OrgGo
/
hybridgroup.gobot
mirror of https://github.com/hybridgroup/gobot.git
1
0
Fork 0
Code Issues Projects Releases Wiki Activity

Update sphero package and examples

This commit is contained in:
Adrian Zankich 2014-05-22 21:20:16 -07:00
parent f81aa43336
commit d877ffd251
9 changed files with 62 additions and 82 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

24
examples/sphero.go
View File

@ -3,27 +3,26 @@ package main
import (
"fmt"
"github.com/hybridgroup/gobot"
"github.com/hybridgroup/gobot/sphero"
"github.com/hybridgroup/gobot/platforms/sphero"
"time"
)
func main() {
adaptor := sphero.NewAdaptor()
adaptor.Name = "Sphero"
adaptor.Port = "/dev/rfcomm0"
gbot := gobot.NewGobot()
spheroDriver := sphero.NewSpheroDriver(adaptor)
spheroDriver.Name = "sphero"
adaptor := sphero.NewSpheroAdaptor("Sphero", "/dev/rfcomm0")
spheroDriver := sphero.NewSpheroDriver(adaptor, "sphero")
work := func() {
gobot.On(spheroDriver.Events["Collision"], func(data interface{}) {
fmt.Println("Collision Detected!")
})
gobot.Every("3s", func() {
gobot.Every(3*time.Second, func() {
spheroDriver.Roll(30, uint16(gobot.Rand(360)))
})
gobot.Every("1s", func() {
gobot.Every(1*time.Second, func() {
r := uint8(gobot.Rand(255))
g := uint8(gobot.Rand(255))
b := uint8(gobot.Rand(255))
@ -31,11 +30,8 @@ func main() {
})
}
robot := gobot.Robot{
Connections: []gobot.Connection{adaptor},
Devices: []gobot.Device{spheroDriver},
Work: work,
}
gbot.Robots = append(gbot.Robots,
gobot.NewRobot("sphero", []gobot.Connection{adaptor}, []gobot.Device{spheroDriver}, work))
robot.Start()
gbot.Start()
}

26
examples/sphero_api.go
View File

@ -2,10 +2,11 @@ package main
import (
"github.com/hybridgroup/gobot"
"github.com/hybridgroup/gobot/sphero"
"github.com/hybridgroup/gobot/api"
"github.com/hybridgroup/gobot/platforms/sphero"
)
var Master *gobot.Master = gobot.NewMaster()
Master := gobot.NewGobot()
func TurnBlue(params map[string]interface{}) bool {
spheroDriver := Master.FindRobotDevice(params["robotname"].(string), "sphero")
@ -14,32 +15,25 @@ func TurnBlue(params map[string]interface{}) bool {
}
func main() {
gobot.Api(Master)
api.Api(Master).Start()
spheros := map[string]string{
"Sphero-BPO": "/dev/rfcomm0",
}
for name, port := range spheros {
spheroAdaptor := sphero.NewSpheroAdaptor()
spheroAdaptor.Name = "sphero"
spheroAdaptor.Port = port
spheroAdaptor := sphero.NewSpheroAdaptor("sphero", port)
spheroDriver := sphero.NewSpheroDriver(spheroAdaptor)
spheroDriver.Name = "sphero"
spheroDriver.Interval = "0.5s"
spheroDriver := sphero.NewSpheroDriver(spheroAdaptor, "sphero")
work := func() {
spheroDriver.SetRGB(uint8(255), uint8(0), uint8(0))
}
Master.Robots = append(Master.Robots, &gobot.Robot{
Name: name,
Connections: []gobot.Connection{spheroAdaptor},
Devices: []gobot.Device{spheroDriver},
Work: work,
Commands: map[string]interface{}{"TurnBlue": TurnBlue},
})
robot := gobot.NewRobot(name, []gobot.Connection{spheroAdaptor}, []gobot.Device{spheroDriver}, work)
robot.Commands = map[string]interface{}{"TurnBlue": TurnBlue}
Master.Robots = append(Master.Robots, robot)
}
Master.Start()

23
examples/sphero_conways.go
View File

@ -3,7 +3,8 @@ package main
import (
"fmt"
"github.com/hybridgroup/gobot"
"github.com/hybridgroup/gobot/sphero"
"github.com/hybridgroup/gobot/platforms/sphero"
"time"
)
type conway struct {
@ -14,7 +15,7 @@ type conway struct {
}
func main() {
master := gobot.NewMaster()
master := gobot.NewGobot()
spheros := []string{
"/dev/rfcomm0",
@ -23,12 +24,9 @@ func main() {
}
for s := range spheros {
spheroAdaptor := sphero.NewSpheroAdaptor()
spheroAdaptor.Name = "Sphero"
spheroAdaptor.Port = spheros[s]
spheroAdaptor := sphero.NewSpheroAdaptor("Sphero", spheros[s])
cell := sphero.NewSpheroDriver(spheroAdaptor)
cell.Name = "Sphero" + spheros[s]
cell := sphero.NewSpheroDriver(spheroAdaptor, "Sphero"+spheros[s])
work := func() {
@ -41,24 +39,21 @@ func main() {
conway.contact()
})
gobot.Every("3s", func() {
gobot.Every(3*time.Second, func() {
if conway.alive == true {
conway.movement()
}
})
gobot.Every("10s", func() {
gobot.Every(10*time.Second, func() {
if conway.alive == true {
conway.birthday()
}
})
}
master.Robots = append(master.Robots, &gobot.Robot{
Connections: []gobot.Connection{spheroAdaptor},
Devices: []gobot.Device{cell},
Work: work,
})
master.Robots = append(master.Robots,
gobot.NewRobot("conway", []gobot.Connection{spheroAdaptor}, []gobot.Device{cell}, work))
}
master.Start()

32
examples/sphero_master.go
View File

@ -2,44 +2,40 @@ package main
import (
"github.com/hybridgroup/gobot"
"github.com/hybridgroup/gobot/sphero"
"github.com/hybridgroup/gobot/platforms/sphero"
"time"
)
func main() {
master := gobot.GobotMaster()
master := gobot.NewGobot()
spheros := map[string]string{
"Sphero-BPO": "/dev/rfcomm0",
}
for name, port := range spheros {
spheroAdaptor := new(sphero.Adaptor)
spheroAdaptor.Name = "sphero"
spheroAdaptor.Port = port
spheroAdaptor := sphero.NewSpheroAdaptor("sphero", port)
spheroDriver := sphero.NewSpheroDriver(spheroAdaptor)
spheroDriver.Name = "sphero"
spheroDriver.Interval = "0.5s"
spheroDriver := sphero.NewSpheroDriver(spheroAdaptor, "sphero")
work := func() {
spheroDriver.SetRGB(uint8(255), uint8(0), uint8(0))
}
master.Robots = append(master.Robots, &gobot.Robot{
Name: name,
Connections: []gobot.Connection{spheroAdaptor},
Devices: []gobot.Device{spheroDriver},
Work: work,
})
master.Robots = append(master.Robots,
gobot.NewRobot(name, []gobot.Connection{spheroAdaptor}, []gobot.Device{spheroDriver}, work))
}
master.Robots = append(master.Robots, &gobot.Robot{
Work: func() {
gobot.Every("1s", func() {
master.Robots = append(master.Robots, gobot.NewRobot(
""
nil,
nil,
func() {
gobot.Every(1*time.Second, func() {
gobot.Call(master.FindRobot("Sphero-BPO").GetDevice("spheroDriver").Driver, "SetRGB", uint8(gobot.Rand(255)), uint8(gobot.Rand(255)), uint8(gobot.Rand(255)))
})
},
})
))
master.Start()
}

24
examples/sphero_multiple.go
View File

@ -3,11 +3,12 @@ package main
import (
"fmt"
"github.com/hybridgroup/gobot"
"github.com/hybridgroup/gobot/sphero"
"github.com/hybridgroup/gobot/platforms/sphero"
"time"
)
func main() {
master := gobot.NewMaster()
master := gobot.NewGobot()
spheros := []string{
"/dev/rfcomm0",
@ -17,13 +18,9 @@ func main() {
}
for s := range spheros {
spheroAdaptor := sphero.NewSpheroAdaptor()
spheroAdaptor.Name = "Sphero"
spheroAdaptor.Port = spheros[s]
spheroAdaptor := sphero.NewSpheroAdaptor("Sphero", spheros[s])
spheroDriver := sphero.NewSpheroDriver(spheroAdaptor)
spheroDriver.Name = "Sphero" + spheros[s]
spheroDriver.Interval = "0.5s"
spheroDriver := sphero.NewSpheroDriver(spheroAdaptor, "Sphero"+spheros[s])
work := func() {
spheroDriver.Stop()
@ -32,19 +29,16 @@ func main() {
fmt.Println("Collision Detected!")
})
gobot.Every("1s", func() {
gobot.Every(1*time.Second, func() {
spheroDriver.Roll(100, uint16(gobot.Rand(360)))
})
gobot.Every("3s", func() {
gobot.Every(3*time.Second, func() {
spheroDriver.SetRGB(uint8(gobot.Rand(255)), uint8(gobot.Rand(255)), uint8(gobot.Rand(255)))
})
}
master.Robots = append(master.Robots, &gobot.Robot{
Connections: []gobot.Connection{spheroAdaptor},
Devices: []gobot.Device{spheroDriver},
Work: work,
})
master.Robots = append(master.Robots,
gobot.NewRobot("sphero", []gobot.Connection{spheroAdaptor}, []gobot.Device{spheroDriver}, work))
}
master.Start()

6
platforms/sphero/sphero_adaptor.go
View File

@ -12,8 +12,12 @@ type SpheroAdaptor struct {
connect func(*SpheroAdaptor)
}
func NewSpheroAdaptor() *SpheroAdaptor {
func NewSpheroAdaptor(name string, port string) *SpheroAdaptor {
return &SpheroAdaptor{
Adaptor: gobot.Adaptor{
Name: name,
Port: port,
},
connect: func(a *SpheroAdaptor) {
c := &serial.Config{Name: a.Port, Baud: 115200}
s, err := serial.OpenPort(c)

2
platforms/sphero/sphero_adaptor_test.go
View File

@ -11,7 +11,7 @@ var _ = Describe("SpheroAdaptor", func() {
)
BeforeEach(func() {
a = NewSpheroAdaptor()
a = NewSpheroAdaptor("bot", "/dev/null")
a.sp = sp{}
a.connect = func(a *SpheroAdaptor) {}
})

3
platforms/sphero/sphero_driver.go
View File

@ -22,9 +22,10 @@ type SpheroDriver struct {
response_channel chan []uint8
}
func NewSpheroDriver(a *SpheroAdaptor) *SpheroDriver {
func NewSpheroDriver(a *SpheroAdaptor, name string) *SpheroDriver {
return &SpheroDriver{
Driver: gobot.Driver{
Name: name,
Events: make(map[string]chan interface{}),
Commands: []string{
"SetRGBC",

4
platforms/sphero/sphero_driver_test.go
View File

@ -12,9 +12,9 @@ var _ = Describe("SpheroDriver", func() {
)
BeforeEach(func() {
a = NewSpheroAdaptor()
a = NewSpheroAdaptor("bot", "/dev/null")
a.sp = sp{}
s = NewSpheroDriver(a)
s = NewSpheroDriver(a, "bot")
})
It("Must be able to Start", func() {