56 lines
1.3 KiB
Go
56 lines
1.3 KiB
Go
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package main
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import (
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"fmt"
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"github.com/hybridgroup/gobot"
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"github.com/hybridgroup/gobot/firmata"
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"github.com/hybridgroup/gobot/gpio"
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"github.com/hybridgroup/gobot/leap"
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)
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func main() {
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firmataAdaptor := firmata.NewFirmataAdaptor()
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firmataAdaptor.Name = "firmata"
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firmataAdaptor.Port = "/dev/ttyACM0"
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servo1 := gpio.NewServoDriver(firmataAdaptor)
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servo1.Name = "servo"
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servo1.Pin = "5"
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servo2 := gpio.NewServoDriver(firmataAdaptor)
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servo2.Name = "servo"
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servo2.Pin = "3"
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leapAdaptor := leap.NewLeapMotionAdaptor()
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leapAdaptor.Name = "leap"
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leapAdaptor.Port = "127.0.0.1:6437"
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leapDriver := leap.NewLeapMotionDriver(leapAdaptor)
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leapDriver.Name = "leap"
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work := func() {
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x := 90.0
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z := 90.0
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gobot.On(leapDriver.Events["Message"], func(data interface{}) {
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if len(data.(leap.Frame).Hands) > 0 {
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hand := data.(leap.Frame).Hands[0]
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x = gobot.ToScale(gobot.FromScale(hand.X(), -300, 300), 30, 150)
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z = gobot.ToScale(gobot.FromScale(hand.Z(), -300, 300), 30, 150)
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}
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})
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gobot.Every("0.01s", func() {
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servo1.Move(uint8(x))
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servo2.Move(uint8(z))
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fmt.Println("Current Angle: ", servo1.CurrentAngle, ",", servo2.CurrentAngle)
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})
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}
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robot := gobot.Robot{
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Connections: []gobot.Connection{firmataAdaptor, leapAdaptor},
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Devices: []gobot.Device{servo1, servo2, leapDriver},
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Work: work,
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}
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robot.Start()
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}
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