[ble] Implement Ollie Roll command

Signed-off-by: deadprogram <ron@hybridgroup.com>

examples/ollie_roll.go

@@ -0,0 +1,43 @@
+package main
+
+import (
+	"os"
+	"time"
+	"fmt"
+
+	"github.com/hybridgroup/gobot"
+	"github.com/hybridgroup/gobot/platforms/ble"
+)
+
+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.After(1*time.Second, func() {
+			fmt.Println("fwd")
+			ollie.Roll(60, 0)
+		})
+		gobot.After(3*time.Second, func() {
+			fmt.Println("back")
+			ollie.Roll(60, 180)
+		})
+		gobot.After(5*time.Second, func() {
+			fmt.Println("stop")
+			ollie.Stop()
+		})
+	}
+
+	robot := gobot.NewRobot("ollieBot",
+		[]gobot.Connection{bleAdaptor},
+		[]gobot.Device{ollie},
+		work,
+	)
+
+	gbot.AddRobot(robot)
+
+	gbot.Start()
+}

platforms/ble/ollie.go

@@ -91,7 +91,7 @@ func (b *SpheroOllieDriver) Init() (err error) {
 	b.Wake()
 
 	// subscribe to Sphero response notifications
-	b.adaptor().Subscribe(RobotControlService, ResponseCharacteristic, b.HandleResponses)
+	//b.adaptor().Subscribe(RobotControlService, ResponseCharacteristic, b.HandleResponses)
 
 	return
 }
@@ -151,7 +151,7 @@ func (s *SpheroOllieDriver) SetRGB(r uint8, g uint8, b uint8) {
 
 // Tells the Ollie to roll
 func (s *SpheroOllieDriver) Roll(speed uint8, heading uint16) {
-	fmt.Println("roll", speed, heading)
+	s.packetChannel <- s.craftPacket([]uint8{speed, uint8(heading >> 8), uint8(heading & 0xFF), 0x01}, 0x02, 0x30)
 }
 
 // Tells the Ollie to stop