func main() {
joystickAdaptor := joystick.NewAdaptor()
stick := joystick.NewDriver(joystickAdaptor,
"./platforms/joystick/configs/joystick/configs/xbox360_power_a_mini_proex.json",
)
work := func() {
stick.On(joystick.APress, func(data interface{}) {
fmt.Println("a_press")
})
stick.On(joystick.ARelease, func(data interface{}) {
fmt.Println("a_release")
})
stick.On(joystick.BPress, func(data interface{}) {
fmt.Println("b_press")
})
stick.On(joystick.BRelease, func(data interface{}) {
fmt.Println("b_release")
})
stick.On(joystick.Up, func(data interface{}) {
fmt.Println("up", data)
})
stick.On(joystick.Down, func(data interface{}) {
fmt.Println("down", data)
})
stick.On(joystick.Left, func(data interface{}) {
fmt.Println("left", data)
})
stick.On(joystick.Right, func(data interface{}) {
fmt.Println("right", data)
})
stick.On(joystick.LeftX, func(data interface{}) {
fmt.Println("left_x", data)
})
stick.On(joystick.LeftY, func(data interface{}) {
fmt.Println("left_y", data)
})
stick.On(joystick.RightX, func(data interface{}) {
fmt.Println("right_x", data)
})
stick.On(joystick.RightY, func(data interface{}) {
fmt.Println("right_y", data)
})
}
robot := gobot.NewRobot("joystickBot",
[]gobot.Connection{joystickAdaptor},
[]gobot.Device{stick},
work,
)
robot.Start()
}
func main() {
joystickAdaptor := joystick.NewAdaptor()
stick := joystick.NewDriver(joystickAdaptor,
"./platforms/joystick/configs/dualshock4.json",
)
work := func() {
stick.On(joystick.SquarePress, func(data interface{}) {
fmt.Println("square_press")
})
stick.On(joystick.SquareRelease, func(data interface{}) {
fmt.Println("square_release")
})
stick.On(joystick.TrianglePress, func(data interface{}) {
fmt.Println("triangle_press")
})
stick.On(joystick.TriangleRelease, func(data interface{}) {
fmt.Println("triangle_release")
})
stick.On(joystick.CirclePress, func(data interface{}) {
fmt.Println("circle_press")
})
stick.On(joystick.CircleRelease, func(data interface{}) {
fmt.Println("circle_release")
})
stick.On(joystick.XPress, func(data interface{}) {
fmt.Println("x_press")
})
stick.On(joystick.XRelease, func(data interface{}) {
fmt.Println("x_release")
})
stick.On(joystick.LeftX, func(data interface{}) {
fmt.Println("left_x", data)
})
stick.On(joystick.LeftY, func(data interface{}) {
fmt.Println("left_y", data)
})
stick.On(joystick.RightX, func(data interface{}) {
fmt.Println("right_x", data)
})
stick.On(joystick.RightY, func(data interface{}) {
fmt.Println("right_y", data)
})
}
robot := gobot.NewRobot("joystickBot",
[]gobot.Connection{joystickAdaptor},
[]gobot.Device{stick},
work,
)
robot.Start()
}
func main() {
joystickAdaptor := joystick.NewAdaptor()
stick := joystick.NewDriver(joystickAdaptor,
"./platforms/joystick/configs/dualshock3.json",
)
bebopAdaptor := bebop.NewAdaptor()
drone := bebop.NewDriver(bebopAdaptor)
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("bebop",
[]gobot.Connection{joystickAdaptor, bebopAdaptor},
[]gobot.Device{stick, drone},
work,
)
robot.Start()
}