func main() {
gbot := gobot.NewGobot()
firmataAdaptor := firmata.NewFirmataAdaptor("firmata", "/dev/ttyACM0")
servo1 := gpio.NewServoDriver(firmataAdaptor, "servo", "5")
servo2 := gpio.NewServoDriver(firmataAdaptor, "servo", "3")
leapAdaptor := leap.NewLeapMotionAdaptor("leap", "127.0.0.1:6437")
leapDriver := leap.NewLeapMotionDriver(leapAdaptor, "leap")
work := func() {
x := 90.0
z := 90.0
gobot.On(leapDriver.Events["Message"], func(data interface{}) {
if len(data.(leap.Frame).Hands) > 0 {
hand := data.(leap.Frame).Hands[0]
x = gobot.ToScale(gobot.FromScale(hand.X(), -300, 300), 30, 150)
z = gobot.ToScale(gobot.FromScale(hand.Z(), -300, 300), 30, 150)
}
})
gobot.Every(10*time.Millisecond, func() {
servo1.Move(uint8(x))
servo2.Move(uint8(z))
fmt.Println("Current Angle: ", servo1.CurrentAngle, ",", servo2.CurrentAngle)
})
}
gbot.Robots = append(gbot.Robots,
gobot.NewRobot("pwmBot", []gobot.Connection{firmataAdaptor, leapAdaptor}, []gobot.Device{servo1, servo2, leapDriver}, work))
gbot.Start()
}
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()
}
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 main() {
gbot := gobot.NewGobot()
leapMotionAdaptor := leap.NewLeapMotionAdaptor("leap", "127.0.0.1:6437")
l := leap.NewLeapMotionDriver(leapMotionAdaptor, "leap")
work := func() {
gobot.On(l.Events["Message"], func(data interface{}) {
printHands(data.(leap.Frame))
})
}
gbot.Robots = append(gbot.Robots, gobot.NewRobot(
"leapBot", []gobot.Connection{leapMotionAdaptor}, []gobot.Device{l}, work))
gbot.Start()
}
// Video: https://www.youtube.com/watch?v=ayNMyUfdAqc
func main() {
gbot := gobot.NewGobot()
firmataAdaptor := firmata.NewFirmataAdaptor("firmata", "/dev/tty.usbmodem1451")
servo1 := gpio.NewServoDriver(firmataAdaptor, "servo", "3")
servo2 := gpio.NewServoDriver(firmataAdaptor, "servo", "4")
servo3 := gpio.NewServoDriver(firmataAdaptor, "servo", "5")
servo4 := gpio.NewServoDriver(firmataAdaptor, "servo", "6")
servo5 := gpio.NewServoDriver(firmataAdaptor, "servo", "7")
leapMotionAdaptor := leap.NewLeapMotionAdaptor("leap", "127.0.0.1:6437")
l := leap.NewLeapMotionDriver(leapMotionAdaptor, "leap")
work := func() {
fist := false
l.On(leap.MessageEvent, func(data interface{}) {
handIsOpen := len(data.(leap.Frame).Pointables) > 0
if handIsOpen && fist {
servo1.Move(0)
servo2.Move(0)
servo3.Move(0)
servo4.Move(0)
servo5.Move(0)
fist = false
} else if !handIsOpen && !fist {
servo1.Move(120)
servo2.Move(120)
servo3.Move(120)
servo4.Move(120)
servo5.Move(120)
fist = true
}
})
}
robot := gobot.NewRobot("servoBot",
[]gobot.Connection{firmataAdaptor, leapMotionAdaptor},
[]gobot.Device{servo1, servo2, servo3, servo4, servo5, l},
work,
)
gbot.AddRobot(robot)
gbot.Start()
}
func main() {
gbot := gobot.NewGobot()
leapMotionAdaptor := leap.NewLeapMotionAdaptor("leap", "127.0.0.1:6437")
l := leap.NewLeapMotionDriver(leapMotionAdaptor, "leap")
work := func() {
gobot.On(l.Event("gesture"), func(data interface{}) {
printGesture(data.(leap.Gesture))
})
}
robot := gobot.NewRobot("leapBot",
[]gobot.Connection{leapMotionAdaptor},
[]gobot.Device{l},
work,
)
gbot.AddRobot(robot)
gbot.Start()
}
func main() {
gbot := gobot.NewGobot()
leapMotionAdaptor := leap.NewLeapMotionAdaptor("leap", "127.0.0.1:6437")
l := leap.NewLeapMotionDriver(leapMotionAdaptor, "leap")
work := func() {
l.On(leap.MessageEvent, func(data interface{}) {
fmt.Println(data.(leap.Frame))
})
}
robot := gobot.NewRobot("leapBot",
[]gobot.Connection{leapMotionAdaptor},
[]gobot.Device{l},
work,
)
gbot.AddRobot(robot)
gbot.Start()
}
