), uint8(0), uint8(0))
		}

		robot := gobot.NewRobot(name,
			[]gobot.Connection{spheroAdaptor},
			[]gobot.Device{spheroDriver},
			work,
		)
		robot.AddCommand("turn_blue", func(params map[string]interface{}) interface{} {
			spheroDriver.SetRGB(uint8(0), uint8(0), uint8(255))
			return nil
		})

		gbot.AddRobot(robot)
	}

	gbot.Start()
}
Example #4
0
func main() {
	master := gobot.NewGobot()

	spheros := map[string]string{
		"Sphero-BPO": "/dev/rfcomm0",
	}

	for name, port := range spheros {
		spheroAdaptor := sphero.NewSpheroAdaptor("sphero", port)

		spheroDriver := sphero.NewSpheroDriver(spheroAdaptor, "sphero")

		work := func() {
			spheroDriver.SetRGB(uint8(255), uint8(0), uint8(0))
		}

		master.Robots = append(master.Robots,
			gobot.NewRobot(name, []gobot.Connection{spheroAdaptor}, []gobot.Device{spheroDriver}, work))
	}

	master.Robots = append(master.Robots, gobot.NewRobot(
		"",
		nil,
		nil,
		func() {
			gobot.Every(1*time.Second, func() {
				gobot.Call(master.Robot("Sphero-BPO").Device("sphero").Driver, "SetRGB", uint8(gobot.Rand(255)), uint8(gobot.Rand(255)), uint8(gobot.Rand(255)))
			})
		},
	))

	master.Start()
}
Example #5
0
func main() {
	gbot := gobot.NewGobot()

	adaptor := sphero.NewSpheroAdaptor("Sphero", "/dev/rfcomm0")
	spheroDriver := sphero.NewSpheroDriver(adaptor, "sphero")

	work := func() {
		gobot.On(spheroDriver.Event("collision"), func(data interface{}) {
			fmt.Println("Collision Detected!")
		})

		gobot.Every(3*time.Second, func() {
			spheroDriver.Roll(30, uint16(gobot.Rand(360)))
		})

		gobot.Every(1*time.Second, func() {
			r := uint8(gobot.Rand(255))
			g := uint8(gobot.Rand(255))
			b := uint8(gobot.Rand(255))
			spheroDriver.SetRGB(r, g, b)
		})
	}

	robot := gobot.NewRobot("sphero",
		[]gobot.Connection{adaptor},
		[]gobot.Device{spheroDriver},
		work,
	)

	gbot.AddRobot(robot)

	gbot.Start()
}
Example #6
0
func main() {
	gbot := gobot.NewGobot()

	adaptor := sphero.NewSpheroAdaptor("Sphero", "/dev/rfcomm0")
	board := edison.NewEdisonAdaptor("edison")
	spheroDriver := sphero.NewSpheroDriver(adaptor, "sphero")
	sensorAccel := i2c.NewGroveAccelerometerDriver(board, "accel")

	work := func() {
		gobot.Every(time.Millisecond*20, func() {
			if x, y, z, err := sensorAccel.XYZ(); err == nil {
				degree := math.Sin(y/x) * 360
				spheroDriver.Roll(uint8(100+z), uint16(degree))
			}
		})
	}

	robot := gobot.NewRobot("sphero",
		[]gobot.Connection{adaptor, board},
		[]gobot.Device{sensorAccel, spheroDriver},
		work,
	)

	gbot.AddRobot(robot)

	gbot.Start()
}
Example #7
0
func main() {
	gbot := gobot.NewGobot()

	adaptor := sphero.NewSpheroAdaptor("sphero", "/dev/tty.Sphero-BRB-AMP-SPP")
	driver := sphero.NewSpheroDriver(adaptor, "sphero")

	work := func() {
		gobot.Every(100*time.Millisecond, func() {
			driver.SetRGB(
				uint8(gobot.Rand(255)),
				uint8(gobot.Rand(255)),
				uint8(gobot.Rand(255)))
		})
	}

	robot := gobot.NewRobot("sphero",
		[]gobot.Connection{adaptor},
		[]gobot.Device{driver},
		work,
	)

	gbot.AddRobot(robot)

	gbot.Start()
}
Example #8
0
func main() {
	gbot := gobot.NewGobot()

	spheros := []string{
		"/dev/rfcomm0",
		"/dev/rfcomm1",
		"/dev/rfcomm2",
	}

	for _, port := range spheros {
		spheroAdaptor := sphero.NewSpheroAdaptor("Sphero", port)

		cell := sphero.NewSpheroDriver(spheroAdaptor, "Sphero"+port)

		work := func() {
			conway := new(conway)
			conway.cell = cell

			conway.birth()

			cell.On(sphero.Collision, func(data interface{}) {
				conway.contact()
			})

			gobot.Every(3*time.Second, func() {
				if conway.alive {
					conway.movement()
				}
			})

			gobot.Every(10*time.Second, func() {
				if conway.alive {
					conway.birthday()
				}
			})
		}

		robot := gobot.NewRobot("conway",
			[]gobot.Connection{spheroAdaptor},
			[]gobot.Device{cell},
			work,
		)
		gbot.AddRobot(robot)
	}

	gbot.Start()
}
Example #9
0
func (s *s_robot) Start() {
	// Connect Sphero with Gobot
	gbot := gobot.NewGobot()
	adaptor := sphero.NewSpheroAdaptor(s.Name, s.Port)
	driver := sphero.NewSpheroDriver(adaptor, "sphero")

	s.connection = adaptor
	s.device = driver

	robot := gobot.NewRobot(s.Name,
		[]gobot.Connection{adaptor},
		[]gobot.Device{driver},
	)

	gbot.AddRobot(robot)
	gbot.Start()
}
Example #10
0
func (s *sphero_struct) Start() {
	gbot := gobot.NewGobot()

	adaptor := sphero.NewSpheroAdaptor("sphero", s.Port)
	driver := sphero.NewSpheroDriver(adaptor, "sphero")

	s.connection = adaptor
	s.device = driver

	robot := gobot.NewRobot("sphero",
		[]gobot.Connection{adaptor},
		[]gobot.Device{driver},
	)

	gbot.AddRobot(robot)

	gbot.Start()
}
Example #11
0
func main() {
	master := gobot.NewGobot()

	spheros := []string{
		"/dev/rfcomm0",
		"/dev/rfcomm1",
		"/dev/rfcomm2",
	}

	for s := range spheros {
		spheroAdaptor := sphero.NewSpheroAdaptor("Sphero", spheros[s])

		cell := sphero.NewSpheroDriver(spheroAdaptor, "Sphero"+spheros[s])

		work := func() {

			conway := new(conway)
			conway.cell = cell

			conway.birth()

			gobot.On(cell.Events["Collision"], func(data interface{}) {
				conway.contact()
			})

			gobot.Every(3*time.Second, func() {
				if conway.alive == true {
					conway.movement()
				}
			})

			gobot.Every(10*time.Second, func() {
				if conway.alive == true {
					conway.birthday()
				}
			})
		}

		master.Robots = append(master.Robots,
			gobot.NewRobot("conway", []gobot.Connection{spheroAdaptor}, []gobot.Device{cell}, work))
	}

	master.Start()
}
Example #12
0
func main() {
	gbot := gobot.NewGobot()

	spheros := []string{
		"/dev/rfcomm0",
		"/dev/rfcomm1",
		"/dev/rfcomm2",
		"/dev/rfcomm3",
	}

	for _, port := range spheros {
		spheroAdaptor := sphero.NewSpheroAdaptor("Sphero", port)
		spheroDriver := sphero.NewSpheroDriver(spheroAdaptor, "Sphero"+port)

		work := func() {
			spheroDriver.Stop()

			spheroDriver.On(sphero.Collision, func(data interface{}) {
				fmt.Println("Collision Detected!")
			})

			gobot.Every(1*time.Second, func() {
				spheroDriver.Roll(100, uint16(gobot.Rand(360)))
			})
			gobot.Every(3*time.Second, func() {
				spheroDriver.SetRGB(uint8(gobot.Rand(255)),
					uint8(gobot.Rand(255)),
					uint8(gobot.Rand(255)),
				)
			})
		}

		robot := gobot.NewRobot("sphero",
			[]gobot.Connection{spheroAdaptor},
			[]gobot.Device{spheroDriver},
			work,
		)
		gbot.AddRobot(robot)
	}

	gbot.Start()
}
Example #13
0
func main() {
	gbot := gobot.NewGobot()

	spheros := map[string]string{
		"Sphero-BPO": "/dev/rfcomm0",
	}

	for name, port := range spheros {
		spheroAdaptor := sphero.NewSpheroAdaptor("sphero", port)

		spheroDriver := sphero.NewSpheroDriver(spheroAdaptor, "sphero")

		work := func() {
			spheroDriver.SetRGB(uint8(255), uint8(0), uint8(0))
		}

		robot := gobot.NewRobot(name,
			[]gobot.Connection{spheroAdaptor},
			[]gobot.Device{spheroDriver},
			work,
		)

		gbot.AddRobot(robot)
	}

	robot := gobot.NewRobot("",
		func() {
			gobot.Every(1*time.Second, func() {
				sphero := gbot.Robot("Sphero-BPO").Device("sphero").(*sphero.SpheroDriver)
				sphero.SetRGB(uint8(gobot.Rand(255)),
					uint8(gobot.Rand(255)),
					uint8(gobot.Rand(255)),
				)
			})
		},
	)

	gbot.AddRobot(robot)

	gbot.Start()
}
Example #14
0
func main() {
	gbot := gobot.NewGobot()

	adaptor := sphero.NewSpheroAdaptor("Sphero", "/dev/rfcomm0")
	spheroDriver := sphero.NewSpheroDriver(adaptor, "sphero")

	work := func() {
		spheroDriver.SetDataStreaming(sphero.DefaultDataStreamingConfig())

		gobot.On(spheroDriver.Event(sphero.Collision), func(data interface{}) {
			fmt.Printf("Collision! %+v\n", data)
		})

		gobot.On(spheroDriver.Event(sphero.SensorData), func(data interface{}) {
			fmt.Printf("Streaming Data! %+v\n", data)
		})

		gobot.Every(3*time.Second, func() {
			spheroDriver.Roll(30, uint16(gobot.Rand(360)))
		})

		gobot.Every(1*time.Second, func() {
			r := uint8(gobot.Rand(255))
			g := uint8(gobot.Rand(255))
			b := uint8(gobot.Rand(255))
			spheroDriver.SetRGB(r, g, b)
		})
	}

	robot := gobot.NewRobot("sphero",
		[]gobot.Connection{adaptor},
		[]gobot.Device{spheroDriver},
		work,
	)

	gbot.AddRobot(robot)

	gbot.Start()
}
Example #15
0
func main() {
	gbot := gobot.NewGobot()

	adaptor := sphero.NewSpheroAdaptor("sphero", "/dev/tty.Sphero-BRB-AMP-SPP")
	driver := sphero.NewSpheroDriver(adaptor, "sphero")

	work := func() {
		gobot.Every(1*time.Second, func() {
			driver.Roll(50, uint16(gobot.Rand(360)))
		})
	}

	robot := gobot.NewRobot("sphero",
		[]gobot.Connection{adaptor},
		[]gobot.Device{driver},
		work,
	)

	gbot.AddRobot(robot)

	gbot.Start()
}
Example #16
0
func main() {
	master := gobot.NewGobot()

	spheros := []string{
		"/dev/rfcomm0",
		"/dev/rfcomm1",
		"/dev/rfcomm2",
		"/dev/rfcomm3",
	}

	for s := range spheros {
		spheroAdaptor := sphero.NewSpheroAdaptor("Sphero", spheros[s])

		spheroDriver := sphero.NewSpheroDriver(spheroAdaptor, "Sphero"+spheros[s])

		work := func() {
			spheroDriver.Stop()

			gobot.On(spheroDriver.Events["Collision"], func(data interface{}) {
				fmt.Println("Collision Detected!")
			})

			gobot.Every(1*time.Second, func() {
				spheroDriver.Roll(100, uint16(gobot.Rand(360)))
			})
			gobot.Every(3*time.Second, func() {
				spheroDriver.SetRGB(uint8(gobot.Rand(255)), uint8(gobot.Rand(255)), uint8(gobot.Rand(255)))
			})
		}

		master.Robots = append(master.Robots,
			gobot.NewRobot("sphero", []gobot.Connection{spheroAdaptor}, []gobot.Device{spheroDriver}, work))
	}

	master.Start()
}
Example #17
0
func main() {
	gbot := gobot.NewGobot()
	a := api.NewAPI(gbot)
	a.Start()

	conn := sphero.NewSpheroAdaptor("Sphero", "/dev/rfcomm0")
	ball := sphero.NewSpheroDriver(conn, "sphero")

	robot := gobot.NewRobot("sphero-dpad",
		[]gobot.Connection{conn},
		[]gobot.Device{ball},
	)

	robot.AddCommand("move", func(params map[string]interface{}) interface{} {
		direction := params["direction"].(string)

		switch direction {
		case "up":
			ball.Roll(100, 0)
		case "down":
			ball.Roll(100, 180)
		case "left":
			ball.Roll(100, 270)
		case "right":
			ball.Roll(100, 90)
		}

		time.Sleep(2 * time.Second)
		ball.Stop()
		return "ok"
	})

	gbot.AddRobot(robot)

	gbot.Start()
}