func main() {
gbot := gobot.NewGobot()
bleAdaptor := ble.NewBLEClientAdaptor("ble", os.Args[1])
ollie := ble.NewSpheroOllieDriver(bleAdaptor, "ollie")
work := func() {
gobot.Every(1*time.Second, func() {
r := uint8(gobot.Rand(255))
g := uint8(gobot.Rand(255))
b := uint8(gobot.Rand(255))
ollie.SetRGB(r, g, b)
})
}
robot := gobot.NewRobot("ollieBot",
[]gobot.Connection{bleAdaptor},
[]gobot.Device{ollie},
work,
)
gbot.AddRobot(robot)
gbot.Start()
}
func main() {
gbot := gobot.NewGobot()
bleAdaptor := ble.NewBLEClientAdaptor("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("landing...")
drone.Land()
drone.Land()
})
})
gobot.On(drone.Event("landed"), func(data interface{}) {
fmt.Println("landed.")
})
<-time.After(1000 * time.Millisecond)
drone.TakeOff()
}
robot := gobot.NewRobot("bleBot",
[]gobot.Connection{bleAdaptor},
[]gobot.Device{drone},
work,
)
gbot.AddRobot(robot)
gbot.Start()
}
func main() {
gbot := gobot.NewGobot()
bleAdaptor := ble.NewBLEClientAdaptor("ble", os.Args[1])
battery := ble.NewBLEBatteryDriver(bleAdaptor, "battery")
work := func() {
gobot.Every(5*time.Second, func() {
fmt.Println("Battery level:", battery.GetBatteryLevel())
})
}
robot := gobot.NewRobot("bleBot",
[]gobot.Connection{bleAdaptor},
[]gobot.Device{battery},
work,
)
gbot.AddRobot(robot)
gbot.Start()
}
func main() {
gbot := gobot.NewGobot()
bleAdaptor := ble.NewBLEClientAdaptor("ble", os.Args[1])
ollie := ble.NewSpheroOllieDriver(bleAdaptor, "ollie")
work := func() {
ollie.SetRGB(255, 0, 255)
gobot.Every(3*time.Second, func() {
ollie.Roll(40, uint16(gobot.Rand(360)))
})
}
robot := gobot.NewRobot("ollieBot",
[]gobot.Connection{bleAdaptor},
[]gobot.Device{ollie},
work,
)
gbot.AddRobot(robot)
gbot.Start()
}
func main() {
gbot := gobot.NewGobot()
bleAdaptor := ble.NewBLEClientAdaptor("ble", os.Args[1])
info := ble.NewBLEDeviceInformationDriver(bleAdaptor, "info")
work := func() {
fmt.Println("Model number:", info.GetModelNumber())
fmt.Println("Firmware rev:", info.GetFirmwareRevision())
fmt.Println("Hardware rev:", info.GetHardwareRevision())
fmt.Println("Manufacturer name:", info.GetManufacturerName())
fmt.Println("PnPId:", info.GetPnPId())
}
robot := gobot.NewRobot("bleBot",
[]gobot.Connection{bleAdaptor},
[]gobot.Device{info},
work,
)
gbot.AddRobot(robot)
gbot.Start()
}
func main() {
gbot := gobot.NewGobot()
joystickAdaptor := joystick.NewJoystickAdaptor("ps3")
stick := joystick.NewJoystickDriver(joystickAdaptor,
"ps3",
"./platforms/joystick/configs/dualshock3.json",
)
droneAdaptor := ble.NewBLEClientAdaptor("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
stick.On(joystick.CirclePress, func(data interface{}) {
if recording {
drone.StopRecording()
} else {
drone.StartRecording()
}
recording = !recording
})
stick.On(joystick.SquarePress, func(data interface{}) {
drone.HullProtection(true)
drone.TakeOff()
})
stick.On(joystick.TrianglePress, func(data interface{}) {
drone.Stop()
})
stick.On(joystick.XPress, func(data interface{}) {
drone.Land()
})
stick.On(joystick.LeftX, func(data interface{}) {
val := float64(data.(int16))
if leftStick.x != val {
leftStick.x = val
}
})
stick.On(joystick.LeftY, func(data interface{}) {
val := float64(data.(int16))
if leftStick.y != val {
leftStick.y = val
}
})
stick.On(joystick.RightX, func(data interface{}) {
val := float64(data.(int16))
if rightStick.x != val {
rightStick.x = val
}
})
stick.On(joystick.RightY, 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{stick, drone},
work,
)
gbot.AddRobot(robot)
gbot.Start()
}
