func main() {
gbot := gobot.NewGobot()
bleAdaptor := ble.NewBLEAdaptor("ble", os.Args[1])
drone := ble.NewBLEMinidroneDriver(bleAdaptor, "drone")
work := func() {
gobot.On(drone.Event("battery"), func(data interface{}) {
fmt.Printf("battery: %d\n", data)
})
gobot.On(drone.Event("status"), func(data interface{}) {
fmt.Printf("status: %d\n", data)
})
gobot.On(drone.Event("flying"), func(data interface{}) {
fmt.Println("flying!")
gobot.After(5*time.Second, func() {
fmt.Println("forwards...")
drone.Forward(10)
})
gobot.After(10*time.Second, func() {
fmt.Println("backwards...")
drone.Backward(10)
})
gobot.After(15*time.Second, func() {
fmt.Println("right...")
drone.Right(10)
})
gobot.After(20*time.Second, func() {
fmt.Println("left...")
drone.Left(10)
})
gobot.After(25*time.Second, func() {
fmt.Println("landing...")
drone.Land()
})
})
gobot.On(drone.Event("landed"), func(data interface{}) {
fmt.Println("landed.")
})
drone.TakeOff()
}
robot := gobot.NewRobot("minidrone",
[]gobot.Connection{bleAdaptor},
[]gobot.Device{drone},
work,
)
gbot.AddRobot(robot)
gbot.Start()
}
func main() {
gbot := gobot.NewGobot()
board := edison.NewEdisonAdaptor("edison")
screen := i2c.NewGroveLcdDriver(board, "screen")
work := func() {
screen.Write("hello")
screen.SetRGB(255, 0, 0)
gobot.After(5*time.Second, func() {
screen.Clear()
screen.Home()
screen.SetRGB(0, 255, 0)
screen.Write("goodbye")
})
screen.Home()
<-time.After(1 * time.Second)
screen.SetRGB(0, 0, 255)
}
robot := gobot.NewRobot("screenBot",
[]gobot.Connection{board},
[]gobot.Device{screen},
work,
)
gbot.AddRobot(robot)
gbot.Start()
}
func main() {
gbot := gobot.NewGobot()
bebopAdaptor := bebop.NewBebopAdaptor("Drone")
drone := bebop.NewBebopDriver(bebopAdaptor, "Drone")
work := func() {
gobot.On(drone.Event("flying"), func(data interface{}) {
gobot.After(3*time.Second, func() {
drone.Land()
})
})
drone.HullProtection(true)
drone.TakeOff()
}
robot := gobot.NewRobot("drone",
[]gobot.Connection{bebopAdaptor},
[]gobot.Device{drone},
work,
)
gbot.AddRobot(robot)
gbot.Start()
}
func main() {
gbot := gobot.NewGobot()
bleAdaptor := ble.NewBLEAdaptor("ble", os.Args[1])
drone := ble.NewBLEMinidroneDriver(bleAdaptor, "drone")
work := func() {
fmt.Println("takeoff...")
drone.TakeOff()
gobot.After(10*time.Second, func() {
fmt.Println("landing...")
drone.Land()
})
}
robot := gobot.NewRobot("minidrone",
[]gobot.Connection{bleAdaptor},
[]gobot.Device{drone},
work,
)
gbot.AddRobot(robot)
gbot.Start()
}
func main() {
gbot := gobot.NewGobot()
// create a ardrone adapter
aAdapter := ardrone.NewArdroneAdaptor("Drone")
// create a leap adaptor to connect to the leap motion via web socket.
lAdapter := leap.NewLeapMotionAdaptor("leap", "127.0.0.1:6437")
c := leapdrone.NewController(lAdapter, aAdapter)
// implement leap worker
leapWorker := func() {
// NOTE: leap motion driver only add message event to it.
gobot.On(c.LDriver.Event("message"), func(data interface{}) {
lp := data.(leap.Frame)
for _, v := range lp.Hands {
// XXX: catch the first hand id and ignore other annoying hands
hand := lb.NewHand(v, 200)
if hand.IsForward() {
fmt.Printf("moving forward\n")
}
if hand.IsBackward() {
fmt.Printf("moving backward\n")
}
if hand.IsRight() {
fmt.Printf("moving right\n")
}
if hand.IsLeft() {
fmt.Printf("moving left\n")
}
if hand.IsUpward() {
fmt.Printf("moving up\n")
}
if hand.IsDownward() {
fmt.Printf("moving down\n")
}
continue
}
})
}
// implement ARDrone worker
droneWorker := func() {
c.ADriver.TakeOff()
gobot.On(c.ADriver.Event("flying"), func(data interface{}) {
gobot.After(3*time.Second, func() {
c.ADriver.Land()
})
})
}
// add a leap robot to gobot
gbot.AddRobot(c.LeapRobot(leapWorker))
// add a ardrone robot to gobot
// TODO: temporarily disable drone robot.
// gbot.AddRobot(c.DroneRobot(droneWorker))
_ = droneWorker
// start
gbot.Start()
}
func openDoor(sp gpio.DirectPinDriver, publisher *zmq.Socket) {
sp.DigitalWrite(1)
publisher.SendMessage("door.state.unlock", "Door Unlocked")
gobot.After(5*time.Second, func() {
sp.DigitalWrite(0)
publisher.SendMessage("door.state.lock", "Door Locked")
})
}
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 main() {
gbot := gobot.NewGobot()
ardroneAdaptor := ardrone.NewArdroneAdaptor("Drone")
drone := ardrone.NewArdroneDriver(ardroneAdaptor, "Drone")
work := func() {
drone.TakeOff()
gobot.On(drone.Events["Flying"], func(data interface{}) {
gobot.After(3*time.Second, func() {
drone.Land()
})
})
}
gbot.Robots = append(gbot.Robots,
gobot.NewRobot("drone", []gobot.Connection{ardroneAdaptor}, []gobot.Device{drone}, work))
gbot.Start()
}
func main() {
gbot := gobot.NewGobot()
bleAdaptor := ble.NewBLEClientAdaptor("ble", os.Args[1])
drone := ble.NewBLEMinidroneDriver(bleAdaptor, "drone")
work := func() {
gobot.On(drone.Event("battery"), func(data interface{}) {
fmt.Printf("battery: %d\n", data)
})
gobot.On(drone.Event("status"), func(data interface{}) {
fmt.Printf("status: %d\n", data)
})
gobot.On(drone.Event("flying"), func(data interface{}) {
fmt.Println("flying!")
gobot.After(5*time.Second, func() {
fmt.Println("landing...")
drone.Land()
drone.Land()
})
})
gobot.On(drone.Event("landed"), func(data interface{}) {
fmt.Println("landed.")
})
<-time.After(1000 * time.Millisecond)
drone.TakeOff()
}
robot := gobot.NewRobot("bleBot",
[]gobot.Connection{bleAdaptor},
[]gobot.Device{drone},
work,
)
gbot.AddRobot(robot)
gbot.Start()
}
func main() {
gbot := gobot.NewGobot()
robot := gobot.NewRobot(
"hello",
func() {
done := gobot.Every(500*time.Millisecond, func() {
fmt.Println("Greetings human")
})
gobot.After(5*time.Second, func() {
done <- true
fmt.Println("We're done here")
})
},
)
gbot.AddRobot(robot)
gbot.Start()
}
func main() {
gbot := gobot.NewGobot()
board := joule.NewJouleAdaptor("joule")
screen := i2c.NewGroveLcdDriver(board, "screen")
work := func() {
screen.Write("hello")
screen.SetRGB(255, 0, 0)
gobot.After(5*time.Second, func() {
screen.Clear()
screen.Home()
screen.SetRGB(0, 255, 0)
// set a custom character in the first position
screen.SetCustomChar(0, i2c.CustomLCDChars["smiley"])
// add the custom character at the end of the string
screen.Write("goodbye\nhave a nice day " + string(byte(0)))
gobot.Every(500*time.Millisecond, func() {
screen.Scroll(false)
})
})
screen.Home()
<-time.After(1 * time.Second)
screen.SetRGB(0, 0, 255)
}
robot := gobot.NewRobot("screenBot",
[]gobot.Connection{board},
[]gobot.Device{screen},
work,
)
gbot.AddRobot(robot)
gbot.Start()
}
func main() {
gbot := gobot.NewGobot()
ardroneAdaptor := ardrone.NewArdroneAdaptor("Drone")
drone := ardrone.NewArdroneDriver(ardroneAdaptor, "Drone")
work := func() {
drone.On(ardrone.Flying, func(data interface{}) {
gobot.After(3*time.Second, func() {
drone.Land()
})
})
drone.TakeOff()
}
robot := gobot.NewRobot("drone",
[]gobot.Connection{ardroneAdaptor},
[]gobot.Device{drone},
work,
)
gbot.AddRobot(robot)
gbot.Start()
}
func main() {
runtime.GOMAXPROCS(runtime.NumCPU())
gbot := gobot.NewGobot()
_, currentfile, _, _ := runtime.Caller(0)
cascade := path.Join(path.Dir(currentfile), "haarcascade_frontalface_alt.xml")
window := opencv.NewWindowDriver("window")
camera := opencv.NewCameraDriver("camera", "tcp://192.168.1.1:5555")
ardroneAdaptor := ardrone.NewArdroneAdaptor("Drone")
drone := ardrone.NewArdroneDriver(ardroneAdaptor, "drone")
work := func() {
detect := false
drone.TakeOff()
var image *cv.IplImage
gobot.On(camera.Events["Frame"], func(data interface{}) {
image = data.(*cv.IplImage)
if detect == false {
window.ShowImage(image)
}
})
gobot.On(drone.Events["Flying"], func(data interface{}) {
gobot.After(1*time.Second, func() { drone.Up(0.2) })
gobot.After(2*time.Second, func() { drone.Hover() })
gobot.After(5*time.Second, func() {
detect = true
gobot.Every(300*time.Millisecond, func() {
drone.Hover()
i := image
faces := opencv.DetectFaces(cascade, i)
biggest := 0
var face *cv.Rect
for _, f := range faces {
if f.Width() > biggest {
biggest = f.Width()
face = f
}
}
if face != nil {
opencv.DrawRectangles(i, []*cv.Rect{face}, 0, 255, 0, 5)
centerX := float64(image.Width()) * 0.5
turn := -(float64(face.X()) - centerX) / centerX
fmt.Println("turning:", turn)
if turn < 0 {
drone.Clockwise(math.Abs(turn * 0.4))
} else {
drone.CounterClockwise(math.Abs(turn * 0.4))
}
}
window.ShowImage(i)
})
gobot.After(20*time.Second, func() { drone.Land() })
})
})
}
gbot.Robots = append(gbot.Robots,
gobot.NewRobot("face", []gobot.Connection{ardroneAdaptor}, []gobot.Device{window, camera, drone}, work))
gbot.Start()
}
func ExampleAfter() {
gobot.After(1*time.Second, func() {
fmt.Println("Hello")
})
}
"time"
"github.com/hybridgroup/gobot"
)
var connect = func(a *FirmataAdaptor) []error {
defaultInitTimeInterval = 0 * time.Second
gobot.After(1*time.Millisecond, func() {
// arduino uno r3 firmware response "StandardFirmata.ino"
a.board.process([]byte{240, 121, 2, 3, 83, 0, 116, 0, 97, 0, 110, 0, 100,
0, 97, 0, 114, 0, 100, 0, 70, 0, 105, 0, 114, 0, 109, 0, 97, 0, 116, 0,
97, 0, 46, 0, 105, 0, 110, 0, 111, 0, 247})
// arduino uno r3 capabilities response
a.board.process([]byte{240, 108, 127, 127, 0, 1, 1, 1, 4, 14, 127, 0, 1,
1, 1, 3, 8, 4, 14, 127, 0, 1, 1, 1, 4, 14, 127, 0, 1, 1, 1, 3, 8, 4, 14,
127, 0, 1, 1, 1, 3, 8, 4, 14, 127, 0, 1, 1, 1, 4, 14, 127, 0, 1, 1, 1,
4, 14, 127, 0, 1, 1, 1, 3, 8, 4, 14, 127, 0, 1, 1, 1, 3, 8, 4, 14, 127,
0, 1, 1, 1, 3, 8, 4, 14, 127, 0, 1, 1, 1, 4, 14, 127, 0, 1, 1, 1, 4, 14,
127, 0, 1, 1, 1, 2, 10, 127, 0, 1, 1, 1, 2, 10, 127, 0, 1, 1, 1, 2, 10,
127, 0, 1, 1, 1, 2, 10, 127, 0, 1, 1, 1, 2, 10, 6, 1, 127, 0, 1, 1, 1,
2, 10, 6, 1, 127, 247})
// arduino uno r3 analog mapping response
a.board.process([]byte{240, 106, 127, 127, 127, 127, 127, 127, 127, 127,
127, 127, 127, 127, 127, 127, 0, 1, 2, 3, 4, 5, 247})
})
return a.Connect()
}
func initTestFirmataAdaptor() *FirmataAdaptor {
a := NewFirmataAdaptor("board", "/dev/null")
a.connect = func(port string) (io.ReadWriteCloser, error) {
return &NullReadWriteCloser{}, nil