gobot.io/x/gobot@v1.16.0/examples/leap_servos.go (about)

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