func main() {
gbot := gobot.NewMaster()
api.NewAPI(gbot).Start()
gbot.AddCommand("echo", func(params map[string]interface{}) interface{} {
return params["a"]
})
loopback := NewLoopbackAdaptor("/dev/null")
ping := NewPingDriver(loopback, "1")
work := func() {
gobot.Every(5*time.Second, func() {
fmt.Println(ping.Ping())
})
}
r := gobot.NewRobot("TestBot",
[]gobot.Connection{loopback},
[]gobot.Device{ping},
work,
)
r.AddCommand("hello", func(params map[string]interface{}) interface{} {
return fmt.Sprintf("Hello, %v!", params["greeting"])
})
gbot.AddRobot(r)
gbot.Start()
}
func main() {
keys := keyboard.NewDriver()
mqttAdaptor := mqtt.NewAdaptor("tcp://iot.eclipse.org:1883", "conductor")
work := func() {
keys.On(keyboard.Key, func(data interface{}) {
key := data.(keyboard.KeyEvent)
switch key.Key {
case keyboard.ArrowUp:
mqttAdaptor.Publish("rover/frente", []byte{})
case keyboard.ArrowRight:
mqttAdaptor.Publish("rover/derecha", []byte{})
case keyboard.ArrowDown:
mqttAdaptor.Publish("rover/atras", []byte{})
case keyboard.ArrowLeft:
mqttAdaptor.Publish("rover/izquierda", []byte{})
}
})
}
robot := gobot.NewRobot("keyboardbot",
[]gobot.Connection{mqttAdaptor},
[]gobot.Device{keys},
work,
)
robot.Start()
}
func main() {
master := gobot.NewMaster()
a := api.NewAPI(master)
a.AddHandler(api.BasicAuth("gort", "klatuu"))
a.Debug()
a.AddHandler(func(w http.ResponseWriter, r *http.Request) {
fmt.Fprintf(w, "Hello, %q \n", html.EscapeString(r.URL.Path))
})
a.Start()
master.AddCommand("custom_gobot_command",
func(params map[string]interface{}) interface{} {
return "This command is attached to the mcp!"
})
hello := master.AddRobot(gobot.NewRobot("hello"))
hello.AddCommand("hi_there", func(params map[string]interface{}) interface{} {
return fmt.Sprintf("This command is attached to the robot %v", hello.Name)
})
master.Start()
}
func main() {
digisparkAdaptor := digispark.NewAdaptor()
led := gpio.NewLedDriver(digisparkAdaptor, "0")
work := func() {
brightness := uint8(0)
fadeAmount := uint8(15)
gobot.Every(100*time.Millisecond, func() {
led.Brightness(brightness)
brightness = brightness + fadeAmount
if brightness == 0 || brightness == 255 {
fadeAmount = -fadeAmount
}
})
}
robot := gobot.NewRobot("pwmBot",
[]gobot.Connection{digisparkAdaptor},
[]gobot.Device{led},
work,
)
robot.Start()
}
func main() {
r := raspi.NewAdaptor()
button := gpio.NewButtonDriver(r, "11")
led := gpio.NewLedDriver(r, "7")
work := func() {
button.On(gpio.ButtonPush, func(data interface{}) {
fmt.Println("button pressed")
led.On()
})
button.On(gpio.ButtonRelease, func(data interface{}) {
fmt.Println("button released")
led.Off()
})
}
robot := gobot.NewRobot("buttonBot",
[]gobot.Connection{r},
[]gobot.Device{button, led},
work,
)
robot.Start()
}
func main() {
master := gobot.NewMaster()
api := api.NewAPI(master)
api.Port = "8080"
api.Start()
pebbleAdaptor := pebble.NewAdaptor()
pebbleDriver := pebble.NewDriver(pebbleAdaptor)
work := func() {
pebbleDriver.SendNotification("Hello Pebble!")
pebbleDriver.On(pebbleDriver.Event("button"), func(data interface{}) {
fmt.Println("Button pushed: " + data.(string))
})
pebbleDriver.On(pebbleDriver.Event("tap"), func(data interface{}) {
fmt.Println("Tap event detected")
})
}
robot := gobot.NewRobot("pebble",
[]gobot.Connection{pebbleAdaptor},
[]gobot.Device{pebbleDriver},
work,
)
master.AddRobot(robot)
master.Start()
}
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 main() {
firmataAdaptor := firmata.NewAdaptor("/dev/ttyACM0")
work := func() {
gobot.Every(1*time.Second, func() {
val, err := firmataAdaptor.AnalogRead("0")
if err != nil {
fmt.Println(err)
return
}
voltage := (float64(val) * 5) / 1024 // if using 3.3V replace 5 with 3.3
tempC := (voltage - 0.5) * 100
tempF := (tempC * 9 / 5) + 32
fmt.Printf("%.2f°C\n", tempC)
fmt.Printf("%.2f°F\n", tempF)
})
}
robot := gobot.NewRobot("sensorBot",
[]gobot.Connection{firmataAdaptor},
[]gobot.Device{},
work,
)
robot.Start()
}
func main() {
mqttAdaptor := mqtt.NewAdaptor("tcp://test.mosquitto.org:1883", "blinker")
firmataAdaptor := firmata.NewAdaptor("/dev/ttyACM0")
led := gpio.NewLedDriver(firmataAdaptor, "13")
work := func() {
mqttAdaptor.On("lights/on", func(data []byte) {
led.On()
})
mqttAdaptor.On("lights/off", func(data []byte) {
led.Off()
})
data := []byte("")
gobot.Every(1*time.Second, func() {
mqttAdaptor.Publish("lights/on", data)
})
gobot.Every(2*time.Second, func() {
mqttAdaptor.Publish("lights/off", data)
})
}
robot := gobot.NewRobot("mqttBot",
[]gobot.Connection{mqttAdaptor, firmataAdaptor},
[]gobot.Device{led},
work,
)
robot.Start()
}
func main() {
// use "/dev/ttyUSB0" if connecting with USB cable
// use "/dev/ttyAMA0" on devices older than Raspberry Pi 3 Model B
megaPiAdaptor := megapi.NewAdaptor("/dev/ttyS0")
motor := megapi.NewMotorDriver(megaPiAdaptor, 1)
work := func() {
speed := int16(0)
fadeAmount := int16(30)
gobot.Every(100*time.Millisecond, func() {
motor.Speed(speed)
speed = speed + fadeAmount
if speed == 0 || speed == 300 {
fadeAmount = -fadeAmount
}
})
}
robot := gobot.NewRobot("megaPiBot",
[]gobot.Connection{megaPiAdaptor},
[]gobot.Device{motor},
work,
)
robot.Start()
}
func main() {
master := gobot.NewMaster()
a := api.NewAPI(master)
a.Port = "8080"
a.Start()
pebbleAdaptor := pebble.NewAdaptor()
pebbleDriver := pebble.NewDriver(pebbleAdaptor)
work := func() {
pebbleDriver.On(pebbleDriver.Event("accel"), func(data interface{}) {
fmt.Println(data.(string))
})
}
robot := gobot.NewRobot("pebble",
[]gobot.Connection{pebbleAdaptor},
[]gobot.Device{pebbleDriver},
work,
)
master.AddRobot(robot)
master.Start()
}
func main() {
mqttAdaptor := mqtt.NewAdaptor("tcp://test.mosquitto.org:1883", "pinger")
work := func() {
mqttAdaptor.On("hello", func(data []byte) {
fmt.Println("hello")
})
mqttAdaptor.On("hola", func(data []byte) {
fmt.Println("hola")
})
data := []byte("o")
gobot.Every(1*time.Second, func() {
mqttAdaptor.Publish("hello", data)
})
gobot.Every(5*time.Second, func() {
mqttAdaptor.Publish("hola", data)
})
}
robot := gobot.NewRobot("mqttBot",
[]gobot.Connection{mqttAdaptor},
work,
)
robot.Start()
}
func main() {
core := particle.NewAdaptor(os.Args[1], os.Args[2])
led := gpio.NewLedDriver(core, "A1")
work := func() {
brightness := uint8(0)
fadeAmount := uint8(25)
gobot.Every(500*time.Millisecond, func() {
led.Brightness(brightness)
brightness = brightness + fadeAmount
if brightness == 0 || brightness == 255 {
fadeAmount = -fadeAmount
}
})
}
robot := gobot.NewRobot("spark",
[]gobot.Connection{core},
[]gobot.Device{led},
work,
)
robot.Start()
}
func main() {
master := gobot.NewMaster()
firmataAdaptor := firmata.NewAdaptor("/dev/ttyACM0")
red := gpio.NewLedDriver(firmataAdaptor, "7")
red.SetName("red")
green := gpio.NewLedDriver(firmataAdaptor, "6")
green.SetName("green")
blue := gpio.NewLedDriver(firmataAdaptor, "5")
blue.SetName("blue")
work := func() {
checkTravis(master.Robot("travis"))
gobot.Every(10*time.Second, func() {
checkTravis(master.Robot("travis"))
})
}
robot := gobot.NewRobot("travis",
[]gobot.Connection{firmataAdaptor},
[]gobot.Device{red, green, blue},
work,
)
master.AddRobot(robot)
master.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() {
e := joule.NewAdaptor()
led0 := gpio.NewLedDriver(e, "100")
led1 := gpio.NewLedDriver(e, "101")
led2 := gpio.NewLedDriver(e, "102")
led3 := gpio.NewLedDriver(e, "103")
work := func() {
led0.Off()
led1.Off()
led2.Off()
led3.Off()
gobot.Every(1*time.Second, func() {
led0.Toggle()
})
gobot.Every(2*time.Second, func() {
led1.Toggle()
})
gobot.Every(4*time.Second, func() {
led2.Toggle()
})
gobot.Every(8*time.Second, func() {
led3.Toggle()
})
}
robot := gobot.NewRobot("blinkBot",
[]gobot.Connection{e},
[]gobot.Device{led0, led1, led2, led3},
work,
)
robot.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() {
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() {
board := edison.NewAdaptor()
screen := i2c.NewGroveLcdDriver(board)
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.Sleep(1 * time.Second)
screen.SetRGB(0, 0, 255)
}
robot := gobot.NewRobot("screenBot",
[]gobot.Connection{board},
[]gobot.Device{screen},
work,
)
robot.Start()
}
func main() {
natsAdaptor := nats.NewAdaptorWithAuth("localhost:4222", 1234, "user", "pass")
work := func() {
natsAdaptor.On("hello", func(data []byte) {
fmt.Println("hello")
})
natsAdaptor.On("hola", func(data []byte) {
fmt.Println("hola")
})
data := []byte("o")
gobot.Every(1*time.Second, func() {
natsAdaptor.Publish("hello", data)
})
gobot.Every(5*time.Second, func() {
natsAdaptor.Publish("hola", data)
})
}
robot := gobot.NewRobot("natsBot",
[]gobot.Connection{natsAdaptor},
work,
)
robot.Start()
}
func main() {
firmataAdaptor := firmata.NewAdaptor("/dev/ttyACM0")
led1 := gpio.NewLedDriver(firmataAdaptor, "3")
led2 := gpio.NewLedDriver(firmataAdaptor, "4")
button := gpio.NewButtonDriver(firmataAdaptor, "2")
sensor := gpio.NewAnalogSensorDriver(firmataAdaptor, "0")
work := func() {
gobot.Every(1*time.Second, func() {
led1.Toggle()
})
gobot.Every(2*time.Second, func() {
led2.Toggle()
})
button.On(gpio.ButtonPush, func(data interface{}) {
led2.On()
})
button.On(gpio.ButtonRelease, func(data interface{}) {
led2.Off()
})
sensor.On(gpio.Data, func(data interface{}) {
fmt.Println("sensor", data)
})
}
robot := gobot.NewRobot("bot",
[]gobot.Connection{firmataAdaptor},
[]gobot.Device{led1, led2, button, sensor},
work,
)
robot.Start()
}
func main() {
_, currentfile, _, _ := runtime.Caller(0)
cascade := path.Join(path.Dir(currentfile), "haarcascade_frontalface_alt.xml")
window := opencv.NewWindowDriver()
camera := opencv.NewCameraDriver(0)
work := func() {
var image *cv.IplImage
camera.On(opencv.Frame, func(data interface{}) {
image = data.(*cv.IplImage)
})
gobot.Every(500*time.Millisecond, func() {
if image != nil {
i := image.Clone()
faces := opencv.DetectFaces(cascade, i)
i = opencv.DrawRectangles(i, faces, 0, 255, 0, 5)
window.ShowImage(i)
}
})
}
robot := gobot.NewRobot("faceBot",
[]gobot.Connection{},
[]gobot.Device{window, camera},
work,
)
robot.Start()
}
func main() {
master := gobot.NewMaster()
api.NewAPI(master).Start()
e := edison.NewAdaptor()
button := gpio.NewButtonDriver(e, "2")
led := gpio.NewLedDriver(e, "4")
work := func() {
button.On(gpio.ButtonPush, func(data interface{}) {
led.On()
})
button.On(gpio.ButtonRelease, func(data interface{}) {
led.Off()
})
}
robot := gobot.NewRobot("buttonBot",
[]gobot.Connection{e},
[]gobot.Device{led, button},
work,
)
master.AddRobot(robot)
master.Start()
}
func main() {
firmataAdaptor := firmata.NewAdaptor("/dev/ttyACM0")
motor := gpio.NewMotorDriver(firmataAdaptor, "3")
work := func() {
speed := byte(0)
fadeAmount := byte(15)
gobot.Every(100*time.Millisecond, func() {
motor.Speed(speed)
speed = speed + fadeAmount
if speed == 0 || speed == 255 {
fadeAmount = -fadeAmount
}
})
}
robot := gobot.NewRobot("motorBot",
[]gobot.Connection{firmataAdaptor},
[]gobot.Device{motor},
work,
)
robot.Start()
}
func main() {
board := edison.NewAdaptor()
board.SetBoard("miniboard")
accel := i2c.NewGroveAccelerometerDriver(board)
work := func() {
gobot.Every(500*time.Millisecond, func() {
if x, y, z, err := accel.XYZ(); err == nil {
fmt.Println(x, y, z)
fmt.Println(accel.Acceleration(x, y, z))
} else {
fmt.Println(err)
}
})
}
robot := gobot.NewRobot("accelBot",
[]gobot.Connection{board},
[]gobot.Device{accel},
work,
)
robot.Start()
}
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() {
chipAdaptor := chip.NewAdaptor()
wiichuck := i2c.NewWiichuckDriver(chipAdaptor)
work := func() {
wiichuck.On(wiichuck.Event("joystick"), func(data interface{}) {
fmt.Println("joystick", data)
})
wiichuck.On(wiichuck.Event("c"), func(data interface{}) {
fmt.Println("c")
})
wiichuck.On(wiichuck.Event("z"), func(data interface{}) {
fmt.Println("z")
})
wiichuck.On(wiichuck.Event("error"), func(data interface{}) {
fmt.Println("Wiichuck error:", data)
})
}
robot := gobot.NewRobot("chuck",
[]gobot.Connection{chipAdaptor},
[]gobot.Device{wiichuck},
work,
)
robot.Start()
}
func main() {
firmataAdaptor := firmata.NewAdaptor("/dev/ttyACM0")
pin := gpio.NewDirectPinDriver(firmataAdaptor, "13")
work := func() {
level := byte(1)
gobot.Every(1*time.Second, func() {
pin.DigitalWrite(level)
if level == 1 {
level = 0
} else {
level = 1
}
})
}
robot := gobot.NewRobot("pinBot",
[]gobot.Connection{firmataAdaptor},
[]gobot.Device{pin},
work,
)
robot.Start()
}
func main() {
firmataAdaptor := firmata.NewAdaptor("/dev/ttyACM0")
sensor := gpio.NewPIRMotionDriver(firmataAdaptor, "5")
led := gpio.NewLedDriver(firmataAdaptor, "13")
work := func() {
sensor.On(gpio.MotionDetected, func(data interface{}) {
fmt.Println(gpio.MotionDetected)
led.On()
})
sensor.On(gpio.MotionStopped, func(data interface{}) {
fmt.Println(gpio.MotionStopped)
led.Off()
})
}
robot := gobot.NewRobot("motionBot",
[]gobot.Connection{firmataAdaptor},
[]gobot.Device{sensor, led},
work,
)
robot.Start()
}
func main() {
robot := gobot.NewRobot(
func() {
gobot.Every(500*time.Millisecond, func() { fmt.Println("Greetings human") })
},
)
robot.Start()
}
