gobot.io/x/gobot/v2@v2.1.0/examples/firmata_cat_toy.go (about)

     1  //go:build example
     2  // +build example
     3  
     4  //
     5  // Do not build by default.
     6  
     7  /*
     8   How to run
     9   Pass serial port to use as the first param:
    10  
    11  	go run examples/firmata_cat_toy.go /dev/ttyACM0
    12  */
    13  
    14  package main
    15  
    16  import (
    17  	"fmt"
    18  	"os"
    19  	"time"
    20  
    21  	"gobot.io/x/gobot/v2"
    22  	"gobot.io/x/gobot/v2/drivers/gpio"
    23  	"gobot.io/x/gobot/v2/platforms/firmata"
    24  	"gobot.io/x/gobot/v2/platforms/leap"
    25  )
    26  
    27  func main() {
    28  	firmataAdaptor := firmata.NewAdaptor(os.Args[1])
    29  	servo1 := gpio.NewServoDriver(firmataAdaptor, "5")
    30  	servo2 := gpio.NewServoDriver(firmataAdaptor, "3")
    31  
    32  	leapAdaptor := leap.NewAdaptor("127.0.0.1:6437")
    33  	leapDriver := leap.NewDriver(leapAdaptor)
    34  
    35  	work := func() {
    36  		x := 90.0
    37  		z := 90.0
    38  		leapDriver.On(leap.MessageEvent, func(data interface{}) {
    39  			if len(data.(leap.Frame).Hands) > 0 {
    40  				hand := data.(leap.Frame).Hands[0]
    41  				x = gobot.ToScale(gobot.FromScale(hand.X(), -300, 300), 30, 150)
    42  				z = gobot.ToScale(gobot.FromScale(hand.Z(), -300, 300), 30, 150)
    43  			}
    44  		})
    45  		gobot.Every(10*time.Millisecond, func() {
    46  			servo1.Move(uint8(x))
    47  			servo2.Move(uint8(z))
    48  			fmt.Println("Current Angle: ", servo1.CurrentAngle, ",", servo2.CurrentAngle)
    49  		})
    50  	}
    51  
    52  	robot := gobot.NewRobot("pwmBot",
    53  		[]gobot.Connection{firmataAdaptor, leapAdaptor},
    54  		[]gobot.Device{servo1, servo2, leapDriver},
    55  		work,
    56  	)
    57  
    58  	robot.Start()
    59  }