Documentation ¶
Overview ¶
Package sphero provides the Gobot adaptor and driver for the Sphero.
Installing:
go get gobot.io/x/gobot/platforms/sphero
Example:
package main import ( "fmt" "time" "gobot.io/x/gobot" "gobot.io/x/gobot/platforms/sphero" ) func main() { adaptor := sphero.NewAdaptor("/dev/rfcomm0") driver := sphero.NewSpheroDriver(adaptor) work := func() { gobot.Every(3*time.Second, func() { driver.Roll(30, uint16(gobot.Rand(360))) }) } robot := gobot.NewRobot("sphero", []gobot.Connection{adaptor}, []gobot.Device{driver}, work, ) robot.Start() }
For further information refer to sphero readme: https://github.com/hybridgroup/gobot/blob/master/platforms/sphero/README.md
Index ¶
- Constants
- type Adaptor
- type CollisionConfig
- type CollisionPacket
- type DataStreamingConfig
- type DataStreamingPacket
- type LocatorConfig
- type SpheroDriver
- func (s *SpheroDriver) ConfigureCollisionDetection(cc CollisionConfig)
- func (s *SpheroDriver) ConfigureLocator(d LocatorConfig)
- func (s *SpheroDriver) Connection() gobot.Connection
- func (s *SpheroDriver) GetRGB() []uint8
- func (s *SpheroDriver) Halt() (err error)
- func (s *SpheroDriver) Name() string
- func (s *SpheroDriver) ReadLocator() []int16
- func (s *SpheroDriver) Roll(speed uint8, heading uint16)
- func (s *SpheroDriver) SetBackLED(level uint8)
- func (s *SpheroDriver) SetDataStreaming(d DataStreamingConfig)
- func (s *SpheroDriver) SetHeading(heading uint16)
- func (s *SpheroDriver) SetName(n string)
- func (s *SpheroDriver) SetRGB(r uint8, g uint8, b uint8)
- func (s *SpheroDriver) SetRotationRate(level uint8)
- func (s *SpheroDriver) SetStabilization(on bool)
- func (s *SpheroDriver) Start() (err error)
- func (s *SpheroDriver) Stop()
Constants ¶
const ( // Error event when error encountered Error = "error" // SensorData event when sensor data is received SensorData = "sensordata" // Collision event when collision is detected Collision = "collision" )
Variables ¶
This section is empty.
Functions ¶
This section is empty.
Types ¶
type Adaptor ¶ added in v1.0.0
type Adaptor struct {
// contains filtered or unexported fields
}
Adaptor represents a Connection to a Sphero
func NewAdaptor ¶ added in v1.0.0
NewAdaptor returns a new Sphero Adaptor given a port
func (*Adaptor) Connect ¶ added in v1.0.0
Connect initiates a connection to the Sphero. Returns true on successful connection.
func (*Adaptor) Disconnect ¶ added in v1.0.0
Disconnect terminates the connection to the Sphero. Returns true on successful disconnect.
func (*Adaptor) Reconnect ¶ added in v1.0.0
Reconnect attempts to reconnect to the Sphero. If the Sphero has an active connection it will first close that connection and then establish a new connection. Returns true on Successful reconnection
type CollisionConfig ¶
type CollisionConfig struct { // Detection method type to use. Methods 01h and 02h are supported as // of FW ver 1.42. Use 00h to completely disable this service. Method uint8 // An 8-bit settable threshold for the X (left/right) axes of Sphero. // A value of 00h disables the contribution of that axis. Xt uint8 // An 8-bit settable threshold for the Y (front/back) axes of Sphero. // A value of 00h disables the contribution of that axis. Yt uint8 // An 8-bit settable speed value for the X axes. This setting is ranged // by the speed, then added to Xt to generate the final threshold value. Xs uint8 // An 8-bit settable speed value for the Y axes. This setting is ranged // by the speed, then added to Yt to generate the final threshold value. Ys uint8 // An 8-bit post-collision dead time to prevent retriggering; specified // in 10ms increments. Dead uint8 }
CollisionConfig provides configuration for the collision detection alogorithm. For more information refer to the official api specification https://github.com/orbotix/DeveloperResources/blob/master/docs/Collision%20detection%201.2.pdf.
func DefaultCollisionConfig ¶
func DefaultCollisionConfig() CollisionConfig
DefaultCollisionConfig returns a CollisionConfig with sensible collision defaults
type CollisionPacket ¶
type CollisionPacket struct {
// Normalized impact components (direction of the collision event):
X, Y, Z int16
// Thresholds exceeded by X (1h) and/or Y (2h) axis (bitmask):
Axis byte
// Power that cross threshold Xt + Xs:
XMagnitude, YMagnitude int16
// Sphero's speed when impact detected:
Speed uint8
// Millisecond timer
Timestamp uint32
}
CollisionPacket represents the response from a Collision event
type DataStreamingConfig ¶
type DataStreamingConfig struct { // Divisor of the maximum sensor sampling rate N uint16 // Number of sample frames emitted per packet M uint16 // Bitwise selector of data sources to stream Mask uint32 // Packet count 1-255 (or 0 for unlimited streaming) Pcnt uint8 // Bitwise selector of more data sources to stream (optional) Mask2 uint32 }
DataStreamingConfig provides configuration for Sensor Data Streaming. For more information refer to the official api specification https://github.com/orbotix/DeveloperResources/blob/master/docs/Sphero_API_1.50.pdf page 28
func DefaultDataStreamingConfig ¶
func DefaultDataStreamingConfig() DataStreamingConfig
DefaultDataStreamingConfig returns a DataStreamingConfig with a sampling rate of 40hz, 1 sample frame per package, unlimited streaming, and will stream all available sensor information
type DataStreamingPacket ¶
type DataStreamingPacket struct { // 8000 0000h accelerometer axis X, raw -2048 to 2047 4mG RawAccX int16 // 4000 0000h accelerometer axis Y, raw -2048 to 2047 4mG RawAccY int16 // 2000 0000h accelerometer axis Z, raw -2048 to 2047 4mG RawAccZ int16 // 1000 0000h gyro axis X, raw -32768 to 32767 0.068 degrees RawGyroX int16 // 0800 0000h gyro axis Y, raw -32768 to 32767 0.068 degrees RawGyroY int16 // 0400 0000h gyro axis Z, raw -32768 to 32767 0.068 degrees RawGyroZ int16 // 0200 0000h Reserved Rsrv1 int16 // 0100 0000h Reserved Rsrv2 int16 // 0080 0000h Reserved Rsrv3 int16 // 0040 0000h right motor back EMF, raw -32768 to 32767 22.5 cm RawRMotorBack int16 // 0020 0000h left motor back EMF, raw -32768 to 32767 22.5 cm RawLMotorBack int16 // 0010 0000h left motor, PWM, raw -2048 to 2047 duty cycle RawLMotor int16 // 0008 0000h right motor, PWM raw -2048 to 2047 duty cycle RawRMotor int16 // 0004 0000h IMU pitch angle, filtered -179 to 180 degrees FiltPitch int16 // 0002 0000h IMU roll angle, filtered -179 to 180 degrees FiltRoll int16 // 0001 0000h IMU yaw angle, filtered -179 to 180 degrees FiltYaw int16 // 0000 8000h accelerometer axis X, filtered -32768 to 32767 1/4096 G FiltAccX int16 // 0000 4000h accelerometer axis Y, filtered -32768 to 32767 1/4096 G FiltAccY int16 // 0000 2000h accelerometer axis Z, filtered -32768 to 32767 1/4096 G FiltAccZ int16 // 0000 1000h gyro axis X, filtered -20000 to 20000 0.1 dps FiltGyroX int16 // 0000 0800h gyro axis Y, filtered -20000 to 20000 0.1 dps FiltGyroY int16 // 0000 0400h gyro axis Z, filtered -20000 to 20000 0.1 dps FiltGyroZ int16 // 0000 0200h Reserved Rsrv4 int16 // 0000 0100h Reserved Rsrv5 int16 // 0000 0080h Reserved Rsrv6 int16 // 0000 0040h right motor back EMF, filtered -32768 to 32767 22.5 cm FiltRMotorBack int16 // 0000 0020h left motor back EMF, filtered -32768 to 32767 22.5 cm FiltLMotorBack int16 // 0000 0010h Reserved 1 Rsrv7 int16 // 0000 0008h Reserved 2 Rsrv8 int16 // 0000 0004h Reserved 3 Rsrv9 int16 // 0000 0002h Reserved 4 Rsrv10 int16 // 0000 0001h Reserved 5 Rsrv11 int16 // 8000 0000h Quaternion Q0 -10000 to 10000 1/10000 Q Quat0 int16 // 4000 0000h Quaternion Q1 -10000 to 10000 1/10000 Q Quat1 int16 // 2000 0000h Quaternion Q2 -10000 to 10000 1/10000 Q Quat2 int16 // 1000 0000h Quaternion Q3 -10000 to 10000 1/10000 Q Quat3 int16 // 0800 0000h Odometer X -32768 to 32767 cm OdomX int16 // 0400 0000h Odometer Y -32768 to 32767 cm OdomY int16 // 0200 0000h AccelOne 0 to 8000 1 mG AccelOne int16 // 0100 0000h Velocity X -32768 to 32767 mm/s VeloX int16 // 0080 0000h Velocity Y -32768 to 32767 mm/s VeloY int16 }
DataStreamingPacket represents the response from a Data Streaming event
type LocatorConfig ¶
type LocatorConfig struct { // Determines whether calibrate commands automatically correct the yaw tare value Flags uint8 // Controls how the X-plane is aligned with Sphero’s heading coordinate system. X int16 // Controls how the Y-plane is aligned with Sphero’s heading coordinate system. Y int16 // Controls how the X,Y-plane is aligned with Sphero’s heading coordinate system. YawTare int16 }
LocatorConfig provides configuration for the Location api. https://github.com/orbotix/DeveloperResources/blob/master/docs/Sphero_API_1.50.pdf The current (X,Y) coordinates of Sphero on the ground plane in centimeters.
func DefaultLocatorConfig ¶
func DefaultLocatorConfig() LocatorConfig
DefaultLocatorConfig returns a LocatorConfig with defaults
type SpheroDriver ¶
type SpheroDriver struct { gobot.Eventer gobot.Commander // contains filtered or unexported fields }
SpheroDriver Represents a Sphero 2.0
func NewSpheroDriver ¶
func NewSpheroDriver(a *Adaptor) *SpheroDriver
NewSpheroDriver returns a new SpheroDriver given a Sphero Adaptor.
Adds the following API Commands:
"ConfigureLocator" - See SpheroDriver.ConfigureLocator "Roll" - See SpheroDriver.Roll "Stop" - See SpheroDriver.Stop "GetRGB" - See SpheroDriver.GetRGB "ReadLocator" - See SpheroDriver.ReadLocator "SetBackLED" - See SpheroDriver.SetBackLED "SetHeading" - See SpheroDriver.SetHeading "SetStabilization" - See SpheroDriver.SetStabilization "SetDataStreaming" - See SpheroDriver.SetDataStreaming "SetRotationRate" - See SpheroDriver.SetRotationRate
func (*SpheroDriver) ConfigureCollisionDetection ¶
func (s *SpheroDriver) ConfigureCollisionDetection(cc CollisionConfig)
ConfigureCollisionDetection configures the sensitivity of the detection.
func (*SpheroDriver) ConfigureLocator ¶
func (s *SpheroDriver) ConfigureLocator(d LocatorConfig)
ConfigureLocator configures and enables the Locator
func (*SpheroDriver) Connection ¶
func (s *SpheroDriver) Connection() gobot.Connection
Connection returns the Driver's Connection
func (*SpheroDriver) GetRGB ¶
func (s *SpheroDriver) GetRGB() []uint8
GetRGB returns the current r, g, b value of the Sphero
func (*SpheroDriver) Halt ¶
func (s *SpheroDriver) Halt() (err error)
Halt halts the SpheroDriver and sends a SpheroDriver.Stop command to the Sphero. Returns true on successful halt.
func (*SpheroDriver) ReadLocator ¶
func (s *SpheroDriver) ReadLocator() []int16
ReadLocator reads Sphero's current position (X,Y), component velocities and SOG (speed over ground).
func (*SpheroDriver) Roll ¶
func (s *SpheroDriver) Roll(speed uint8, heading uint16)
Roll sends a roll command to the Sphero gives a speed and heading
func (*SpheroDriver) SetBackLED ¶
func (s *SpheroDriver) SetBackLED(level uint8)
SetBackLED sets the Sphero Back LED to the specified brightness
func (*SpheroDriver) SetDataStreaming ¶
func (s *SpheroDriver) SetDataStreaming(d DataStreamingConfig)
SetDataStreaming enables sensor data streaming
func (*SpheroDriver) SetHeading ¶
func (s *SpheroDriver) SetHeading(heading uint16)
SetHeading sets the heading of the Sphero
func (*SpheroDriver) SetName ¶ added in v1.0.0
func (s *SpheroDriver) SetName(n string)
SetName sets the Driver Name
func (*SpheroDriver) SetRGB ¶
func (s *SpheroDriver) SetRGB(r uint8, g uint8, b uint8)
SetRGB sets the Sphero to the given r, g, and b values
func (*SpheroDriver) SetRotationRate ¶
func (s *SpheroDriver) SetRotationRate(level uint8)
SetRotationRate sets the Sphero rotation rate A value of 255 jumps to the maximum (currently 400 degrees/sec).
func (*SpheroDriver) SetStabilization ¶
func (s *SpheroDriver) SetStabilization(on bool)
SetStabilization enables or disables the built-in auto stabilizing features of the Sphero
func (*SpheroDriver) Start ¶
func (s *SpheroDriver) Start() (err error)
Start starts the SpheroDriver and enables Collision Detection. Returns true on successful start.
Emits the Events:
Collision sphero.CollisionPacket - On Collision Detected SensorData sphero.DataStreamingPacket - On Data Streaming event Error error- On error while processing asynchronous response
Directories ¶
Path | Synopsis |
---|---|
Package bb8 contains the Gobot driver for the Sphero BB-8.
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Package bb8 contains the Gobot driver for the Sphero BB-8. |
Package ollie contains the Gobot driver for the Sphero Ollie.
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Package ollie contains the Gobot driver for the Sphero Ollie. |
Package sprkplus contains the Gobot driver for the Sphero SPRK+.
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Package sprkplus contains the Gobot driver for the Sphero SPRK+. |