Exemplo n.º 1
0
func main() {
	gbot := gobot.NewGobot()

	bleAdaptor := ble.NewBLEAdaptor("ble", os.Args[1])
	drone := ble.NewBLEMinidroneDriver(bleAdaptor, "drone")

	work := func() {
		fmt.Println("takeoff...")
		drone.TakeOff()

		gobot.After(10*time.Second, func() {
			fmt.Println("landing...")
			drone.Land()
		})
	}

	robot := gobot.NewRobot("minidrone",
		[]gobot.Connection{bleAdaptor},
		[]gobot.Device{drone},
		work,
	)

	gbot.AddRobot(robot)

	gbot.Start()
}
Exemplo n.º 2
0
func main() {
	gbot := gobot.NewGobot()

	bleAdaptor := ble.NewBLEAdaptor("ble", os.Args[1])
	drone := ble.NewBLEMinidroneDriver(bleAdaptor, "drone")

	work := func() {
		gobot.On(drone.Event("battery"), func(data interface{}) {
			fmt.Printf("battery: %d\n", data)
		})

		gobot.On(drone.Event("status"), func(data interface{}) {
			fmt.Printf("status: %d\n", data)
		})

		gobot.On(drone.Event("flying"), func(data interface{}) {
			fmt.Println("flying!")
			gobot.After(5*time.Second, func() {
				fmt.Println("forwards...")
				drone.Forward(10)
			})
			gobot.After(10*time.Second, func() {
				fmt.Println("backwards...")
				drone.Backward(10)
			})
			gobot.After(15*time.Second, func() {
				fmt.Println("right...")
				drone.Right(10)
			})
			gobot.After(20*time.Second, func() {
				fmt.Println("left...")
				drone.Left(10)
			})
			gobot.After(25*time.Second, func() {
				fmt.Println("landing...")
				drone.Land()
			})
		})

		gobot.On(drone.Event("landed"), func(data interface{}) {
			fmt.Println("landed.")
		})

		drone.TakeOff()
	}

	robot := gobot.NewRobot("minidrone",
		[]gobot.Connection{bleAdaptor},
		[]gobot.Device{drone},
		work,
	)

	gbot.AddRobot(robot)

	gbot.Start()
}
Exemplo n.º 3
0
func main() {
	gbot := gobot.NewGobot()

	joystickAdaptor := joystick.NewJoystickAdaptor("ps3")
	joystick := joystick.NewJoystickDriver(joystickAdaptor,
		"ps3",
		"./platforms/joystick/configs/dualshock3.json",
	)

	droneAdaptor := ble.NewBLEAdaptor("ble", os.Args[1])
	drone := ble.NewBLEMinidroneDriver(droneAdaptor, "drone")

	work := func() {

		offset := 32767.0
		rightStick := pair{x: 0, y: 0}
		leftStick := pair{x: 0, y: 0}

		recording := false

		gobot.On(joystick.Event("circle_press"), func(data interface{}) {
			if recording {
				drone.StopRecording()
			} else {
				drone.StartRecording()
			}
			recording = !recording
		})

		gobot.On(joystick.Event("square_press"), func(data interface{}) {
			drone.HullProtection(true)
			drone.TakeOff()
		})
		gobot.On(joystick.Event("triangle_press"), func(data interface{}) {
			drone.Stop()
		})
		gobot.On(joystick.Event("x_press"), func(data interface{}) {
			drone.Land()
		})
		gobot.On(joystick.Event("left_x"), func(data interface{}) {
			val := float64(data.(int16))
			if leftStick.x != val {
				leftStick.x = val
			}
		})
		gobot.On(joystick.Event("left_y"), func(data interface{}) {
			val := float64(data.(int16))
			if leftStick.y != val {
				leftStick.y = val
			}
		})
		gobot.On(joystick.Event("right_x"), func(data interface{}) {
			val := float64(data.(int16))
			if rightStick.x != val {
				rightStick.x = val
			}
		})
		gobot.On(joystick.Event("right_y"), func(data interface{}) {
			val := float64(data.(int16))
			if rightStick.y != val {
				rightStick.y = val
			}
		})

		gobot.Every(10*time.Millisecond, func() {
			pair := leftStick
			if pair.y < -10 {
				drone.Forward(validatePitch(pair.y, offset))
			} else if pair.y > 10 {
				drone.Backward(validatePitch(pair.y, offset))
			} else {
				drone.Forward(0)
			}

			if pair.x > 10 {
				drone.Right(validatePitch(pair.x, offset))
			} else if pair.x < -10 {
				drone.Left(validatePitch(pair.x, offset))
			} else {
				drone.Right(0)
			}
		})

		gobot.Every(10*time.Millisecond, func() {
			pair := rightStick
			if pair.y < -10 {
				drone.Up(validatePitch(pair.y, offset))
			} else if pair.y > 10 {
				drone.Down(validatePitch(pair.y, offset))
			} else {
				drone.Up(0)
			}

			if pair.x > 20 {
				drone.Clockwise(validatePitch(pair.x, offset))
			} else if pair.x < -20 {
				drone.CounterClockwise(validatePitch(pair.x, offset))
			} else {
				drone.Clockwise(0)
			}
		})
	}

	robot := gobot.NewRobot("minidrone",
		[]gobot.Connection{joystickAdaptor, droneAdaptor},
		[]gobot.Device{joystick, drone},
		work,
	)

	gbot.AddRobot(robot)

	gbot.Start()
}