46 lines
1.1 KiB
Go
46 lines
1.1 KiB
Go
package main
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import (
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"fmt"
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"time"
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"gobot.io/x/gobot"
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"gobot.io/x/gobot/drivers/gpio"
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"gobot.io/x/gobot/platforms/firmata"
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"gobot.io/x/gobot/platforms/leap"
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)
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func main() {
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firmataAdaptor := firmata.NewAdaptor("/dev/ttyACM0")
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servo1 := gpio.NewServoDriver(firmataAdaptor, "5")
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servo2 := gpio.NewServoDriver(firmataAdaptor, "3")
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leapAdaptor := leap.NewAdaptor("127.0.0.1:6437")
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leapDriver := leap.NewDriver(leapAdaptor)
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work := func() {
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x := 90.0
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z := 90.0
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leapDriver.On(leap.MessageEvent, func(data interface{}) {
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if len(data.(leap.Frame).Hands) > 0 {
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hand := data.(leap.Frame).Hands[0]
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x = gobot.ToScale(gobot.FromScale(hand.X(), -300, 300), 30, 150)
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z = gobot.ToScale(gobot.FromScale(hand.Z(), -300, 300), 30, 150)
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}
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})
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gobot.Every(10*time.Millisecond, func() {
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servo1.Move(uint8(x))
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servo2.Move(uint8(z))
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fmt.Println("Current Angle: ", servo1.CurrentAngle, ",", servo2.CurrentAngle)
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})
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}
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robot := gobot.NewRobot("pwmBot",
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[]gobot.Connection{firmataAdaptor, leapAdaptor},
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[]gobot.Device{servo1, servo2, leapDriver},
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work,
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)
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robot.Start()
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}
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