sprkplus: add custom collision default params

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

examples/sprkplus_collision.go

@@ -0,0 +1,46 @@
+// +build example
+//
+// Do not build by default.
+
+/*
+ How to run
+ Pass the Bluetooth address or name as the first param:
+
+	go run examples/bb8-collision.go BB-1234
+
+ NOTE: sudo is required to use BLE in Linux
+*/
+
+package main
+
+import (
+	"fmt"
+	"os"
+
+	"gobot.io/x/gobot"
+	"gobot.io/x/gobot/platforms/ble"
+	"gobot.io/x/gobot/platforms/sphero/sprkplus"
+)
+
+func main() {
+	bleAdaptor := ble.NewClientAdaptor(os.Args[1])
+	ball := sprkplus.NewDriver(bleAdaptor)
+
+	work := func() {
+		ball.On("collision", func(data interface{}) {
+			fmt.Printf("collision detected = %+v \n", data)
+			ball.SetRGB(255, 0, 0)
+		})
+
+		ball.SetRGB(0, 255, 0)
+		ball.Roll(80, 0)
+	}
+
+	robot := gobot.NewRobot("sprkplus",
+		[]gobot.Connection{bleAdaptor},
+		[]gobot.Device{ball},
+		work,
+	)
+
+	robot.Start()
+}

platforms/sphero/bb8/bb8_packets.go

@@ -0,0 +1,15 @@
+package bb8
+
+import "gobot.io/x/gobot/platforms/sphero"
+
+// DefaultCollisionConfig returns a CollisionConfig with sensible collision defaults
+func DefaultCollisionConfig() sphero.CollisionConfig {
+	return sphero.CollisionConfig{
+		Method: 0x01,
+		Xt:     0x20,
+		Yt:     0x20,
+		Xs:     0x20,
+		Ys:     0x20,
+		Dead:   0x01,
+	}
+}

platforms/sphero/sprkplus/sprkplus_packets.go

@@ -0,0 +1,15 @@
+package sprkplus
+
+import "gobot.io/x/gobot/platforms/sphero"
+
+// DefaultCollisionConfig returns a CollisionConfig with sensible collision defaults
+func DefaultCollisionConfig() sphero.CollisionConfig {
+	return sphero.CollisionConfig{
+		Method: 0x01,
+		Xt:     0x20,
+		Yt:     0x20,
+		Xs:     0x20,
+		Ys:     0x20,
+		Dead:   0x01,
+	}
+}