Adding leap + servos example (robotic hand)

examples/leap_servos.go

@@ -0,0 +1,54 @@
+package main
+
+import (
+	"github.com/hybridgroup/gobot"
+	"github.com/hybridgroup/gobot/platforms/firmata"
+	"github.com/hybridgroup/gobot/platforms/gpio"
+	"github.com/hybridgroup/gobot/platforms/leap"
+)
+
+// Video: https://www.youtube.com/watch?v=ayNMyUfdAqc
+func main() {
+	gbot := gobot.NewGobot()
+
+	firmataAdaptor := firmata.NewFirmataAdaptor("firmata", "/dev/tty.usbmodem1451")
+	servo1 := gpio.NewServoDriver(firmataAdaptor, "servo", "3")
+	servo2 := gpio.NewServoDriver(firmataAdaptor, "servo", "4")
+	servo3 := gpio.NewServoDriver(firmataAdaptor, "servo", "5")
+	servo4 := gpio.NewServoDriver(firmataAdaptor, "servo", "6")
+	servo5 := gpio.NewServoDriver(firmataAdaptor, "servo", "7")
+
+	leapMotionAdaptor := leap.NewLeapMotionAdaptor("leap", "127.0.0.1:6437")
+	l := leap.NewLeapMotionDriver(leapMotionAdaptor, "leap")
+
+	work := func() {
+		fist := false
+		gobot.On(l.Event("message"), func(data interface{}) {
+			handIsOpen := len(data.(leap.Frame).Pointables) > 0
+			if handIsOpen && fist {
+				servo1.Move(0)
+				servo2.Move(0)
+				servo3.Move(0)
+				servo4.Move(0)
+				servo5.Move(0)
+				fist = false
+			} else if !handIsOpen && !fist {
+				servo1.Move(120)
+				servo2.Move(120)
+				servo3.Move(120)
+				servo4.Move(120)
+				servo5.Move(120)
+				fist = true
+			}
+		})
+	}
+
+	robot := gobot.NewRobot("servoBot",
+		[]gobot.Connection{firmataAdaptor, leapMotionAdaptor},
+		[]gobot.Device{servo1, servo2, servo3, servo4, servo5, l},
+		work,
+	)
+
+	gbot.AddRobot(robot)
+	gbot.Start()
+}