docs: Update godocs for Sphero Ollie
Signed-off-by: deadprogram <ron@hybridgroup.com>
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deadprogram
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# Sphero Ollie
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The Sphero Ollie is toy robot that is controlled using Bluetooth LE.
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The Sphero Ollie is a toy robot from Sphero that is controlled using Bluetooth LE. For more information, go to [http://www.sphero.com/ollie](http://www.sphero.com/ollie)
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## How to Install
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```
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@ -10,9 +9,65 @@ go get -d -u gobot.io/x/gobot/... && go install gobot.io/x/gobot/platforms/ble
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## How to Use
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```go
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// code here
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package main
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import (
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"os"
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"time"
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"gobot.io/x/gobot"
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"gobot.io/x/gobot/platforms/ble"
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"gobot.io/x/gobot/platforms/sphero/ollie"
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)
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func main() {
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bleAdaptor := ble.NewClientAdaptor(os.Args[1])
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ollie := ollie.NewDriver(bleAdaptor)
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work := func() {
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gobot.Every(1*time.Second, func() {
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r := uint8(gobot.Rand(255))
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g := uint8(gobot.Rand(255))
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b := uint8(gobot.Rand(255))
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ollie.SetRGB(r, g, b)
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})
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}
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robot := gobot.NewRobot("ollieBot",
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[]gobot.Connection{bleAdaptor},
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[]gobot.Device{ollie},
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work,
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)
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robot.Start()
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}
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```
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## How to Connect
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Instructions here...
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The Sphero Ollie is a Bluetooth LE device.
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You need to know the BLE ID of the Ollie you want to connect to. The Gobot BLE client adaptor also lets you connect by friendly name, aka "2B-1247".
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### OSX
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To run any of the Gobot BLE code you must use the `GODEBUG=cgocheck=0` flag in order to get around some of the issues in the CGo-based implementation.
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For example:
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GODEBUG=cgocheck=0 go run examples/ollie.go 2B-1247
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OSX uses its own Bluetooth ID system which is different from the IDs used on Linux. The code calls thru the XPC interfaces provided by OSX, so as a result does not need to run under sudo.
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### Ubuntu
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On Linux the BLE code will need to run as a root user account. The easiest way to accomplish this is probably to use `go build` to build your program, and then to run the requesting executable using `sudo`.
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For example:
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go build examples/ollie.go
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sudo ./minidrone 2B-1247
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### Windows
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Hopefully coming soon...
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@ -9,8 +9,7 @@ import (
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"gobot.io/x/gobot/platforms/ble"
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)
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var _ gobot.Driver = (*Driver)(nil)
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// Driver is the Gobot driver for the Sphero Ollie robot
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type Driver struct {
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name string
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connection gobot.Connection
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@ -20,22 +19,35 @@ type Driver struct {
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}
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const (
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// service IDs
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SpheroBLEService = "22bb746f2bb075542d6f726568705327"
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// SpheroBLEService is the primary service ID
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SpheroBLEService = "22bb746f2bb075542d6f726568705327"
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// RobotControlService is the service ID for the Sphero command API
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RobotControlService = "22bb746f2ba075542d6f726568705327"
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// characteristic IDs
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WakeCharacteristic = "22bb746f2bbf75542d6f726568705327"
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// WakeCharacteristic characteristic ID
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WakeCharacteristic = "22bb746f2bbf75542d6f726568705327"
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// TXPowerCharacteristic characteristic ID
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TXPowerCharacteristic = "22bb746f2bb275542d6f726568705327"
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// AntiDosCharacteristic characteristic ID
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AntiDosCharacteristic = "22bb746f2bbd75542d6f726568705327"
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// CommandsCharacteristic characteristic ID
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CommandsCharacteristic = "22bb746f2ba175542d6f726568705327"
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// ResponseCharacteristic characteristic ID
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ResponseCharacteristic = "22bb746f2ba675542d6f726568705327"
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// gobot events
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// SensorData event
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SensorData = "sensordata"
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Collision = "collision"
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Error = "error"
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// Collision event
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Collision = "collision"
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// Error event
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Error = "error"
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)
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type packet struct {
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@ -55,10 +67,14 @@ func NewDriver(a *ble.ClientAdaptor) *Driver {
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return n
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}
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// Connection returns the connection to this Ollie
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func (b *Driver) Connection() gobot.Connection { return b.connection }
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// Name returns the name for the Driver
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func (b *Driver) Name() string { return b.name }
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// SetName sets the Name for the Driver
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func (b *Driver) SetName(n string) { b.name = n }
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// adaptor returns BLE adaptor
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@ -67,16 +83,16 @@ func (b *Driver) adaptor() *ble.ClientAdaptor {
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}
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// Start tells driver to get ready to do work
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func (s *Driver) Start() (err error) {
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s.Init()
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func (b *Driver) Start() (err error) {
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b.Init()
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// send commands
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go func() {
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for {
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packet := <-s.packetChannel
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err := s.write(packet)
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packet := <-b.packetChannel
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err := b.write(packet)
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if err != nil {
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s.Publish(s.Event(Error), err)
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b.Publish(b.Event(Error), err)
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}
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}
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}()
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@ -91,6 +107,7 @@ func (b *Driver) Halt() (err error) {
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return
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}
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// Init is used to initialize the Ollie
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func (b *Driver) Init() (err error) {
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b.AntiDOSOff()
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b.SetTXPower(7)
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@ -102,7 +119,7 @@ func (b *Driver) Init() (err error) {
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return
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}
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// Turns off Anti-DOS code so we can control Ollie
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// AntiDOSOff turns off Anti-DOS code so we can control Ollie
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func (b *Driver) AntiDOSOff() (err error) {
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str := "011i3"
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buf := &bytes.Buffer{}
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@ -117,7 +134,7 @@ func (b *Driver) AntiDOSOff() (err error) {
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return
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}
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// Wakes Ollie up so we can play
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// Wake wakes Ollie up so we can play
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func (b *Driver) Wake() (err error) {
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buf := []byte{0x01}
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@ -130,7 +147,7 @@ func (b *Driver) Wake() (err error) {
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return
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}
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// Sets transmit level
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// SetTXPower sets transmit level
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func (b *Driver) SetTXPower(level int) (err error) {
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buf := []byte{byte(level)}
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@ -143,7 +160,7 @@ func (b *Driver) SetTXPower(level int) (err error) {
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return
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}
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// Handle responses returned from Ollie
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// HandleResponses handles responses returned from Ollie
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func (b *Driver) HandleResponses(data []byte, e error) {
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fmt.Println("response data:", data)
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@ -151,27 +168,28 @@ func (b *Driver) HandleResponses(data []byte, e error) {
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}
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// SetRGB sets the Ollie to the given r, g, and b values
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func (s *Driver) SetRGB(r uint8, g uint8, b uint8) {
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s.packetChannel <- s.craftPacket([]uint8{r, g, b, 0x01}, 0x02, 0x20)
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func (b *Driver) SetRGB(r uint8, g uint8, bl uint8) {
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b.packetChannel <- b.craftPacket([]uint8{r, g, bl, 0x01}, 0x02, 0x20)
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}
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// Tells the Ollie to roll
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func (s *Driver) Roll(speed uint8, heading uint16) {
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s.packetChannel <- s.craftPacket([]uint8{speed, uint8(heading >> 8), uint8(heading & 0xFF), 0x01}, 0x02, 0x30)
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// Roll tells the Ollie to roll
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func (b *Driver) Roll(speed uint8, heading uint16) {
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b.packetChannel <- b.craftPacket([]uint8{speed, uint8(heading >> 8), uint8(heading & 0xFF), 0x01}, 0x02, 0x30)
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}
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// Tells the Ollie to stop
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func (s *Driver) Stop() {
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s.Roll(0, 0)
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// Stop tells the Ollie to stop
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func (b *Driver) Stop() {
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b.Roll(0, 0)
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}
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// Go to sleep
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func (s *Driver) Sleep() {
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s.packetChannel <- s.craftPacket([]uint8{0x00, 0x00, 0x00, 0x00, 0x00}, 0x00, 0x22)
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// Sleep says Go to sleep
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func (b *Driver) Sleep() {
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b.packetChannel <- b.craftPacket([]uint8{0x00, 0x00, 0x00, 0x00, 0x00}, 0x00, 0x22)
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}
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func (s *Driver) EnableStopOnDisconnect() {
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s.packetChannel <- s.craftPacket([]uint8{0x00, 0x00, 0x00, 0x01}, 0x02, 0x37)
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// EnableStopOnDisconnect auto-sends a Stop command after losing the connection
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func (b *Driver) EnableStopOnDisconnect() {
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b.packetChannel <- b.craftPacket([]uint8{0x00, 0x00, 0x00, 0x01}, 0x02, 0x37)
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}
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func (s *Driver) write(packet *packet) (err error) {
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