66 lines
1.4 KiB
Go
66 lines
1.4 KiB
Go
//go:build example
|
|
// +build example
|
|
|
|
//
|
|
// Do not build by default.
|
|
|
|
/*
|
|
How to run
|
|
Pass serial port to use as the first param:
|
|
|
|
go run examples/firmata_cat_toy.go /dev/ttyACM0
|
|
*/
|
|
|
|
package main
|
|
|
|
import (
|
|
"fmt"
|
|
"os"
|
|
"time"
|
|
|
|
"gobot.io/x/gobot/v2"
|
|
"gobot.io/x/gobot/v2/drivers/gpio"
|
|
"gobot.io/x/gobot/v2/platforms/firmata"
|
|
"gobot.io/x/gobot/v2/platforms/leap"
|
|
)
|
|
|
|
func main() {
|
|
firmataAdaptor := firmata.NewAdaptor(os.Args[1])
|
|
servo1 := gpio.NewServoDriver(firmataAdaptor, "5")
|
|
servo2 := gpio.NewServoDriver(firmataAdaptor, "3")
|
|
|
|
leapAdaptor := leap.NewAdaptor("127.0.0.1:6437")
|
|
leapDriver := leap.NewDriver(leapAdaptor)
|
|
|
|
work := func() {
|
|
x := 90.0
|
|
z := 90.0
|
|
_ = leapDriver.On(leap.MessageEvent, func(data interface{}) {
|
|
if len(data.(leap.Frame).Hands) > 0 {
|
|
hand := data.(leap.Frame).Hands[0]
|
|
x = gobot.ToScale(gobot.FromScale(hand.X(), -300, 300), 30, 150)
|
|
z = gobot.ToScale(gobot.FromScale(hand.Z(), -300, 300), 30, 150)
|
|
}
|
|
})
|
|
gobot.Every(10*time.Millisecond, func() {
|
|
if err := servo1.Move(uint8(x)); err != nil {
|
|
fmt.Println(err)
|
|
}
|
|
if err := servo2.Move(uint8(z)); err != nil {
|
|
fmt.Println(err)
|
|
}
|
|
fmt.Println("Current Angle: ", servo1.Angle(), ",", servo2.Angle())
|
|
})
|
|
}
|
|
|
|
robot := gobot.NewRobot("pwmBot",
|
|
[]gobot.Connection{firmataAdaptor, leapAdaptor},
|
|
[]gobot.Device{servo1, servo2, leapDriver},
|
|
work,
|
|
)
|
|
|
|
if err := robot.Start(); err != nil {
|
|
panic(err)
|
|
}
|
|
}
|