hybridgroup.gobot/examples/leap_sphero.go

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// +build example
//
// Do not build by default.
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package main
import (
"math"
"gobot.io/x/gobot"
"gobot.io/x/gobot/platforms/leap"
"gobot.io/x/gobot/platforms/sphero"
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)
func main() {
leapAdaptor := leap.NewAdaptor("127.0.0.1:6437")
spheroAdaptor := sphero.NewAdaptor("/dev/tty.Sphero-YBW-RN-SPP")
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leapDriver := leap.NewDriver(leapAdaptor)
spheroDriver := sphero.NewSpheroDriver(spheroAdaptor)
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work := func() {
leapDriver.On(leap.MessageEvent, func(data interface{}) {
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hands := data.(leap.Frame).Hands
if len(hands) > 0 {
x := math.Abs(hands[0].Direction[0])
y := math.Abs(hands[0].Direction[1])
z := math.Abs(hands[0].Direction[2])
spheroDriver.SetRGB(scale(x), scale(y), scale(z))
}
})
}
robot := gobot.NewRobot("leapBot",
[]gobot.Connection{leapAdaptor, spheroAdaptor},
[]gobot.Device{leapDriver, spheroDriver},
work,
)
robot.Start()
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}
func scale(position float64) uint8 {
return uint8(gobot.ToScale(gobot.FromScale(position, 0, 1), 0, 255))
}