gobot

package module
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 Go to latest Published: Jun 18, 2014 License: Apache-2.0 Imports: 12 Imported by: 0

README

Gobot

http://gobot.io/

Gobot is a framework using the Go programming language (http://golang.org/) for robotics, physical computing, and the Internet of Things.

It provides a simple, yet powerful way to create solutions that incorporate multiple, different hardware devices at the same time.

Want to use Ruby or Javascript on robots? Check out our sister projects Artoo (http://artoo.io) and Cylon.js (http://cylonjs.com/)

Build Status Coverage Status

Examples

Gobot with Arduino
package main

import (
  "github.com/hybridgroup/gobot"
  "github.com/hybridgroup/gobot/platforms/firmata"
  "github.com/hybridgroup/gobot/platforms/gpio"
  "time"
)

func main() {
  gbot := gobot.NewGobot()

  adaptor := firmata.NewFirmataAdaptor("myFirmata", "/dev/ttyACM0")
  led := gpio.NewLedDriver(adaptor, "myLed", "13")

  work := func() {
    gobot.Every(1*time.Second, func() {
      led.Toggle()
    })
  }

  gbot.Robots = append(gbot.Robots,
    gobot.NewRobot("blink", []gobot.Connection{adaptor}, []gobot.Device{led}, work))

  gbot.Start()
}
Gobot with Sphero
package main

import (
  "github.com/hybridgroup/gobot"
  "github.com/hybridgroup/gobot/platforms/sphero"
  "time"
)

func main() {
  gbot := gobot.NewGobot()

  adaptor := sphero.NewSpheroAdaptor("Sphero", "/dev/rfcomm0")
  ball := sphero.NewSpheroDriver(adaptor, "sphero")

  work := func() {
    gobot.Every(3*time.Second, func() {
      ball.Roll(30, uint16(gobot.Rand(360)))
    })
  }

  gbot.Robots = append(gbot.Robots,
    gobot.NewRobot("sphero", []gobot.Connection{adaptor}, []gobot.Device{ball}, work))

  gbot.Start()
}

Hardware Support

Gobot has a extensible system for connecting to hardware devices. The following robotics and physical computing platforms are currently supported:

Support for many devices that use General Purpose Input/Output (GPIO) have a shared set of drivers provided using the cylon-gpio module:

  • GPIO <=> Drivers
    • Analog Sensor
    • Button
    • Digital Sensor
    • LED
    • Motor
    • Servo

Support for devices that use Inter-Integrated Circuit (I2C) have a shared set of drivers provided using the gobot-i2c module:

  • I2C <=> Drivers
    • BlinkM
    • HMC6352
    • Wii Nunchuck Controller

More platforms and drivers are coming soon...

Getting Started

Install Gobot with: go get -u github.com/hybridgroup/gobot

API:

Gobot includes a RESTful API to query the status of any robot running within a group, including the connection and device status, and execute device commands.

To activate the API, require the github.com/hybridgroup/gobot/api package and instantiate the API like this:

  master := gobot.NewGobot()
  api.NewAPI(master).Start()

You can also specify the api host and port, and turn on authentication:

  master := gobot.NewGobot()
  server := api.NewAPI(master)
  server.Port = "4000"
  server.Username = "Gort"
  server.Password = "klaatu"
  server.Start()

In order to use the robeaux AngularJS interface with Gobot you simply clone the robeaux repo and place it in the directory of your Gobot program. The robeaux assets must be in a folder called robeaux.

Documentation

We're busy adding documentation to our web site at http://gobot.io/ please check there as we continue to work on Gobot

Thank you!

Contributing

  • All active development is in the dev branch. New or updated features must be added to the dev branch. Hotfixes will be considered on the master branch in situations where it does not alter behaviour or features, only fixes a bug.
  • All patches must be provided under the Apache 2.0 License
  • Please use the -s option in git to "sign off" that the commit is your work and you are providing it under the Apache 2.0 License
  • Submit a Github Pull Request to the appropriate branch and ideally discuss the changes with us in IRC.
  • We will look at the patch, test it out, and give you feedback.
  • Avoid doing minor whitespace changes, renamings, etc. along with merged content. These will be done by the maintainers from time to time but they can complicate merges and should be done seperately.
  • Take care to maintain the existing coding style.
  • golint and go fmt your code.
  • Add unit tests for any new or changed functionality.
  • All pull requests should be "fast forward"
    • If there are commits after yours use “git rebase -i <new_head_branch>”
    • If you have local changes you may need to use “git stash”
    • For git help see progit which is an awesome (and free) book on git

License

Copyright (c) 2013-2014 The Hybrid Group. Licensed under the Apache 2.0 license.

Documentation

Index

Constants

This section is empty.

Variables

This section is empty.

Functions

func After 

func After(t time.Duration, f func())

After triggers the passed function after `t` duration.

func Every 

func Every(t time.Duration, f func())

Every triggers f every `t` time until the end of days.

func Expect 

func Expect(t *testing.T, a interface{}, b interface{})

func FromScale 

func FromScale(input, min, max float64) float64

func NewConnection 

func NewConnection(adaptor AdaptorInterface, r *Robot) *connection

func NewDevice 

func NewDevice(driver DriverInterface, r *Robot) *device

func NewTestAdaptor 

func NewTestAdaptor(name string) *testAdaptor

func NewTestDriver 

func NewTestDriver(name string, adaptor *testAdaptor) *testDriver

func NewTestStruct 

func NewTestStruct() *testStruct

func On 

func On(e *Event, f func(s interface{}))

func Publish 

func Publish(e *Event, val interface{})

func Rand 

func Rand(max int) int

func ToScale 

func ToScale(input, min, max float64) float64

Types

type Adaptor 

type Adaptor struct {
	Name      string
	Port      string
	Connected bool
	Params    map[string]interface{}
}

type AdaptorInterface 

type AdaptorInterface interface {
	Finalize() bool
	Connect() bool
	// contains filtered or unexported methods
}

type Connection 

type Connection interface {
	Connect() bool
	Finalize() bool
	// contains filtered or unexported methods
}

type Device 

type Device interface {
	Start() bool
	Halt() bool
	// contains filtered or unexported methods
}

type Driver 

type Driver struct {
	Adaptor  AdaptorInterface
	Interval time.Duration
	Pin      string
	Name     string
	Commands map[string]func(map[string]interface{}) interface{}
	Events   map[string]*Event
}

func (*Driver) AddCommand 

func (d *Driver) AddCommand(name string, f func(map[string]interface{}) interface{})

type DriverInterface 

type DriverInterface interface {
	Start() bool
	Halt() bool
	// contains filtered or unexported methods
}

type Event 

type Event struct {
	Chan      chan interface{}
	Callbacks []func(interface{})
}

func NewEvent 

func NewEvent() *Event

func (*Event) Read 

func (e *Event) Read()

func (*Event) Write 

func (e *Event) Write(data interface{})

type Gobot 

type Gobot struct {
	Robots   []*Robot
	Commands map[string]func(map[string]interface{}) interface{}
	// contains filtered or unexported fields
}

func NewGobot 

func NewGobot() *Gobot

func (*Gobot) AddCommand 

func (g *Gobot) AddCommand(name string, f func(map[string]interface{}) interface{})

func (*Gobot) AddRobot 

func (g *Gobot) AddRobot(r *Robot) *Robot

func (*Gobot) Robot 

func (g *Gobot) Robot(name string) *Robot

func (*Gobot) Start 

func (g *Gobot) Start()

func (*Gobot) ToJSON 

func (g *Gobot) ToJSON() *JSONGobot

type JSONConnection 

type JSONConnection struct {
	Name    string `json:"name"`
	Port    string `json:"port"`
	Adaptor string `json:"adaptor"`
}

type JSONDevice 

type JSONDevice struct {
	Name       string          `json:"name"`
	Driver     string          `json:"driver"`
	Connection *JSONConnection `json:"connection"`
	Commands   []string        `json:"commands"`
}

type JSONGobot 

type JSONGobot struct {
	Robots   []*JSONRobot `json:"robots"`
	Commands []string     `json:"commands"`
}

type JSONRobot 

type JSONRobot struct {
	Name        string            `json:"name"`
	Commands    []string          `json:"commands"`
	Connections []*JSONConnection `json:"connections"`
	Devices     []*JSONDevice     `json:"devices"`
}

type NullReadWriteCloser 

type NullReadWriteCloser struct{}

func (NullReadWriteCloser) Close 

func (NullReadWriteCloser) Close() error

func (NullReadWriteCloser) Read 

func (NullReadWriteCloser) Read(b []byte) (int, error)

func (NullReadWriteCloser) Write 

func (NullReadWriteCloser) Write(p []byte) (int, error)

type Robot 

type Robot struct {
	Name     string
	Commands map[string]func(map[string]interface{}) interface{}
	Work     func()
	// contains filtered or unexported fields
}

func NewRobot 

func NewRobot(name string, v ...interface{}) *Robot

func NewTestRobot 

func NewTestRobot(name string) *Robot

func (*Robot) AddCommand 

func (r *Robot) AddCommand(name string, f func(map[string]interface{}) interface{})

func (*Robot) AddConnection 

func (r *Robot) AddConnection(c Connection) *connection

func (*Robot) AddDevice 

func (r *Robot) AddDevice(d Device) *device

func (*Robot) Connection 

func (r *Robot) Connection(name string) *connection

func (*Robot) Connections 

func (r *Robot) Connections() connections

func (*Robot) Device 

func (r *Robot) Device(name string) *device

func (*Robot) Devices 

func (r *Robot) Devices() devices

func (*Robot) Start 

func (r *Robot) Start()

func (*Robot) ToJSON 

func (r *Robot) ToJSON() *JSONRobot

type Robots 

type Robots []*Robot

func (Robots) Each 

func (r Robots) Each(f func(*Robot))

func (Robots) Start 

func (r Robots) Start()

Source Files

View all Source files

Directories

Path Synopsis
platforms
ardrone
beaglebone
digispark
firmata
gpio
i2c
joystick
leap
neurosky
opencv
pebble
spark
sphero

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