[ble] Correct examples to use client adaptor

Signed-off-by: deadprogram <[email protected]>

examples/ble_battery.go

@@ -4,15 +4,15 @@ import (
 	"fmt"
 	"time"
 	"os"
-	
+
 	"github.com/hybridgroup/gobot"
 	"github.com/hybridgroup/gobot/platforms/ble"
 )
 
 func main() {
 	gbot := gobot.NewGobot()
 
-	bleAdaptor := ble.NewBLEAdaptor("ble", os.Args[1])
+	bleAdaptor := ble.NewBLEClientAdaptor("ble", os.Args[1])
 	battery := ble.NewBLEBatteryDriver(bleAdaptor, "battery")
 
 	work := func() {

examples/ble_device_info.go

@@ -11,7 +11,7 @@ import (
 func main() {
 	gbot := gobot.NewGobot()
 
-	bleAdaptor := ble.NewBLEAdaptor("ble", os.Args[1])
+	bleAdaptor := ble.NewBLEClientAdaptor("ble", os.Args[1])
 	info := ble.NewBLEDeviceInformationDriver(bleAdaptor, "info")
 
 	work := func() {

examples/minidrone.go

@@ -12,7 +12,7 @@ import (
 func main() {
 	gbot := gobot.NewGobot()
 
-	bleAdaptor := ble.NewBLEAdaptor("ble", os.Args[1])
+	bleAdaptor := ble.NewBLEClientAdaptor("ble", os.Args[1])
 	drone := ble.NewBLEMinidroneDriver(bleAdaptor, "drone")
 
 	work := func() {

examples/ollie.go

@@ -0,0 +1,29 @@
+package main
+
+import (
+	"os"
+
+	"github.com/hybridgroup/gobot"
+	"github.com/hybridgroup/gobot/platforms/ble"
+)
+
+func main() {
+	gbot := gobot.NewGobot()
+
+	bleAdaptor := ble.NewBLEClientAdaptor("ble", os.Args[1])
+	ollie := ble.NewSpheroOllieDriver(bleAdaptor, "ollie")
+
+	work := func() {
+		ollie.SetRGB(0, 255, 0)
+	}
+
+	robot := gobot.NewRobot("ollieBot",
+		[]gobot.Connection{bleAdaptor},
+		[]gobot.Device{ollie},
+		work,
+	)
+
+	gbot.AddRobot(robot)
+
+	gbot.Start()
+}

platforms/ble/ble_client_adaptor.go

@@ -190,7 +190,7 @@ func (b *BLEClientAdaptor) ConnectHandler(p gatt.Peripheral, err error) {
 
 	b.peripheral = p
 
-	if err := p.SetMTU(500); err != nil {
+	if err := p.SetMTU(250); err != nil {
 		fmt.Printf("Failed to set MTU, err: %s\n", err)
 	}
 

platforms/ble/ollie.go

@@ -0,0 +1,133 @@
+package ble
+
+import (
+	"bytes"
+	"fmt"
+
+	"github.com/hybridgroup/gobot"
+)
+
+var _ gobot.Driver = (*SpheroOllieDriver)(nil)
+
+type SpheroOllieDriver struct {
+	name       string
+	connection gobot.Connection
+	gobot.Eventer
+}
+
+const (
+	// service IDs
+	SpheroBLEService = "22bb746f2bb075542d6f726568705327"
+
+	// characteristic IDs
+	WakeCharacteristic = "22bb746f2bbf75542d6f726568705327"
+	TXPowerCharacteristic = "22bb746f2bb275542d6f726568705327"
+	AntiDosCharacteristic = "22bb746f2bbd75542d6f726568705327"
+	RobotControlService = "22bb746f2ba075542d6f726568705327"
+	CommandsCharacteristic = "22bb746f2ba175542d6f726568705327"
+	ResponseCharacteristic = "22bb746f2ba675542d6f726568705327"
+)
+
+// NewSpheroOllieDriver creates a SpheroOllieDriver by name
+func NewSpheroOllieDriver(a *BLEClientAdaptor, name string) *SpheroOllieDriver {
+	n := &SpheroOllieDriver{
+		name:       name,
+		connection: a,
+		Eventer: gobot.NewEventer(),
+	}
+
+	return n
+}
+func (b *SpheroOllieDriver) Connection() gobot.Connection { return b.connection }
+func (b *SpheroOllieDriver) Name() string                 { return b.name }
+
+// adaptor returns BLE adaptor
+func (b *SpheroOllieDriver) adaptor() *BLEClientAdaptor {
+	return b.Connection().(*BLEClientAdaptor)
+}
+
+// Start tells driver to get ready to do work
+func (b *SpheroOllieDriver) Start() (errs []error) {
+	b.Init()
+
+	return
+}
+
+// Halt stops Ollie driver (void)
+func (b *SpheroOllieDriver) Halt() (errs []error) {
+	return
+}
+
+func (b *SpheroOllieDriver) Init() (err error) {
+	b.AntiDOSOff()
+	b.SetTXPower(7)
+	b.Wake()
+
+	// subscribe to Sphero response notifications
+	b.adaptor().Subscribe(RobotControlService, ResponseCharacteristic, b.HandleResponses)
+
+	return
+}
+
+// Turns off Anti-DOS code so we can control Ollie
+func (b *SpheroOllieDriver) AntiDOSOff() (err error) {
+	str := "011i3"
+	buf := &bytes.Buffer{}
+	buf.WriteString(str)
+
+	err = b.adaptor().WriteCharacteristic(SpheroBLEService, AntiDosCharacteristic, buf.Bytes())
+	if err != nil {
+		fmt.Println("AntiDOSOff error:", err)
+		return err
+	}
+
+	return
+}
+
+// Wakes Ollie up so we can play
+func (b *SpheroOllieDriver) Wake() (err error) {
+	buf := []byte{0x01}
+
+	err = b.adaptor().WriteCharacteristic(SpheroBLEService, WakeCharacteristic, buf)
+	if err != nil {
+		fmt.Println("Wake error:", err)
+		return err
+	}
+
+	return
+}
+
+// Sets transmit level
+func (b *SpheroOllieDriver) SetTXPower(level int) (err error) {
+	buf := []byte{byte(level)}
+
+	err = b.adaptor().WriteCharacteristic(SpheroBLEService, TXPowerCharacteristic, buf)
+	if err != nil {
+		fmt.Println("SetTXLevel error:", err)
+		return err
+	}
+
+	return
+}
+
+// Handle responses returned from Ollie
+func (b *SpheroOllieDriver) HandleResponses(data []byte, e error) {
+	fmt.Println("response data:", data)
+
+	return
+}
+
+// SetRGB sets the Ollie to the given r, g, and b values
+func (s *SpheroOllieDriver) SetRGB(r uint8, g uint8, b uint8) {
+	fmt.Println("setrgb")
+}
+
+// Tells the Ollie to roll
+func (s *SpheroOllieDriver) Roll(speed uint8, heading uint16) {
+	fmt.Println("roll", speed, heading)
+}
+
+// Tells the Ollie to stop
+func (s *SpheroOllieDriver) Stop() {
+	s.Roll(0, 0)
+}