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()
}
// PwmWrite writes a PWM signal to the specified pin
func (r *Adaptor) PwmWrite(pin string, val byte) (err error) {
sysfsPin, err := r.pwmPin(pin)
if err != nil {
return err
}
return r.piBlaster(fmt.Sprintf("%v=%v\n", sysfsPin, gobot.FromScale(float64(val), 0, 255)))
}
// PwmWrite writes the 0-254 value to the specified pin
func (e *Adaptor) PwmWrite(pin string, val byte) (err error) {
sysPin := sysfsPinMap[pin]
if sysPin.pwmPin != -1 {
if e.pwmPins[sysPin.pwmPin] == nil {
if err = e.DigitalWrite(pin, 1); err != nil {
return
}
e.pwmPins[sysPin.pwmPin] = newPwmPin(sysPin.pwmPin)
if err = e.pwmPins[sysPin.pwmPin].export(); err != nil {
return
}
if err = e.pwmPins[sysPin.pwmPin].enable("1"); err != nil {
return
}
}
p, err := e.pwmPins[sysPin.pwmPin].period()
if err != nil {
return err
}
period, err := strconv.Atoi(p)
if err != nil {
return err
}
duty := gobot.FromScale(float64(val), 0, 255.0)
return e.pwmPins[sysPin.pwmPin].writeDuty(strconv.Itoa(int(float64(period) * duty)))
}
return errors.New("Not a PWM pin")
}
// pwmWrite writes pwm value to specified pin
func (b *Adaptor) pwmWrite(pin string, val byte) (err error) {
i, err := b.pwmPin(pin)
if err != nil {
return
}
period := 500000.0
duty := gobot.FromScale(float64(val), 0, 255.0)
return b.pwmPins[i].pwmWrite(strconv.Itoa(int(period)), strconv.Itoa(int(period*duty)))
}
// ServoWrite writes the 0-180 degree val to the specified pin.
func (b *Adaptor) ServoWrite(pin string, val byte) (err error) {
i, err := b.pwmPin(pin)
if err != nil {
return err
}
period := 16666666.0
duty := (gobot.FromScale(float64(val), 0, 180.0) * 0.115) + 0.05
return b.pwmPins[i].pwmWrite(strconv.Itoa(int(period)), strconv.Itoa(int(period*duty)))
}
// ServoWrite writes a servo signal to the specified pin
func (r *Adaptor) ServoWrite(pin string, angle byte) (err error) {
sysfsPin, err := r.pwmPin(pin)
if err != nil {
return err
}
val := (gobot.ToScale(gobot.FromScale(float64(angle), 0, 180), 0, 200) / 1000.0) + 0.05
return r.piBlaster(fmt.Sprintf("%v=%v\n", sysfsPin, val))
}
func main() {
beagleboneAdaptor := beaglebone.NewAdaptor()
sensor := gpio.NewAnalogSensorDriver(beagleboneAdaptor, "P9_33")
led := gpio.NewLedDriver(beagleboneAdaptor, "P9_14")
work := func() {
sensor.On(sensor.Event("data"), func(data interface{}) {
brightness := uint8(
gobot.ToScale(gobot.FromScale(float64(data.(int)), 0, 1024), 0, 255),
)
fmt.Println("sensor", data)
fmt.Println("brightness", brightness)
led.Brightness(brightness)
})
}
robot := gobot.NewRobot("sensorBot",
[]gobot.Connection{beagleboneAdaptor},
[]gobot.Device{sensor, led},
work,
)
robot.Start()
}
func main() {
e := edison.NewAdaptor()
sensor := aio.NewAnalogSensorDriver(e, "0")
led := gpio.NewLedDriver(e, "3")
work := func() {
sensor.On(aio.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)
led.Brightness(brightness)
})
}
robot := gobot.NewRobot("sensorBot",
[]gobot.Connection{e},
[]gobot.Device{sensor, led},
work,
)
master.Start()
}
func main() {
firmataAdaptor := firmata.NewAdaptor("/dev/ttyACM0")
sensor := gpio.NewAnalogSensorDriver(firmataAdaptor, "0")
led := gpio.NewLedDriver(firmataAdaptor, "3")
work := func() {
sensor.On(gpio.Data, func(data interface{}) {
brightness := uint8(
gobot.ToScale(gobot.FromScale(float64(data.(int)), 0, 1024), 0, 255),
)
fmt.Println("sensor", data)
fmt.Println("brightness", brightness)
led.Brightness(brightness)
})
}
robot := gobot.NewRobot("sensorBot",
[]gobot.Connection{firmataAdaptor},
[]gobot.Device{sensor, led},
work,
)
robot.Start()
}
func ExampleFromScale() {
fmt.Println(gobot.FromScale(5, 0, 10))
// Output:
// 0.5
}
func scale(position float64) uint8 {
return uint8(gobot.ToScale(gobot.FromScale(position, 0, 1), 0, 255))
}