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 (m *Motion) moveCam(p *rocproto.Packet) error {
if p.Cam == nil {
return errors.New(fmt.Sprintf("Mouvement error: moving camera ==> %v", p))
}
x := uint8(gobot.ToScale(gobot.FromScale(p.Cam.X, -90, 90), 0, 180))
y := uint8(gobot.ToScale(gobot.FromScale(p.Cam.Y, -35, 35), 90, 180))
m.X = float64(x)
m.Y = float64(y)
m.servoX.Move(x)
m.servoY.Move(y)
return m.getCamPos(p)
}
// PwmWrite writes the 0-254 value to the specified pin
func (e *EdisonAdaptor) PwmWrite(pin string, val byte) (err error) {
sysPin := sysfsPinMap[pin]
if sysPin.pwmPin != -1 {
if e.pwmPins[sysPin.pwmPin] == nil {
if err = e.DigitalWrite(pin, 1); err != nil {
return
}
if err = changePinMode(strconv.Itoa(int(sysPin.pin)), "1"); err != nil {
return
}
e.pwmPins[sysPin.pwmPin] = newPwmPin(sysPin.pwmPin)
if err = e.pwmPins[sysPin.pwmPin].export(); err != nil {
return
}
if err = e.pwmPins[sysPin.pwmPin].enable("1"); err != nil {
return
}
}
p, err := e.pwmPins[sysPin.pwmPin].period()
if err != nil {
return err
}
period, err := strconv.Atoi(p)
if err != nil {
return err
}
duty := gobot.FromScale(float64(val), 0, 255.0)
return e.pwmPins[sysPin.pwmPin].writeDuty(strconv.Itoa(int(float64(period) * duty)))
}
return errors.New("Not a PWM pin")
}
// PwmWrite writes the 0-254 value to the specified pin
func (e *EdisonAdaptor) PwmWrite(pin string, val byte) (err error) {
sysPin := e.sysfsPinMap[pin]
if sysPin.pwmPin != -1 {
if e.pwmPins[sysPin.pwmPin] == nil {
if err = e.DigitalWrite(pin, 1); err != nil {
return
}
// FIXME: is this really the GPIO pin or the pwmPin we need to tweak ??
// seems like an oversight, doesn't it?
if err = changePinMode(strconv.Itoa(int(sysPin.gpioPin)), "1"); err != nil {
return
}
e.pwmPins[sysPin.pwmPin] = newPwmPin(sysPin.pwmPin)
if err = e.pwmPins[sysPin.pwmPin].export(); err != nil {
return
}
if err = e.pwmPins[sysPin.pwmPin].enable("1"); err != nil {
return
}
}
p, err := e.pwmPins[sysPin.pwmPin].period()
if err != nil {
return err
}
period, err := strconv.Atoi(p)
if err != nil {
return err
}
duty := gobot.FromScale(float64(val), 0, 255.0)
return e.pwmPins[sysPin.pwmPin].writeDuty(strconv.Itoa(int(float64(period) * duty)))
}
return errors.New("Not a PWM pin")
}
func main() {
gbot := gobot.NewGobot()
beagleboneAdaptor := beaglebone.NewBeagleboneAdaptor("beaglebone")
sensor := gpio.NewAnalogSensorDriver(beagleboneAdaptor, "sensor", "P9_33")
led := gpio.NewLedDriver(beagleboneAdaptor, "led", "P9_14")
work := func() {
sensor.On(sensor.Event("data"), func(data interface{}) {
brightness := uint8(
gobot.ToScale(gobot.FromScale(float64(data.(int)), 0, 1024), 0, 255),
)
fmt.Println("sensor", data)
fmt.Println("brightness", brightness)
led.Brightness(brightness)
})
}
robot := gobot.NewRobot("sensorBot",
[]gobot.Connection{beagleboneAdaptor},
[]gobot.Device{sensor, led},
work,
)
gbot.AddRobot(robot)
gbot.Start()
}
func main() {
gbot := gobot.NewGobot()
edisonAdaptor := edison.NewEdisonAdaptor("edison")
blinkm := i2c.NewBlinkMDriver(edisonAdaptor, "blinkm")
sensor := gpio.NewAnalogSensorDriver(edisonAdaptor, "sensor", "2")
work := func() {
gobot.On(sensor.Event("data"), func(data interface{}) {
brightness := uint8(
gobot.ToScale(gobot.FromScale(float64(data.(int)), 0, 4096), 0, 255),
)
fmt.Println("sensor", data)
fmt.Println("brightness", brightness)
blinkm.Rgb(0, brightness, 0)
})
}
robot := gobot.NewRobot("sensorBot",
[]gobot.Connection{edisonAdaptor},
[]gobot.Device{blinkm, sensor},
work,
)
gbot.AddRobot(robot)
gbot.Start()
}
func main() {
gbot := gobot.NewGobot()
e := edison.NewEdisonAdaptor("edison")
sensor := gpio.NewAnalogSensorDriver(e, "sensor", "0")
led := gpio.NewLedDriver(e, "led", "3")
work := func() {
sensor.On(gpio.Data, func(data interface{}) {
brightness := uint8(
gobot.ToScale(gobot.FromScale(float64(data.(int)), 0, 4096), 0, 255),
)
fmt.Println("sensor", data)
fmt.Println("brightness", brightness)
led.Brightness(brightness)
})
}
robot := gobot.NewRobot("sensorBot",
[]gobot.Connection{e},
[]gobot.Device{sensor, led},
work,
)
gbot.AddRobot(robot)
gbot.Start()
}
func main() {
gbot := gobot.NewGobot()
firmataAdaptor := firmata.NewFirmataAdaptor("firmata", "/dev/ttyACM0")
sensor := gpio.NewAnalogSensorDriver(firmataAdaptor, "sensor", "0")
led := gpio.NewLedDriver(firmataAdaptor, "led", "3")
work := func() {
sensor.On(gpio.Data, func(data interface{}) {
brightness := uint8(
gobot.ToScale(gobot.FromScale(float64(data.(int)), 0, 1024), 0, 255),
)
fmt.Println("sensor", data)
fmt.Println("brightness", brightness)
led.Brightness(brightness)
})
}
robot := gobot.NewRobot("sensorBot",
[]gobot.Connection{firmataAdaptor},
[]gobot.Device{sensor, led},
work,
)
gbot.AddRobot(robot)
gbot.Start()
}
func (r *RaspiAdaptor) PwmWrite(pin string, val byte) (err error) {
sysfsPin, err := r.pwmPin(pin)
if err != nil {
return err
}
return r.piBlaster(fmt.Sprintf("%v=%v\n", sysfsPin, gobot.FromScale(float64(val), 0, 255)))
}
// pwmWrite writes pwm value to specified pin
func (b *BeagleboneAdaptor) pwmWrite(pin string, val byte) (err error) {
i, err := b.pwmPin(pin)
if err != nil {
return
}
period := 500000.0
duty := gobot.FromScale(float64(val), 0, 255.0)
return b.pwmPins[i].pwmWrite(strconv.Itoa(int(period)), strconv.Itoa(int(period*duty)))
}
// ServoWrite writes the 0-180 degree val to the specified pin.
func (b *BeagleboneAdaptor) ServoWrite(pin string, val byte) (err error) {
i, err := b.pwmPin(pin)
if err != nil {
return err
}
period := 16666666.0
duty := (gobot.FromScale(float64(val), 0, 180.0) * 0.115) + 0.05
return b.pwmPins[i].pwmWrite(strconv.Itoa(int(period)), strconv.Itoa(int(period*duty)))
}
func (r *RaspiAdaptor) ServoWrite(pin string, angle byte) (err error) {
sysfsPin, err := r.pwmPin(pin)
if err != nil {
return err
}
val := (gobot.ToScale(gobot.FromScale(float64(angle), 0, 180), 0, 200) / 1000.0) + 0.05
return r.piBlaster(fmt.Sprintf("%v=%v\n", sysfsPin, val))
}
func (m *Motion) move(p *rocproto.Packet) error {
var r int64 = 50
if p.Mv == nil {
return errors.New(fmt.Sprintf("Mouvement error, using motors ==> %v", p))
}
theta := int64(p.Mv.Angle * 180 / math.Pi)
theta = ((theta + 180) % 360) - 180
v_a := r * (45 - theta%90) / 45 // falloff of main motor
v_b := misc.Min(100, 2*r+v_a, 2*r-v_a) // compensation of other motor
lR, rR := thrust(theta, v_a, v_b)
lS := gobot.ToScale(gobot.FromScale(CALCSPEED*(float64(lR)/100), -90, 90), 0, 180)
rS := gobot.ToScale(gobot.FromScale(CALCSPEED*(float64(rR)/100), -90, 90), 0, 180)
p.Mv.Speed = float64(lR+rR) / 2
gobot.Publish(m.Event("move"), *p.Mv)
m.resetTime <- true
m.motorL.Move(uint8(lS))
m.motorR.Move(uint8(90 - (rS - 90)))
fmt.Println(lS, 90-(rS-90))
return nil
}
/*
This function is used if only the rotary port is in play.
func mapValueToColor(i int) (int, int, int) {
// Masking to account for very sensitive rotary
red := ((i & (1 << 1)) << 2) | ((i & (1 << 4)) << 0) | ((i & (1 << 7)) >> 2)
green := ((i & (1 << 2)) << 1) | ((i & (1 << 5)) >> 1) | ((i & (1 << 8)) >> 3)
blue := ((i & (1 << 3)) << 0) | ((i & (1 << 6)) >> 2) | ((i & (1 << 9)) >> 4)
return red, green, blue
}
*/
func main() {
gbot := gobot.NewGobot()
board := edison.NewEdisonAdaptor("edison")
screen := i2c.NewGroveLcdDriver(board, "screen")
sensorRotary := gpio.NewGroveRotaryDriver(board, "sensor", "0")
sensorLight := gpio.NewGroveLightSensorDriver(board, "light", "1")
sensorTemp := gpio.NewGroveTemperatureSensorDriver(board, "temp", "2")
work := func() {
var r, g, b int
gobot.On(sensorRotary.Event("data"), func(data interface{}) {
r = data.(int) >> 2
})
gobot.On(sensorLight.Event("data"), func(data interface{}) {
fmt.Printf("%d\n", data)
g = data.(int) * 255 / 790
})
gobot.Every(time.Millisecond*500, func() {
b = int(gobot.ToScale(gobot.FromScale(sensorTemp.Temperature(), 25, 35), 0, 255))
screen.Clear()
screen.Home()
screen.SetRGB(r, g, b)
screen.Write(fmt.Sprintf("#%02X%02X%02X", r, g, b))
})
}
robot := gobot.NewRobot("screenBot",
[]gobot.Connection{board},
[]gobot.Device{screen, sensorRotary, sensorLight, sensorTemp},
work,
)
gbot.AddRobot(robot)
gbot.Start()
}
func main() {
gbot := gobot.NewGobot()
beagleboneAdaptor := beaglebone.NewBeagleboneAdaptor("beaglebone")
sensor := gpio.NewAnalogSensorDriver(beagleboneAdaptor, "sensor", "P9_33")
led := gpio.NewLedDriver(beagleboneAdaptor, "led", "P9_14")
work := func() {
gobot.Every(100*time.Millisecond, func() {
val := sensor.Read()
brightness := uint8(gobot.ToScale(gobot.FromScale(float64(val), 0, 1024), 0, 255))
fmt.Println("sensor", val)
fmt.Println("brightness", brightness)
led.Brightness(brightness)
})
}
gbot.Robots = append(gbot.Robots,
gobot.NewRobot("sensorBot", []gobot.Connection{beagleboneAdaptor}, []gobot.Device{sensor, led}, work))
gbot.Start()
}
func (ia *AI) light() error {
var err error
d := &DataLux{iter: 0, iterMax: 0, lux: -1, iterMaxLux: 0}
timeout := time.After(3 * time.Second)
tick := time.NewTicker(100 * time.Millisecond)
ia.toggle(true)
defer ia.toggle(false)
for {
select {
case <-timeout:
d.iterMax = d.iter
log.Println("Max lux is at: ", d.getAngle(), " degrees")
coord := ia.getPos(nil).(rocproto.Coord)
coord.Lat = coord.Lat + math.Cos(d.getAngle())
coord.Long = coord.Long + math.Sin(d.getAngle())
p := goPack.Prepare(uint32(rocproto.AiCodes_DLIGHT), rocproto.Packet_DATA, rocproto.Packet_CONTROL_SERVER, rocproto.Packet_VIDEO_CLIENT)
p.Coord = &coord
if err != nil {
return err
}
tick.Stop()
return ia.Send(p)
case <-tick.C:
v, err := ia.sensorLight.Read()
if misc.CheckError(err, "reading light sensor in photoresistor.go", false) != nil {
return err
}
d.iter += 1
temp := gobot.ToScale(gobot.FromScale(float64(v), 0, 1024), 0, 255)
//fmt.Println("Sensor data", temp)
if diffIsCorrect(d.lux, temp) && temp > d.lux {
d.lux = temp
d.iterMaxLux = d.iter
}
}
}
}
func (b *BeagleboneAdaptor) ServoWrite(pin string, val byte) {
i := b.pwmPin(pin)
period := 20000000.0
duty := gobot.FromScale(float64(^val), 0, 180.0)
b.pwmPins[i].pwmWrite(strconv.Itoa(int(period)), strconv.Itoa(int(period*duty)))
}
func scale(position float64) uint8 {
return uint8(gobot.ToScale(gobot.FromScale(position, 0, 1), 0, 255))
}
func ExampleFromScale() {
fmt.Println(gobot.FromScale(5, 0, 10))
// Output:
// 0.5
}