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