func main() {
firmataAdaptor := firmata.NewAdaptor("/dev/ttyACM0")
servo1 := gpio.NewServoDriver(firmataAdaptor, "5")
servo2 := gpio.NewServoDriver(firmataAdaptor, "3")
leapAdaptor := leap.NewAdaptor("127.0.0.1:6437")
leapDriver := leap.NewDriver(leapAdaptor)
work := func() {
x := 90.0
z := 90.0
leapDriver.On(leap.MessageEvent, 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)
})
}
robot := gobot.NewRobot("pwmBot",
[]gobot.Connection{firmataAdaptor, leapAdaptor},
[]gobot.Device{servo1, servo2, leapDriver},
work,
)
robot.Start()
}
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() {
leapMotionAdaptor := leap.NewAdaptor("127.0.0.1:6437")
l := leap.NewDriver(leapMotionAdaptor)
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,
)
robot.Start()
}
// Video: https://www.youtube.com/watch?v=ayNMyUfdAqc
func main() {
firmataAdaptor := firmata.NewAdaptor("/dev/tty.usbmodem1451")
servo1 := gpio.NewServoDriver(firmataAdaptor, "3")
servo2 := gpio.NewServoDriver(firmataAdaptor, "4")
servo3 := gpio.NewServoDriver(firmataAdaptor, "5")
servo4 := gpio.NewServoDriver(firmataAdaptor, "6")
servo5 := gpio.NewServoDriver(firmataAdaptor, "7")
leapMotionAdaptor := leap.NewAdaptor("127.0.0.1:6437")
l := leap.NewDriver(leapMotionAdaptor)
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,
)
robot.Start()
}
