gobot.io/x/gobot/v2@v2.1.0/examples/sphero_multiple.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  	"fmt"
    11  	"time"
    12  
    13  	"gobot.io/x/gobot/v2"
    14  	"gobot.io/x/gobot/v2/api"
    15  	"gobot.io/x/gobot/v2/platforms/sphero"
    16  )
    17  
    18  func NewSwarmBot(port string) *gobot.Robot {
    19  	spheroAdaptor := sphero.NewAdaptor(port)
    20  	spheroDriver := sphero.NewSpheroDriver(spheroAdaptor)
    21  	spheroDriver.SetName("Sphero" + port)
    22  
    23  	work := func() {
    24  		spheroDriver.Stop()
    25  
    26  		spheroDriver.On(sphero.Collision, func(data interface{}) {
    27  			fmt.Println("Collision Detected!")
    28  		})
    29  
    30  		gobot.Every(1*time.Second, func() {
    31  			spheroDriver.Roll(100, uint16(gobot.Rand(360)))
    32  		})
    33  		gobot.Every(3*time.Second, func() {
    34  			spheroDriver.SetRGB(uint8(gobot.Rand(255)),
    35  				uint8(gobot.Rand(255)),
    36  				uint8(gobot.Rand(255)),
    37  			)
    38  		})
    39  	}
    40  
    41  	robot := gobot.NewRobot("sphero",
    42  		[]gobot.Connection{spheroAdaptor},
    43  		[]gobot.Device{spheroDriver},
    44  		work,
    45  	)
    46  
    47  	return robot
    48  }
    49  
    50  func main() {
    51  	master := gobot.NewMaster()
    52  	api.NewAPI(master).Start()
    53  
    54  	spheros := []string{
    55  		"/dev/rfcomm0",
    56  		"/dev/rfcomm1",
    57  		"/dev/rfcomm2",
    58  		"/dev/rfcomm3",
    59  	}
    60  
    61  	for _, port := range spheros {
    62  		master.AddRobot(NewSwarmBot(port))
    63  	}
    64  
    65  	master.Start()
    66  }