89 lines
1.6 KiB
Go
89 lines
1.6 KiB
Go
//go:build example
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// +build example
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//
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// Do not build by default.
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package main
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import (
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"os"
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"strconv"
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"time"
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"gobot.io/x/gobot/v2"
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"gobot.io/x/gobot/v2/drivers/ble/sphero"
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"gobot.io/x/gobot/v2/platforms/bleclient"
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"gobot.io/x/gobot/v2/platforms/mqtt"
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)
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const (
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FRENTE = 0
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DERECHA = 90
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ATRAS = 180
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IZQUIERDA = 270
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)
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func main() {
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bleAdaptor := bleclient.NewAdaptor(os.Args[1])
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ollie := sphero.NewOllieDriver(bleAdaptor)
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mqttAdaptor := mqtt.NewAdaptor("tcp://iot.eclipse.org:1883", "ollie")
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work := func() {
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ollie.SetRGB(255, 0, 255)
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_ = mqttAdaptor.On("sensors/dial", func(msg mqtt.Message) {
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val, _ := strconv.Atoi(string(msg.Payload()))
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if val > 2000 {
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ollie.SetRGB(0, 255, 0)
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return
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}
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if val > 1000 {
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ollie.SetRGB(255, 255, 0)
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return
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}
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ollie.SetRGB(255, 0, 0)
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})
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_ = mqttAdaptor.On("rover/frente", func(msg mqtt.Message) {
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ollie.Roll(40, FRENTE)
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gobot.After(1*time.Second, func() {
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ollie.Stop()
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})
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})
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_ = mqttAdaptor.On("rover/derecha", func(msg mqtt.Message) {
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ollie.Roll(40, DERECHA)
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gobot.After(1*time.Second, func() {
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ollie.Stop()
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})
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})
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_ = mqttAdaptor.On("rover/atras", func(msg mqtt.Message) {
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ollie.Roll(40, ATRAS)
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gobot.After(1*time.Second, func() {
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ollie.Stop()
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})
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})
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_ = mqttAdaptor.On("rover/izquierda", func(msg mqtt.Message) {
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ollie.Roll(40, IZQUIERDA)
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gobot.After(1*time.Second, func() {
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ollie.Stop()
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})
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})
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}
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robot := gobot.NewRobot("ollieBot",
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[]gobot.Connection{bleAdaptor, mqttAdaptor},
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[]gobot.Device{ollie},
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work,
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)
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if err := robot.Start(); err != nil {
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panic(err)
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}
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}
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