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

     1  //go:build example
     2  // +build example
     3  
     4  //
     5  // Do not build by default.
     6  
     7  package main
     8  
     9  import (
    10  	"gobot.io/x/gobot/v2"
    11  	"gobot.io/x/gobot/v2/drivers/gpio"
    12  	"gobot.io/x/gobot/v2/platforms/firmata"
    13  	"gobot.io/x/gobot/v2/platforms/leap"
    14  )
    15  
    16  // Video: https://www.youtube.com/watch?v=ayNMyUfdAqc
    17  func main() {
    18  	firmataAdaptor := firmata.NewAdaptor("/dev/tty.usbmodem1451")
    19  	servo1 := gpio.NewServoDriver(firmataAdaptor, "3")
    20  	servo2 := gpio.NewServoDriver(firmataAdaptor, "4")
    21  	servo3 := gpio.NewServoDriver(firmataAdaptor, "5")
    22  	servo4 := gpio.NewServoDriver(firmataAdaptor, "6")
    23  	servo5 := gpio.NewServoDriver(firmataAdaptor, "7")
    24  
    25  	leapMotionAdaptor := leap.NewAdaptor("127.0.0.1:6437")
    26  	l := leap.NewDriver(leapMotionAdaptor)
    27  
    28  	work := func() {
    29  		fist := false
    30  		l.On(leap.MessageEvent, func(data interface{}) {
    31  			handIsOpen := len(data.(leap.Frame).Pointables) > 0
    32  			if handIsOpen && fist {
    33  				servo1.Move(0)
    34  				servo2.Move(0)
    35  				servo3.Move(0)
    36  				servo4.Move(0)
    37  				servo5.Move(0)
    38  				fist = false
    39  			} else if !handIsOpen && !fist {
    40  				servo1.Move(120)
    41  				servo2.Move(120)
    42  				servo3.Move(120)
    43  				servo4.Move(120)
    44  				servo5.Move(120)
    45  				fist = true
    46  			}
    47  		})
    48  	}
    49  
    50  	robot := gobot.NewRobot("servoBot",
    51  		[]gobot.Connection{firmataAdaptor, leapMotionAdaptor},
    52  		[]gobot.Device{servo1, servo2, servo3, servo4, servo5, l},
    53  		work,
    54  	)
    55  
    56  	robot.Start()
    57  }