func main() {
master := gobot.NewMaster()
api.NewAPI(master).Start()
spheros := map[string]string{
"Sphero-BPO": "/dev/rfcomm0",
}
for name, port := range spheros {
spheroAdaptor := sphero.NewAdaptor(port)
spheroDriver := sphero.NewSpheroDriver(spheroAdaptor)
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
})
master.AddRobot(robot)
}
master.Start()
}
func NewSwarmBot(port string) *gobot.Robot {
spheroAdaptor := sphero.NewAdaptor(port)
spheroDriver := sphero.NewSpheroDriver(spheroAdaptor)
spheroDriver.SetName("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,
)
return robot
}
func main() {
leapAdaptor := leap.NewAdaptor("127.0.0.1:6437")
spheroAdaptor := sphero.NewAdaptor("/dev/tty.Sphero-YBW-RN-SPP")
leapDriver := leap.NewDriver(leapAdaptor)
spheroDriver := sphero.NewSpheroDriver(spheroAdaptor)
work := func() {
leapDriver.On(leap.MessageEvent, 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,
)
robot.Start()
}
func main() {
adaptor := sphero.NewAdaptor("/dev/rfcomm0")
spheroDriver := sphero.NewSpheroDriver(adaptor)
work := func() {
spheroDriver.SetDataStreaming(sphero.DefaultDataStreamingConfig())
spheroDriver.On(sphero.Collision, func(data interface{}) {
fmt.Printf("Collision! %+v\n", data)
})
spheroDriver.On(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,
)
robot.Start()
}
func main() {
master := gobot.NewMaster()
spheros := []string{
"/dev/rfcomm0",
"/dev/rfcomm1",
"/dev/rfcomm2",
}
for _, port := range spheros {
spheroAdaptor := sphero.NewAdaptor(port)
cell := sphero.NewSpheroDriver(spheroAdaptor)
cell.SetName("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,
)
master.AddRobot(robot)
}
master.Start()
}
func main() {
master := gobot.NewMaster()
spheros := map[string]string{
"Sphero-BPO": "/dev/rfcomm0",
}
for name, port := range spheros {
spheroAdaptor := sphero.NewAdaptor(port)
spheroDriver := sphero.NewSpheroDriver(spheroAdaptor)
work := func() {
spheroDriver.SetRGB(uint8(255), uint8(0), uint8(0))
}
robot := gobot.NewRobot(name,
[]gobot.Connection{spheroAdaptor},
[]gobot.Device{spheroDriver},
work,
)
master.AddRobot(robot)
}
robot := gobot.NewRobot("",
func() {
gobot.Every(1*time.Second, func() {
sphero := master.Robot("Sphero-BPO").Device("sphero").(*sphero.SpheroDriver)
sphero.SetRGB(uint8(gobot.Rand(255)),
uint8(gobot.Rand(255)),
uint8(gobot.Rand(255)),
)
})
},
)
master.AddRobot(robot)
master.Start()
}
func main() {
master := gobot.NewMaster()
a := api.NewAPI(master)
a.Start()
conn := sphero.NewAdaptor("/dev/rfcomm0")
ball := sphero.NewSpheroDriver(conn)
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"
})
master.AddRobot(robot)
master.Start()
}
