Code cleanups suggested by gosimple

examples/ardrone_face_tracking.go

@@ -31,7 +31,7 @@ func main() {
 		var image *cv.IplImage
 		gobot.On(camera.Event("frame"), func(data interface{}) {
 			image = data.(*cv.IplImage)
-			if detect == false {
+			if !detect {
 				window.ShowImage(image)
 			}
 		})

examples/sphero_conways.go

@@ -40,13 +40,13 @@ func main() {
 			})
 
 			gobot.Every(3*time.Second, func() {
-				if conway.alive == true {
+				if conway.alive {
 					conway.movement()
 				}
 			})
 
 			gobot.Every(10*time.Second, func() {
-				if conway.alive == true {
+				if conway.alive {
 					conway.birthday()
 				}
 			})
@@ -107,8 +107,8 @@ func (c *conway) birthday() {
 
 	fmt.Println("Happy birthday", c.cell.Name, "you are", c.age, "and had", c.contacts, "contacts.")
 
-	if c.enoughContacts() == true {
-		if c.alive == false {
+	if c.enoughContacts() {
+		if !c.alive {
 			c.rebirth()
 		}
 	} else {
@@ -119,7 +119,7 @@ func (c *conway) birthday() {
 }
 
 func (c *conway) movement() {
-	if c.alive == true {
+	if c.alive {
 		c.cell.Roll(100, uint16(gobot.Rand(360)))
 	}
 }

gobot.go

@@ -73,7 +73,7 @@ func (g *Gobot) Start() (errs []error) {
 		}
 
 		// waiting for interrupt coming on the channel
-		_ = <-c
+		<-c
 
 		// Stop calls the Stop method on each robot in its collection of robots.
 		g.Stop()

platforms/digispark/digispark_adaptor.go

@@ -71,7 +71,7 @@ func (d *DigisparkAdaptor) DigitalWrite(pin string, level byte) (err error) {
 
 // PwmWrite writes the 0-254 value to the specified pin
 func (d *DigisparkAdaptor) PwmWrite(pin string, value byte) (err error) {
-	if d.pwm == false {
+	if !d.pwm {
 		if err = d.littleWire.pwmInit(); err != nil {
 			return
 		}
@@ -87,7 +87,7 @@ func (d *DigisparkAdaptor) PwmWrite(pin string, value byte) (err error) {
 
 // ServoWrite writes the 0-180 degree val to the specified pin.
 func (d *DigisparkAdaptor) ServoWrite(pin string, angle uint8) (err error) {
-	if d.servo == false {
+	if !d.servo {
 		if err = d.littleWire.servoInit(); err != nil {
 			return
 		}

platforms/firmata/client/client.go

@@ -469,7 +469,7 @@ func (b *Client) process() (err error) {
 			b.FirmwareName = string(name[:])
 			gobot.Publish(b.Event("FirmwareQuery"), b.FirmwareName)
 		case StringData:
-			str := currentBuffer[2:len(currentBuffer)]
+			str := currentBuffer[2:]
 			gobot.Publish(b.Event("StringData"), string(str[:len(str)-1]))
 		}
 	}

platforms/gpio/motor_driver.go

@@ -175,10 +175,7 @@ func (m *MotorDriver) Direction(direction string) (err error) {
 }
 
 func (m *MotorDriver) isDigital() bool {
-	if m.CurrentMode == "digital" {
-		return true
-	}
-	return false
+	return m.CurrentMode == "digital"
 }
 
 func (m *MotorDriver) changeState(state byte) (err error) {

platforms/i2c/jhd1313m1_driver.go

@@ -218,10 +218,7 @@ func (h *JHD1313M1Driver) Scroll(leftToRight bool) error {
 func (h *JHD1313M1Driver) Halt() []error { return nil }
 
 func (h *JHD1313M1Driver) setReg(command int, data int) error {
-	if err := h.connection.I2cWrite(h.rgbAddress, []byte{byte(command), byte(data)}); err != nil {
-		return err
-	}
-	return nil
+	return h.connection.I2cWrite(h.rgbAddress, []byte{byte(command), byte(data)})
 }
 
 func (h *JHD1313M1Driver) command(buf []byte) error {

platforms/i2c/mcp23017_driver.go

@@ -171,21 +171,15 @@ func (m *MCP23017Driver) ReadGPIO(pin uint8, portStr string) (val uint8, err err
 // val = 0 pull up disabled.
 func (m *MCP23017Driver) SetPullUp(pin uint8, val uint8, portStr string) error {
 	selectedPort := m.getPort(portStr)
-	if err := m.write(selectedPort.GPPU, pin, val); err != nil {
-		return err
-	}
-	return nil
+	return m.write(selectedPort.GPPU, pin, val)
 }
 
 // SetGPIOPolarity will change a given pin's polarity based on the value:
 // val = 1 opposite logic state of the input pin.
 // val = 0 same logic state of the input pin.
 func (m *MCP23017Driver) SetGPIOPolarity(pin uint8, val uint8, portStr string) (err error) {
 	selectedPort := m.getPort(portStr)
-	if err := m.write(selectedPort.IPOL, pin, val); err != nil {
-		return err
-	}
-	return nil
+	return m.write(selectedPort.IPOL, pin, val)
 }
 
 // write gets the value of the passed in register, and then overwrites

platforms/sphero/sphero_driver.go

@@ -174,7 +174,7 @@ func (s *SpheroDriver) Start() (errs []error) {
 	go func() {
 		for {
 			header := s.readHeader()
-			if header != nil && len(header) != 0 {
+			if len(header) > 0 {
 				body := s.readBody(header[4])
 				data := append(header, body...)
 				checksum := data[len(data)-1]
@@ -268,7 +268,7 @@ func (s *SpheroDriver) SetHeading(heading uint16) {
 // SetStabilization enables or disables the built-in auto stabilizing features of the Sphero
 func (s *SpheroDriver) SetStabilization(on bool) {
 	b := uint8(0x01)
-	if on == false {
+	if !on {
 		b = 0x00
 	}
 	s.packetChannel <- s.craftPacket([]uint8{b}, 0x02, 0x02)

robot.go

@@ -152,18 +152,8 @@ func (r *Robot) Start() (errs []error) {
 // Stop stops a Robot's connections and Devices
 func (r *Robot) Stop() (errs []error) {
 	log.Println("Stopping Robot", r.Name, "...")
-	if heers := r.Devices().Halt(); len(heers) > 0 {
-		for _, err := range heers {
-			errs = append(errs, err)
-		}
-	}
-
-	if ceers := r.Connections().Finalize(); len(ceers) > 0 {
-		for _, err := range ceers {
-			errs = append(errs, err)
-		}
-	}
-
+	errs = append(errs, r.Devices().Halt()...)
+	errs = append(errs, r.Connections().Finalize()...)
 	return errs
 }