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

	r := raspi.NewRaspiAdaptor("raspi")
	button := gpio.NewButtonDriver(r, "button", "11")
	led := gpio.NewLedDriver(r, "led", "7")

	work := func() {
		gobot.On(button.Event("push"), func(data interface{}) {
			fmt.Println("button pressed")
			led.On()
		})

		gobot.On(button.Event("release"), func(data interface{}) {
			fmt.Println("button released")
			led.Off()
		})
	}

	robot := gobot.NewRobot("buttonBot",
		[]gobot.Connection{r},
		[]gobot.Device{button, led},
		work,
	)
	gbot.AddRobot(robot)
	gbot.Start()
}
Exemplo n.º 2
0
func main() {
	gbot := gobot.NewGobot()

	chipAdaptor := chip.NewChipAdaptor("chip")
	wiichuck := i2c.NewWiichuckDriver(chipAdaptor, "wiichuck")

	work := func() {
		gobot.On(wiichuck.Event("joystick"), func(data interface{}) {
			fmt.Println("joystick", data)
		})

		gobot.On(wiichuck.Event("c"), func(data interface{}) {
			fmt.Println("c")
		})

		gobot.On(wiichuck.Event("z"), func(data interface{}) {
			fmt.Println("z")
		})
		gobot.On(wiichuck.Event("error"), func(data interface{}) {
			fmt.Println("Wiichuck error:", data)
		})
	}

	robot := gobot.NewRobot("chuck",
		[]gobot.Connection{chipAdaptor},
		[]gobot.Device{wiichuck},
		work,
	)

	gbot.AddRobot(robot)

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

	a := api.NewAPI(gbot)
	a.Start()

	// digital
	board := edison.NewEdisonAdaptor("edison")
	button = gpio.NewGroveButtonDriver(board, "button", "2")
	blue = gpio.NewGroveLedDriver(board, "blue", "3")
	green = gpio.NewGroveLedDriver(board, "green", "4")
	red = gpio.NewGroveLedDriver(board, "red", "5")
	buzzer = gpio.NewGroveBuzzerDriver(board, "buzzer", "7")
	touch = gpio.NewGroveTouchDriver(board, "touch", "8")

	// analog
	rotary = gpio.NewGroveRotaryDriver(board, "rotary", "0")
	sensor = gpio.NewGroveTemperatureSensorDriver(board, "sensor", "1")
	sound = gpio.NewGroveSoundSensorDriver(board, "sound", "2")

	work := func() {
		Reset()

		gobot.On(button.Event(gpio.Push), func(data interface{}) {
			TurnOff()
			fmt.Println("On!")
			blue.On()
		})

		gobot.On(button.Event(gpio.Release), func(data interface{}) {
			Reset()
		})

		gobot.On(touch.Event(gpio.Push), func(data interface{}) {
			Doorbell()
		})

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

		gobot.On(sound.Event("data"), func(data interface{}) {
			DetectSound(data.(int))
		})

		gobot.Every(1*time.Second, func() {
			CheckFireAlarm()
		})
	}

	robot := gobot.NewRobot("airlock",
		[]gobot.Connection{board},
		[]gobot.Device{button, blue, green, red, buzzer, touch, rotary, sensor, sound},
		work,
	)

	gbot.AddRobot(robot)

	gbot.Start()
}
Exemplo n.º 4
0
func main() {
	gbot := gobot.NewGobot()

	e := edison.NewEdisonAdaptor("edison")
	button := gpio.NewGroveButtonDriver(e, "button", "2")

	work := func() {
		gobot.On(button.Event(gpio.Push), func(data interface{}) {
			fmt.Println("On!")
		})

		gobot.On(button.Event(gpio.Release), func(data interface{}) {
			fmt.Println("Off!")
		})

	}

	robot := gobot.NewRobot("bot",
		[]gobot.Connection{e},
		[]gobot.Device{button},
		work,
	)

	gbot.AddRobot(robot)

	gbot.Start()
}
Exemplo n.º 5
0
func main() {
	gbot := gobot.NewGobot()

	beagleboneAdaptor := beaglebone.NewBeagleboneAdaptor("beaglebone")
	button := gpio.NewMakeyButtonDriver(beagleboneAdaptor, "button", "P8_9")

	work := func() {
		gobot.On(button.Event("push"), func(data interface{}) {
			fmt.Println("button pressed")
		})

		gobot.On(button.Event("release"), func(data interface{}) {
			fmt.Println("button released")
		})
	}

	robot := gobot.NewRobot("makeyBot",
		[]gobot.Connection{beagleboneAdaptor},
		[]gobot.Device{button},
		work,
	)

	gbot.AddRobot(robot)

	gbot.Start()
}
Exemplo n.º 6
0
func main() {
	gbot := gobot.NewGobot()

	board := edison.NewEdisonAdaptor("edison")
	button = gpio.NewGroveButtonDriver(board, "button", "2")
	blue = gpio.NewGroveLedDriver(board, "blue", "3")
	green = gpio.NewGroveLedDriver(board, "green", "4")

	work := func() {
		Reset()

		gobot.On(button.Event(gpio.Push), func(data interface{}) {
			TurnOff()
			fmt.Println("On!")
			blue.On()
		})

		gobot.On(button.Event(gpio.Release), func(data interface{}) {
			Reset()
		})
	}

	robot := gobot.NewRobot("airlock",
		[]gobot.Connection{board},
		[]gobot.Device{button, blue, green},
		work,
	)

	gbot.AddRobot(robot)

	gbot.Start()
}
func (ia *AI) obstacle() {

	d := new(Data)
	ch := make(chan bool)

	gobot.On(ia.buttonObstacle.Event("push"), func(data interface{}) {
		d.startPushingTime = time.Now()
		log.Println("Le bouton poussoir est enfonce")
		ia.sendMessageAI(rocproto.AiCodes_OBSTACLE)
		select {
		case <-time.After(time.Second * 3):
			ia.toggle(true)
			log.Println("Ai control")
			ia.unlockRobot()
			log.Println("Ai releasing Control")
			ia.toggle(false)
			break
		case <-ch:
			fmt.Println("c'etait un obstacle passager, retour a la normale")
			break
		}
	})

	gobot.On(ia.buttonObstacle.Event("release"), func(data interface{}) {
		log.Println("Button poussoir est relache")
		ia.sendMessageAI(rocproto.AiCodes_N_OBSTACLE)
		ch <- true
	})

}
Exemplo n.º 8
0
func main() {
	gbot := gobot.NewGobot()

	sparkCore := spark.NewSparkCoreAdaptor("spark", "device_id", "access_token")
	led := gpio.NewLedDriver(sparkCore, "led", "D7")
	button := gpio.NewButtonDriver(sparkCore, "button", "D5")

	work := func() {
		gobot.On(button.Event("push"), func(data interface{}) {
			led.On()
		})

		gobot.On(button.Event("release"), func(data interface{}) {
			led.Off()
		})
	}

	robot := gobot.NewRobot("spark",
		[]gobot.Connection{sparkCore},
		[]gobot.Device{button, led},
		work,
	)

	gbot.AddRobot(robot)

	gbot.Start()
}
Exemplo n.º 9
0
func main() {
	gbot := gobot.NewGobot()
	api.NewAPI(gbot).Start()

	pebbleAdaptor := pebble.NewPebbleAdaptor("pebble")
	pebbleDriver := pebble.NewPebbleDriver(pebbleAdaptor, "pebble")

	work := func() {
		pebbleDriver.SendNotification("Hello Pebble!")
		gobot.On(pebbleDriver.Event("button"), func(data interface{}) {
			fmt.Println("Button pushed: " + data.(string))
		})

		gobot.On(pebbleDriver.Event("tap"), func(data interface{}) {
			fmt.Println("Tap event detected")
		})
	}

	robot := gobot.NewRobot("pebble",
		[]gobot.Connection{pebbleAdaptor},
		[]gobot.Device{pebbleDriver},
		work,
	)

	gbot.AddRobot(robot)

	gbot.Start()
}
Exemplo n.º 10
0
func main() {
	gbot := gobot.NewGobot()

	e := edison.NewEdisonAdaptor("edison")

	button := gpio.NewButtonDriver(e, "myButton", "2")
	led := gpio.NewLedDriver(e, "myLed", "4")

	work := func() {
		gobot.On(button.Event("push"), func(data interface{}) {
			led.On()
		})
		gobot.On(button.Event("release"), func(data interface{}) {
			led.Off()
		})
	}

	robot := gobot.NewRobot("buttonBot",
		[]gobot.Connection{e},
		[]gobot.Device{led, button},
		work,
	)

	gbot.AddRobot(robot)

	gbot.Start()
}
Exemplo n.º 11
0
func TestWiichuckDriverUpdateButtons(t *testing.T) {
	//when data["c"] is 0
	chann := make(chan bool)
	wii := initTestWiichuckDriver()

	wii.data["c"] = 0

	wii.updateButtons()

	gobot.On(wii.Event(C), func(data interface{}) {
		gobot.Assert(t, true, data)
		chann <- true
	})
	<-chann

	//when data["z"] is 0
	chann = make(chan bool)
	wii = initTestWiichuckDriver()

	wii.data["z"] = 0

	wii.updateButtons()

	gobot.On(wii.Event(Z), func(data interface{}) {
		gobot.Assert(t, true, data)
		chann <- true
	})
	<-chann
}
Exemplo n.º 12
0
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()
}
Exemplo n.º 13
0
func main() {
	gbot := gobot.NewGobot()

	board := firmata.NewFirmataAdaptor("arduino", os.Args[1])

	// digital devices
	button := gpio.NewButtonDriver(board, "button", "2")
	blue := gpio.NewLedDriver(board, "blue", "3")

	work := func() {
		gobot.On(button.Event(gpio.Push), func(data interface{}) {
			fmt.Println("On!")
			blue.On()
		})

		gobot.On(button.Event(gpio.Release), func(data interface{}) {
			fmt.Println("Off!")
			blue.Off()
		})
	}

	robot := gobot.NewRobot("airlock",
		[]gobot.Connection{board},
		[]gobot.Device{button, blue},
		work,
	)

	gbot.AddRobot(robot)

	gbot.Start()
}
Exemplo n.º 14
0
func main() {
	gbot := gobot.NewGobot()

	firmataAdaptor := firmata.NewFirmataAdaptor("firmata", "/dev/ttyACM0")
	wiichuck := i2c.NewWiichuckDriver(firmataAdaptor, "wiichuck")

	work := func() {
		gobot.On(wiichuck.Event("joystick"), func(data interface{}) {
			fmt.Println("joystick", data)
		})

		gobot.On(wiichuck.Event("c"), func(data interface{}) {
			fmt.Println("c")
		})

		gobot.On(wiichuck.Event("z"), func(data interface{}) {
			fmt.Println("z")
		})
		gobot.On(wiichuck.Event("error"), func(data interface{}) {
			fmt.Println("Wiichuck error:", data)
		})
	}

	robot := gobot.NewRobot("chuck",
		[]gobot.Connection{firmataAdaptor},
		[]gobot.Device{wiichuck},
		work,
	)

	gbot.AddRobot(robot)

	gbot.Start()
}
Exemplo n.º 15
0
func main() {
	gbot := gobot.NewGobot()

	e := edison.NewEdisonAdaptor("edison")
	touch := gpio.NewGroveTouchDriver(e, "touch", "2")

	work := func() {
		gobot.On(touch.Event(gpio.Push), func(data interface{}) {
			fmt.Println("On!")
		})

		gobot.On(touch.Event(gpio.Release), func(data interface{}) {
			fmt.Println("Off!")
		})

	}

	robot := gobot.NewRobot("blinkBot",
		[]gobot.Connection{e},
		[]gobot.Device{touch},
		work,
	)

	gbot.AddRobot(robot)

	gbot.Start()
}
Exemplo n.º 16
0
func main() {
	gbot := gobot.NewGobot()

	firmataAdaptor := firmata.NewFirmataAdaptor("firmata", "/dev/ttyACM0")
	button := gpio.NewMakeyButtonDriver(firmataAdaptor, "button", "2")
	led := gpio.NewLedDriver(firmataAdaptor, "led", "13")

	work := func() {
		gobot.On(button.Event("push"), func(data interface{}) {
			led.On()
		})

		gobot.On(button.Event("release"), func(data interface{}) {
			led.Off()
		})
	}

	robot := gobot.NewRobot("makeyBot",
		[]gobot.Connection{firmataAdaptor},
		[]gobot.Device{button, led},
		work,
	)

	gbot.AddRobot(robot)

	gbot.Start()
}
Exemplo n.º 17
0
func main() {
	gbot := gobot.NewGobot()

	chipAdaptor := chip.NewChipAdaptor("chip")
	button := gpio.NewButtonDriver(chipAdaptor, "button", "XIO-P6")
	led := gpio.NewLedDriver(chipAdaptor, "led", "XIO-P7")

	work := func() {
		gobot.On(button.Event("push"), func(data interface{}) {
			led.On()
		})

		gobot.On(button.Event("release"), func(data interface{}) {
			led.Off()
		})
	}

	robot := gobot.NewRobot("buttonBot",
		[]gobot.Connection{chipAdaptor},
		[]gobot.Device{button, led},
		work,
	)
	gbot.AddRobot(robot)
	gbot.Start()
}
Exemplo n.º 18
0
func main() {
	gbot := gobot.NewGobot()

	e := edison.NewEdisonAdaptor("edison")
	m := mqtt.NewMqttAdaptor("mqtt", "tcp://192.168.0.90:1883", "pump")

	lever := gpio.NewButtonDriver(e, "lever", "2")
	fault := gpio.NewButtonDriver(e, "fault", "4")
	pump := gpio.NewDirectPinDriver(e, "pump", "13")

	work := func() {
		dgram := url.Values{
			"name":         {"Four"},
			"dispenser_id": {"4"},
			"drink_id":     {"0"},
			"event":        {"online"},
			"details":      {"dispenser"},
		}
		pumping := false
		served := byte(0)

		m.On("startPump", func(data []byte) {
			if !pumping {
				pumping = true
				pump.DigitalWrite(1)
				served++
				dgram.Set("event", "online")
				dgram.Set("drink_id", fmt.Sprintf("%v", served))
				m.Publish("pumped", []byte(dgram.Encode()))
				gobot.After(2*time.Second, func() {
					pump.DigitalWrite(0)
					pumping = false
				})
			}
		})

		gobot.On(lever.Event("push"), func(data interface{}) {
			m.Publish("pump", []byte{})
		})

		m.On("startFault", func(data []byte) {
			dgram.Set("event", "error")
			m.Publish("fault", []byte(dgram.Encode()))
		})

		gobot.On(fault.Event("push"), func(data interface{}) {
			m.Publish("startFault", []byte{})
		})
	}

	gbot.AddRobot(gobot.NewRobot("brewmachine",
		[]gobot.Connection{e, m},
		[]gobot.Device{lever, fault, pump},
		work,
	))

	gbot.Start()
}
Exemplo n.º 19
0
func main() {
	flag.Parse()

	// Initialize Intel Edison
	edisonAdaptor := edison.NewEdisonAdaptor("edison")
	edisonAdaptor.Connect()

	lightSensor := gpio.NewGroveLightSensorDriver(edisonAdaptor, "light", *sensorLightPin, *sensorPollingInterval)
	lightSensor.Start()
	gobot.On(lightSensor.Event("data"), func(data interface{}) {
		raw := float64(data.(int))
		// convert to lux
		resistance := (1023.0 - raw) * 10.0 / raw * 15.0
		light = 10000.0 / math.Pow(resistance, 4.0/3.0)
		lightUpdated = time.Now()
		log.Debugln("illuminance: ", light)
	})

	soundSensor := gpio.NewGroveSoundSensorDriver(edisonAdaptor, "sound", *sensorSoundPin, *sensorPollingInterval)
	soundSensor.Start()
	gobot.On(soundSensor.Event("data"), func(data interface{}) {
		sound = float64(data.(int))
		soundUpdated = time.Now()
		log.Debugln("sound level: ", sound)
	})

	tempSensor := gpio.NewGroveTemperatureSensorDriver(edisonAdaptor, "temp", *sensorTempPin, *sensorPollingInterval)
	tempSensor.Start()
	gobot.On(tempSensor.Event("data"), func(data interface{}) {
		celsius = data.(float64)
		fahrenheit = celsius*1.8 + 32
		tempUpdated = time.Now()
		log.Debugln("temperature: ", celsius)
	})

	// Initialize prometheus exporter
	exporter := NewExporter()
	prometheus.MustRegister(exporter)

	log.Infof("Listening on: %s", *listenAddress)
	http.Handle(*metricPath, prometheus.Handler())
	http.HandleFunc("/", func(w http.ResponseWriter, r *http.Request) {
		w.Write([]byte(`
			<html>
			<head>
				<title>IoT Edison exporter</title>
			</head>
			<body>
				<h1>Prometheus exporter for sensor metrics from Intel Edison</h1>
				<p><a href='` + *metricPath + `'>Metrics</a></p>
			</body>
			</html>
		`))
	})
	log.Fatal(http.ListenAndServe(*listenAddress, nil))
}
Exemplo n.º 20
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 21
0
func TestWiichuckDriverUpdateJoystick(t *testing.T) {
	chann := make(chan bool)
	wii := initTestWiichuckDriver()

	// First pass
	wii.data["sx"] = 40
	wii.data["sy"] = 55
	wii.joystick["sx_origin"] = 1
	wii.joystick["sy_origin"] = 5

	expectedData := map[string]float64{
		"x": float64(39),
		"y": float64(50),
	}

	gobot.On(wii.Event(Joystick), func(data interface{}) {
		gobottest.Assert(t, data, expectedData)
		chann <- true
	})

	wii.updateJoystick()

	select {
	case <-chann:
	case <-time.After(10 * time.Second):
		t.Errorf("Did not recieve 'Joystick' event")
	}

	//// Second pass
	wii = initTestWiichuckDriver()

	wii.data["sx"] = 178
	wii.data["sy"] = 34
	wii.joystick["sx_origin"] = 14
	wii.joystick["sy_origin"] = 27

	expectedData = map[string]float64{
		"x": float64(164),
		"y": float64(7),
	}

	gobot.On(wii.Event(Joystick), func(data interface{}) {
		gobottest.Assert(t, data, expectedData)
		chann <- true
	})

	wii.updateJoystick()

	select {
	case <-chann:
	case <-time.After(10 * time.Second):
		t.Errorf("Did not recieve 'Joystick' event")
	}
}
Exemplo n.º 22
0
func main() {
	gbot := gobot.NewGobot()

	a := api.NewAPI(gbot)
	a.Start()

	board := firmata.NewFirmataAdaptor("arduino", os.Args[1])

	// digital devices
	button = gpio.NewButtonDriver(board, "button", "2")
	blue = gpio.NewLedDriver(board, "blue", "3")
	green = gpio.NewLedDriver(board, "green", "4")
	buzzer = gpio.NewGroveBuzzerDriver(board, "buzzer", "7")
	touch = gpio.NewButtonDriver(board, "touch", "8")

	// analog devices
	light = gpio.NewAnalogSensorDriver(board, "light", "0")

	work := func() {
		Reset()

		gobot.On(button.Event(gpio.Push), func(data interface{}) {
			TurnOff()
			fmt.Println("On!")
			blue.On()
		})

		gobot.On(button.Event(gpio.Release), func(data interface{}) {
			Reset()
		})

		gobot.On(touch.Event(gpio.Push), func(data interface{}) {
			Doorbell()
		})

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

	robot := gobot.NewRobot("airlock",
		[]gobot.Connection{board},
		[]gobot.Device{button, blue, green, buzzer, touch, light},
		work,
	)

	gbot.AddRobot(robot)

	gbot.Start()
}
Exemplo n.º 23
0
func main() {
	joystickAdaptor := new(gobotJoystick.JoystickAdaptor)
	joystickAdaptor.Name = "x52"
	joystickAdaptor.Params = map[string]interface{}{
		"config": "./saitek-x52.json",
	}

	joystick := gobotJoystick.NewJoystick(joystickAdaptor)
	joystick.Name = "x52"

	spheroAdaptor := new(gobotSphero.SpheroAdaptor)
	spheroAdaptor.Name = "Sphero"
	spheroAdaptor.Port = "/dev/tty.Sphero-PWG-RN-SPP"

	sphero := gobotSphero.NewSphero(spheroAdaptor)
	sphero.Name = "Sphero"
	var (
		x, y      int
		direction uint16
		speed     uint8
	)
	x = 1
	y = 1
	direction = 0
	speed = 0

	work := func() {
		gobot.On(joystick.Events["right_x"], func(data interface{}) {
			x = int(data.(int16))
		})
		gobot.On(joystick.Events["right_y"], func(data interface{}) {
			y = int(data.(int16))
		})
		gobot.Every("0.01s", func() {
			direction = Angle(x, y)
			speed = uint8(math.Sqrt(float64(x*x+y*y)) / 128) //255
			fmt.Println(x, y, speed, direction)
			sphero.Roll(speed, direction)
		})
	}

	robot := gobot.Robot{
		Connections: []gobot.Connection{joystickAdaptor, spheroAdaptor},
		Devices:     []gobot.Device{joystick, sphero},
		Work:        work,
	}

	robot.Start()
}
Exemplo n.º 24
0
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()
}
Exemplo n.º 25
0
Arquivo: api.go Projeto: nathany/gobot
func (a *API) robotDeviceEvent(res http.ResponseWriter, req *http.Request) {
	f, _ := res.(http.Flusher)
	c, _ := res.(http.CloseNotifier)

	dataChan := make(chan string)
	closer := c.CloseNotify()

	res.Header().Set("Content-Type", "text/event-stream")
	res.Header().Set("Cache-Control", "no-cache")
	res.Header().Set("Connection", "keep-alive")

	if event := a.gobot.Robot(req.URL.Query().Get(":robot")).
		Device(req.URL.Query().Get(":device")).(gobot.Eventer).
		Event(req.URL.Query().Get(":event")); event != nil {
		gobot.On(event, func(data interface{}) {
			d, _ := json.Marshal(data)
			dataChan <- string(d)
		})

		for {
			select {
			case data := <-dataChan:
				fmt.Fprintf(res, "data: %v\n\n", data)
				f.Flush()
			case <-closer:
				log.Println("Closing connection")
				return
			}
		}
	} else {
		a.writeJSON(map[string]interface{}{
			"error": "No Event found with the name " + req.URL.Query().Get(":event"),
		}, res)
	}
}
Exemplo n.º 26
0
func main() {
	gbot := gobot.NewGobot()

	keys := keyboard.NewKeyboardDriver("keyboard")

	work := func() {
		gobot.On(keys.Event("key"), func(data interface{}) {
			key := data.(keyboard.KeyEvent)

			if key.Key == keyboard.A {
				fmt.Println("A pressed!")
			} else {
				fmt.Println("keyboard event!", key, key.Char)
			}
		})
	}

	robot := gobot.NewRobot("keyboardbot",
		[]gobot.Connection{},
		[]gobot.Device{keys},
		work,
	)

	gbot.AddRobot(robot)

	gbot.Start()
}
Exemplo n.º 27
0
func main() {
	gbot := gobot.NewGobot()

	adaptor := sphero.NewSpheroAdaptor("Sphero", "/dev/rfcomm0")
	spheroDriver := sphero.NewSpheroDriver(adaptor, "sphero")

	work := func() {
		gobot.On(spheroDriver.Event("collision"), func(data interface{}) {
			fmt.Println("Collision Detected!")
		})

		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,
	)

	gbot.AddRobot(robot)

	gbot.Start()
}
Exemplo n.º 28
0
func main() {
	gbot := gobot.NewGobot()
	a := api.NewAPI(gbot)
	a.Port = "8080"
	a.Start()

	pebbleAdaptor := pebble.NewPebbleAdaptor("pebble")
	pebbleDriver := pebble.NewPebbleDriver(pebbleAdaptor, "pebble")

	work := func() {
		gobot.On(pebbleDriver.Event("accel"), func(data interface{}) {
			fmt.Println(data.(string))
		})
	}

	robot := gobot.NewRobot("pebble",
		[]gobot.Connection{pebbleAdaptor},
		[]gobot.Device{pebbleDriver},
		work,
	)

	gbot.AddRobot(robot)

	gbot.Start()
}
Exemplo n.º 29
0
func main() {
	gbot := gobot.NewGobot()

	bebopAdaptor := bebop.NewBebopAdaptor("Drone")
	drone := bebop.NewBebopDriver(bebopAdaptor, "Drone")

	work := func() {
		gobot.On(drone.Event("flying"), func(data interface{}) {
			gobot.After(3*time.Second, func() {
				drone.Land()
			})
		})

		drone.HullProtection(true)
		drone.TakeOff()
	}

	robot := gobot.NewRobot("drone",
		[]gobot.Connection{bebopAdaptor},
		[]gobot.Device{drone},
		work,
	)
	gbot.AddRobot(robot)

	gbot.Start()
}
Exemplo n.º 30
0
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()
}