Docs and examples to better show off Grove GPIO

examples/bebop.go

@@ -0,0 +1,34 @@
+package main
+
+import (
+	"time"
+
+	"github.com/hybridgroup/gobot"
+	"github.com/hybridgroup/gobot/platforms/bebop"
+)
+
+func main() {
+	gbot := gobot.NewGobot()
+
+	bebopAdaptor := bebop.NewBebopAdaptor("Drone")
+	drone := bebop.NewBebopDriver(bebopAdaptor, "Drone")
+
+	work := func() {
+    drone.HullProtection(true)
+		drone.TakeOff()
+		gobot.On(drone.Event("flying"), func(data interface{}) {
+			gobot.After(3*time.Second, func() {
+				drone.Land()
+			})
+		})
+	}
+
+	robot := gobot.NewRobot("drone",
+		[]gobot.Connection{bebopAdaptor},
+		[]gobot.Device{drone},
+		work,
+	)
+	gbot.AddRobot(robot)
+
+	gbot.Start()
+}

examples/bebop_ps3.go

@@ -0,0 +1,188 @@
+package main
+
+import (
+	"fmt"
+	"io"
+	"io/ioutil"
+	"math"
+	"os/exec"
+	"time"
+
+	"github.com/hybridgroup/gobot"
+	"github.com/hybridgroup/gobot/platforms/bebop"
+	"github.com/hybridgroup/gobot/platforms/joystick"
+)
+
+type pair struct {
+	x float64
+	y float64
+}
+
+func ffmpeg() (stdin io.WriteCloser, stderr io.ReadCloser, err error) {
+	ffmpeg := exec.Command("ffmpeg", "-i", "pipe:0", "http://localhost:8090/bebop.ffm")
+
+	stderr, err = ffmpeg.StderrPipe()
+
+	if err != nil {
+		return
+	}
+
+	stdin, err = ffmpeg.StdinPipe()
+
+	if err != nil {
+		return
+	}
+
+	if err = ffmpeg.Start(); err != nil {
+		return
+	}
+
+	go func() {
+		for {
+			buf, err := ioutil.ReadAll(stderr)
+			if err != nil {
+				fmt.Println(err)
+			}
+			if len(buf) > 0 {
+				fmt.Println(string(buf))
+			}
+		}
+	}()
+
+	return stdin, stderr, nil
+}
+
+func main() {
+	gbot := gobot.NewGobot()
+
+	joystickAdaptor := joystick.NewJoystickAdaptor("ps3")
+	joystick := joystick.NewJoystickDriver(joystickAdaptor,
+		"ps3",
+		"./platforms/joystick/configs/dualshock3.json",
+	)
+
+	bebopAdaptor := bebop.NewBebopAdaptor("Drone")
+	drone := bebop.NewBebopDriver(bebopAdaptor, "Drone")
+
+	work := func() {
+		video, _, _ := ffmpeg()
+
+		go func() {
+			for {
+				if _, err := video.Write(<-drone.Video()); err != nil {
+					fmt.Println(err)
+          return
+				}
+			}
+		}()
+
+		offset := 32767.0
+		rightStick := pair{x: 0, y: 0}
+		leftStick := pair{x: 0, y: 0}
+
+		recording := false
+
+		gobot.On(joystick.Event("circle_press"), func(data interface{}) {
+			if recording {
+				drone.StopRecording()
+			} else {
+				drone.StartRecording()
+			}
+			recording = !recording
+		})
+
+		gobot.On(joystick.Event("square_press"), func(data interface{}) {
+			drone.HullProtection(true)
+			drone.TakeOff()
+		})
+		gobot.On(joystick.Event("triangle_press"), func(data interface{}) {
+			drone.Stop()
+		})
+		gobot.On(joystick.Event("x_press"), func(data interface{}) {
+			drone.Land()
+		})
+		gobot.On(joystick.Event("left_x"), func(data interface{}) {
+			val := float64(data.(int16))
+			if leftStick.x != val {
+				leftStick.x = val
+			}
+		})
+		gobot.On(joystick.Event("left_y"), func(data interface{}) {
+			val := float64(data.(int16))
+			if leftStick.y != val {
+				leftStick.y = val
+			}
+		})
+		gobot.On(joystick.Event("right_x"), func(data interface{}) {
+			val := float64(data.(int16))
+			if rightStick.x != val {
+				rightStick.x = val
+			}
+		})
+		gobot.On(joystick.Event("right_y"), func(data interface{}) {
+			val := float64(data.(int16))
+			if rightStick.y != val {
+				rightStick.y = val
+			}
+		})
+
+		gobot.Every(10*time.Millisecond, func() {
+			pair := leftStick
+			if pair.y < -10 {
+				drone.Forward(validatePitch(pair.y, offset))
+			} else if pair.y > 10 {
+				drone.Backward(validatePitch(pair.y, offset))
+			} else {
+				drone.Forward(0)
+			}
+
+			if pair.x > 10 {
+				drone.Right(validatePitch(pair.x, offset))
+			} else if pair.x < -10 {
+				drone.Left(validatePitch(pair.x, offset))
+			} else {
+				drone.Right(0)
+			}
+		})
+
+		gobot.Every(10*time.Millisecond, func() {
+			pair := rightStick
+			if pair.y < -10 {
+				drone.Up(validatePitch(pair.y, offset))
+			} else if pair.y > 10 {
+				drone.Down(validatePitch(pair.y, offset))
+			} else {
+				drone.Up(0)
+			}
+
+			if pair.x > 20 {
+				drone.Clockwise(validatePitch(pair.x, offset))
+			} else if pair.x < -20 {
+				drone.CounterClockwise(validatePitch(pair.x, offset))
+			} else {
+				drone.Clockwise(0)
+			}
+		})
+	}
+
+	robot := gobot.NewRobot("bebop",
+		[]gobot.Connection{joystickAdaptor, bebopAdaptor},
+		[]gobot.Device{joystick, drone},
+		work,
+	)
+
+	gbot.AddRobot(robot)
+
+	gbot.Start()
+}
+
+func validatePitch(data float64, offset float64) int {
+	value := math.Abs(data) / offset
+	if value >= 0.1 {
+		if value <= 1.0 {
+			return int((float64(int(value*100)) / 100) * 100)
+		}
+		return 100
+	}
+	return 0
+}

examples/edison_button_led.go

@@ -0,0 +1,35 @@
+package main
+
+import (
+  "github.com/hybridgroup/gobot"
+  "github.com/hybridgroup/gobot/platforms/gpio"
+  "github.com/hybridgroup/gobot/platforms/intel-iot/edison"
+)
+
+func main() {
+  gbot := gobot.NewGobot()
+
+  e := edison.NewEdisonAdaptor("edison")
+
+  button := gpio.NewButtonDriver(e, "myButton", "2")
+  led := gpio.NewLedDriver(e, "myLed", "4")
+
+  work := func() {
+    gobot.On(button.Event("push"), func(data interface{}) {
+      led.On()
+    })
+    gobot.On(button.Event("release"), func(data interface{}) {
+      led.Off()
+    })
+  }
+
+  robot := gobot.NewRobot("buttonBot",
+    []gobot.Connection{e},
+    []gobot.Device{led, button},
+    work,
+  )
+
+  gbot.AddRobot(robot)
+
+  gbot.Start()
+}

examples/edison_button_led_api.go

@@ -0,0 +1,38 @@
+package main
+
+import (
+  "github.com/hybridgroup/gobot"
+  "github.com/hybridgroup/gobot/platforms/gpio"
+  "github.com/hybridgroup/gobot/platforms/intel-iot/edison"
+
+  "github.com/hybridgroup/gobot/api"
+)
+
+func main() {
+  gbot := gobot.NewGobot()
+  api.NewAPI(gbot).Start()
+
+  e := edison.NewEdisonAdaptor("edison")
+
+  button := gpio.NewButtonDriver(e, "myButton", "2")
+  led := gpio.NewLedDriver(e, "myLed", "4")
+
+  work := func() {
+    gobot.On(button.Event("push"), func(data interface{}) {
+      led.On()
+    })
+    gobot.On(button.Event("release"), func(data interface{}) {
+      led.Off()
+    })
+  }
+
+  robot := gobot.NewRobot("buttonBot",
+    []gobot.Connection{e},
+    []gobot.Device{led, button},
+    work,
+  )
+
+  gbot.AddRobot(robot)
+
+  gbot.Start()
+}

examples/firmata_integration.go

@@ -0,0 +1,48 @@
+package main
+
+import (
+	"time"
+	"fmt"
+
+	"github.com/hybridgroup/gobot"
+	"github.com/hybridgroup/gobot/platforms/firmata"
+	"github.com/hybridgroup/gobot/platforms/gpio"
+)
+
+func main() {
+	gbot := gobot.NewGobot()
+
+	firmataAdaptor := firmata.NewFirmataAdaptor("arduino", "/dev/ttyACM0")
+	led1 := gpio.NewLedDriver(firmataAdaptor, "led1", "3")
+	led2 := gpio.NewLedDriver(firmataAdaptor, "led2", "4")
+	button := gpio.NewButtonDriver(firmataAdaptor, "button", "2")
+	sensor := gpio.NewAnalogSensorDriver(firmataAdaptor, "sensor", "0")
+
+	work := func() {
+		gobot.Every(1*time.Second, func() {
+			led1.Toggle()
+		})
+		gobot.Every(2*time.Second, func() {
+			led2.Toggle()
+		})
+		gobot.On(button.Event("push"), func(data interface{}) {
+			led2.On()
+		})
+		gobot.On(button.Event("release"), func(data interface{}) {
+			led2.Off()
+		})
+		gobot.On(sensor.Event("data"), func(data interface{}) {
+			fmt.Println("sensor", data)
+		})		
+	}
+
+	robot := gobot.NewRobot("bot",
+		[]gobot.Connection{firmataAdaptor},
+		[]gobot.Device{led1, led2, button, sensor},
+		work,
+	)
+
+	gbot.AddRobot(robot)
+
+	gbot.Start()
+}

examples/sphero_dpad.go

@@ -0,0 +1,46 @@
+package main
+
+import (
+  "time"
+
+  "github.com/hybridgroup/gobot"
+  "github.com/hybridgroup/gobot/api"
+  "github.com/hybridgroup/gobot/platforms/sphero"
+)
+
+func main() {
+  gbot := gobot.NewGobot()
+  a := api.NewAPI(gbot)
+  a.Start()
+
+  conn := sphero.NewSpheroAdaptor("Sphero", "/dev/rfcomm0")
+  ball := sphero.NewSpheroDriver(conn, "sphero")
+
+  robot := gobot.NewRobot("sphero-dpad",
+    []gobot.Connection{conn},
+    []gobot.Device{ball},
+  )
+
+  robot.AddCommand("move", func(params map[string]interface{}) interface{} {
+    direction := params["direction"].(string)
+
+    switch direction {
+    case "up":
+      ball.Roll(100, 0)
+    case "down":
+      ball.Roll(100, 180)
+    case "left":
+      ball.Roll(100, 270)
+    case "right":
+      ball.Roll(100, 90)
+    }
+
+    time.Sleep(2 * time.Second)
+    ball.Stop()
+    return "ok"
+  })
+
+  gbot.AddRobot(robot)
+
+  gbot.Start()
+}