Index

/*
 How to run
 Pass serial port to use as the first param:

        go run examples/firmata_cat_toy.go /dev/ttyACM0
*/

package main

import (
        "fmt"
        "os"
        "time"

        "gobot.io/x/gobot"
        "gobot.io/x/gobot/drivers/gpio"
        "gobot.io/x/gobot/platforms/firmata"
        "gobot.io/x/gobot/platforms/leap"
)

func main() {
        firmataAdaptor := firmata.NewAdaptor(os.Args[1])
        servo1 := gpio.NewServoDriver(firmataAdaptor, "5")
        servo2 := gpio.NewServoDriver(firmataAdaptor, "3")

        leapAdaptor := leap.NewAdaptor("127.0.0.1:6437")
        leapDriver := leap.NewDriver(leapAdaptor)

        work := func() {
                x := 90.0
                z := 90.0
                leapDriver.On(leap.MessageEvent, func(data interface{}) {
                        if len(data.(leap.Frame).Hands) > 0 {
                                hand := data.(leap.Frame).Hands[0]
                                x = gobot.ToScale(gobot.FromScale(hand.X(), -300, 300), 30, 150)
                                z = gobot.ToScale(gobot.FromScale(hand.Z(), -300, 300), 30, 150)
                        }
                })
                gobot.Every(10*time.Millisecond, func() {
                        servo1.Move(uint8(x))
                        servo2.Move(uint8(z))
                        fmt.Println("Current Angle: ", servo1.CurrentAngle, ",", servo2.CurrentAngle)
                })
        }

        robot := gobot.NewRobot("pwmBot",
                []gobot.Connection{firmataAdaptor, leapAdaptor},
                []gobot.Device{servo1, servo2, leapDriver},
                work,
        )

        robot.Start()
}