Fix firmata examples

examples/firmata_blinkm.go

@@ -15,7 +15,10 @@ func main() {
 
 	work := func() {
 		gobot.Every(3*time.Second, func() {
-			blinkm.Rgb(byte(gobot.Rand(255)), byte(gobot.Rand(255)), byte(gobot.Rand(255)))
+			r := byte(gobot.Rand(255))
+			g := byte(gobot.Rand(255))
+			b := byte(gobot.Rand(255))
+			blinkm.Rgb(r, g, b)
 			fmt.Println("color", blinkm.Color())
 		})
 	}

examples/firmata_button.go

@@ -4,7 +4,6 @@ import (
 	"github.com/hybridgroup/gobot"
 	"github.com/hybridgroup/gobot/platforms/firmata"
 	"github.com/hybridgroup/gobot/platforms/gpio"
-	"time"
 )
 
 func main() {
@@ -16,9 +15,6 @@ func main() {
 	led := gpio.NewLedDriver(firmataAdaptor, "myLed", "13")
 
 	work := func() {
-		gobot.Every(1*time.Second, func() {
-			led.Toggle()
-		})
 		gobot.On(button.Events["push"], func(data interface{}) {
 			led.On()
 		})
@@ -28,7 +24,7 @@ func main() {
 	}
 
 	gbot.Robots = append(gbot.Robots,
-		gobot.NewRobot("buttonBot", []robot.Connection{firmataAdaptor}, []robot.Device{button, led}, work),
+		gobot.NewRobot("buttonBot", []gobot.Connection{firmataAdaptor}, []gobot.Device{button, led}, work),
 	)
 
 	gbot.Start()

examples/firmata_cat_toy.go

@@ -29,7 +29,7 @@ func main() {
 				z = gobot.ToScale(gobot.FromScale(hand.Z(), -300, 300), 30, 150)
 			}
 		})
-		gobot.Every(0.01*time.Second, func() {
+		gobot.Every(10*time.Millisecond, func() {
 			servo1.Move(uint8(x))
 			servo2.Move(uint8(z))
 			fmt.Println("Current Angle: ", servo1.CurrentAngle, ",", servo2.CurrentAngle)

examples/firmata_hmc6352.go

@@ -15,7 +15,7 @@ func main() {
 	hmc6352 := i2c.NewHMC6352Driver(firmataAdaptor, "hmc6352")
 
 	work := func() {
-		gobot.Every(0.1*time.Second, func() {
+		gobot.Every(100*time.Millisecond, func() {
 			fmt.Println("Heading", hmc6352.Heading)
 		})
 	}

examples/firmata_led_brightness.go

@@ -16,7 +16,7 @@ func main() {
 		brightness := uint8(0)
 		fade_amount := uint8(15)
 
-		gobot.Every(0.1*time.Second, func() {
+		gobot.Every(100*time.Millisecond, func() {
 			led.Brightness(brightness)
 			brightness = brightness + fade_amount
 			if brightness == 0 || brightness == 255 {

examples/firmata_led_brightness_with_analog_input.go

@@ -11,13 +11,13 @@ import (
 func main() {
 	gbot := gobot.NewGobot()
 	firmataAdaptor := firmata.NewFirmataAdaptor("firmata", "/dev/ttyACM0")
-	sensor := gpio.NewAnalogSensor(firmataAdaptor, "sensor", "0")
-	led := gpio.NewLed(firmataAdaptor, "led", "3")
+	sensor := gpio.NewAnalogSensorDriver(firmataAdaptor, "sensor", "0")
+	led := gpio.NewLedDriver(firmataAdaptor, "led", "3")
 
 	work := func() {
-		gobot.Every(0.1*time.Second, func() {
+		gobot.Every(100*time.Millisecond, func() {
 			val := sensor.Read()
-			brightness := uint8(gpio.ToPwm(val))
+			brightness := uint8(gobot.ToScale(gobot.FromScale(float64(val), 0, 1024), 0, 255))
 			fmt.Println("sensor", val)
 			fmt.Println("brightness", brightness)
 			led.Brightness(brightness)

examples/firmata_motor.go

@@ -16,7 +16,7 @@ func main() {
 		speed := byte(0)
 		fade_amount := byte(15)
 
-		gobot.Every(0.1*time.Second, func() {
+		gobot.Every(100*time.Millisecond, func() {
 			motor.Speed(speed)
 			speed = speed + fade_amount
 			if speed == 0 || speed == 255 {

platforms/firmata/firmata.go

@@ -69,7 +69,7 @@ type pin struct {
 type event struct {
 	Name     string
 	Data     []byte
-	I2cReply map[string][]uint16
+	I2cReply map[string][]byte
 }
 
 func newBoard(sp io.ReadWriteCloser) *board {
@@ -208,11 +208,11 @@ func (b *board) togglePinReporting(pin byte, state byte, mode byte) {
 	b.write([]byte{mode | pin, state})
 }
 
-func (b *board) i2cReadRequest(slave_address byte, num_bytes uint16) {
+func (b *board) i2cReadRequest(slave_address byte, num_bytes uint) {
 	b.write([]byte{START_SYSEX, I2C_REQUEST, slave_address, (I2C_MODE_READ << 3), byte(num_bytes & 0x7F), byte(((num_bytes >> 7) & 0x7F)), END_SYSEX})
 }
 
-func (b *board) i2cWriteRequest(slave_address byte, data []uint16) {
+func (b *board) i2cWriteRequest(slave_address byte, data []byte) {
 	ret := []byte{START_SYSEX, I2C_REQUEST, slave_address, (I2C_MODE_WRITE << 3)}
 	for _, val := range data {
 		ret = append(ret, byte(val&0x7F))
@@ -222,7 +222,7 @@ func (b *board) i2cWriteRequest(slave_address byte, data []uint16) {
 	b.write(ret)
 }
 
-func (b *board) i2cConfig(data []uint16) {
+func (b *board) i2cConfig(data []byte) {
 	ret := []byte{START_SYSEX, I2C_CONFIG}
 	for _, val := range data {
 		ret = append(ret, byte(val&0xFF))
@@ -348,10 +348,10 @@ func (me *board) process(data []byte) {
 
 				me.Events = append(me.Events, event{Name: fmt.Sprintf("pin_%v_state", current_buffer[2]), Data: []byte{byte(pin.Value & 0xff)}})
 			case I2C_REPLY:
-				i2c_reply := map[string][]uint16{
-					"slave_address": []uint16{uint16(current_buffer[2]) | uint16(current_buffer[3])<<7},
-					"register":      []uint16{uint16(current_buffer[4]) | uint16(current_buffer[5])<<7},
-					"data":          []uint16{uint16(current_buffer[6]) | uint16(current_buffer[7])<<7},
+				i2c_reply := map[string][]byte{
+					"slave_address": []byte{byte(current_buffer[2]) | byte(current_buffer[3])<<7},
+					"register":      []byte{byte(current_buffer[4]) | byte(current_buffer[5])<<7},
+					"data":          []byte{byte(current_buffer[6]) | byte(current_buffer[7])<<7},
 				}
 				for i := 8; i < len(current_buffer); i = i + 2 {
 					if current_buffer[i] == byte(0xF7) {
@@ -360,7 +360,7 @@ func (me *board) process(data []byte) {
 					if i+2 > len(current_buffer) {
 						break
 					}
-					i2c_reply["data"] = append(i2c_reply["data"], uint16(current_buffer[i])|uint16(current_buffer[i+1])<<7)
+					i2c_reply["data"] = append(i2c_reply["data"], byte(current_buffer[i])|byte(current_buffer[i+1])<<7)
 				}
 				me.Events = append(me.Events, event{Name: "i2c_reply", I2cReply: i2c_reply})
 

platforms/firmata/firmata_adaptor.go

@@ -99,19 +99,19 @@ func (f *FirmataAdaptor) digitalPin(pin int) int {
 
 func (f *FirmataAdaptor) I2cStart(address byte) {
 	f.i2cAddress = address
-	f.Board.i2cConfig([]uint16{0})
+	f.Board.i2cConfig([]byte{0})
 }
 
-func (f *FirmataAdaptor) I2cRead(size uint16) []uint16 {
+func (f *FirmataAdaptor) I2cRead(size uint) []byte {
 	f.Board.i2cReadRequest(f.i2cAddress, size)
 
 	events := f.Board.findEvents("i2c_reply")
 	if len(events) > 0 {
 		return events[len(events)-1].I2cReply["data"]
 	}
-	return make([]uint16, 0)
+	return make([]byte, 0)
 }
 
-func (f *FirmataAdaptor) I2cWrite(data []uint16) {
+func (f *FirmataAdaptor) I2cWrite(data []byte) {
 	f.Board.i2cWriteRequest(f.i2cAddress, data)
 }

platforms/firmata/firmata_adaptor_test.go

@@ -61,16 +61,16 @@ var _ = Describe("FirmataAdaptor", func() {
 		adaptor.I2cStart(0x00)
 	})
 	It("I2cRead should return [] on no data", func() {
-		Expect(adaptor.I2cRead(1)).To(Equal(make([]uint16, 0)))
+		Expect(adaptor.I2cRead(1)).To(Equal(make([]byte, 0)))
 	})
 	It("I2cRead should return data", func() {
-		i := []uint16{100}
-		i2c_reply := map[string][]uint16{}
+		i := []byte{100}
+		i2c_reply := map[string][]byte{}
 		i2c_reply["data"] = i
 		adaptor.Board.Events = append(adaptor.Board.Events, event{Name: "i2c_reply", I2cReply: i2c_reply})
 		Expect(adaptor.I2cRead(1)).To(Equal(i))
 	})
 	It("Must be able to I2cWrite", func() {
-		adaptor.I2cWrite([]uint16{0x00, 0x01})
+		adaptor.I2cWrite([]byte{0x00, 0x01})
 	})
 })

platforms/gpio/button_driver.go

@@ -27,15 +27,13 @@ func NewButtonDriver(a DigitalReader, name string, pin string) *ButtonDriver {
 
 func (b *ButtonDriver) Start() bool {
 	state := 0
-	go func() {
-		for {
-			new_value := b.readState()
-			if new_value != state && new_value != -1 {
-				state = new_value
-				b.update(new_value)
-			}
+	gobot.Every(b.Interval, func() {
+		new_value := b.readState()
+		if new_value != state && new_value != -1 {
+			state = new_value
+			b.update(new_value)
 		}
-	}()
+	})
 	return true
 }
 func (b *ButtonDriver) Halt() bool { return true }