pkg.gl

Categorygithub.com/danielfallon/gobot

modulepackage

1.13.0

Repository: https://github.com/danielfallon/gobot.git

Documentation: pkg.go.dev

# README

Gobot (https://gobot.io/) is a framework using the Go programming language (https://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 run Go directly on microcontrollers? Check out our sister project TinyGo (https://tinygo.org/)

Getting Started

Get the Gobot source with: go get -d -u gobot.io/x/gobot/...

Examples

Gobot with Arduino

package main

import (
	"time"

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

func main() {
	firmataAdaptor := firmata.NewAdaptor("/dev/ttyACM0")
	led := gpio.NewLedDriver(firmataAdaptor, "13")

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

	robot := gobot.NewRobot("bot",
		[]gobot.Connection{firmataAdaptor},
		[]gobot.Device{led},
		work,
	)

	robot.Start()
}

Gobot with Sphero

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()
}

"Metal" Gobot

You can use the entire Gobot framework as shown in the examples above ("Classic" Gobot), or you can pick and choose from the various Gobot packages to control hardware with nothing but pure idiomatic Golang code ("Metal" Gobot). For example:

package main

import (
	"gobot.io/x/gobot/drivers/gpio"
	"gobot.io/x/gobot/platforms/intel-iot/edison"
	"time"
)

func main() {
	e := edison.NewAdaptor()
	e.Connect()

	led := gpio.NewLedDriver(e, "13")
	led.Start()

	for {
		led.Toggle()
		time.Sleep(1000 * time.Millisecond)
	}
}

"Master" Gobot

You can also use the full capabilities of the framework aka "Master Gobot" to control swarms of robots or other features such as the built-in API server. For example:

package main

import (
	"fmt"
	"time"

	"gobot.io/x/gobot"
	"gobot.io/x/gobot/api"
	"gobot.io/x/gobot/platforms/sphero"
)

func NewSwarmBot(port string) *gobot.Robot {
	spheroAdaptor := sphero.NewAdaptor(port)
	spheroDriver := sphero.NewSpheroDriver(spheroAdaptor)
	spheroDriver.SetName("Sphero" + port)

	work := func() {
		spheroDriver.Stop()

		spheroDriver.On(sphero.Collision, func(data interface{}) {
			fmt.Println("Collision Detected!")
		})

		gobot.Every(1*time.Second, func() {
			spheroDriver.Roll(100, uint16(gobot.Rand(360)))
		})
		gobot.Every(3*time.Second, func() {
			spheroDriver.SetRGB(uint8(gobot.Rand(255)),
				uint8(gobot.Rand(255)),
				uint8(gobot.Rand(255)),
			)
		})
	}

	robot := gobot.NewRobot("sphero",
		[]gobot.Connection{spheroAdaptor},
		[]gobot.Device{spheroDriver},
		work,
	)

	return robot
}

func main() {
	master := gobot.NewMaster()
	api.NewAPI(master).Start()

	spheros := []string{
		"/dev/rfcomm0",
		"/dev/rfcomm1",
		"/dev/rfcomm2",
		"/dev/rfcomm3",
	}

	for _, port := range spheros {
		master.AddRobot(NewSwarmBot(port))
	}

	master.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 gobot/drivers/gpio package:

GPIO <=> Drivers
- AIP1640 LED
- Button
- Buzzer
- Direct Pin
- EasyDriver
- Grove Button
- Grove Buzzer
- Grove LED
- Grove Magnetic Switch
- Grove Relay
- Grove Touch Sensor
- LED
- Makey Button
- Motor
- Proximity Infra Red (PIR) Motion Sensor
- Relay
- RGB LED
- Servo
- Stepper Motor
- TM1638 LED Controller

Support for many devices that use Analog Input/Output (AIO) have a shared set of drivers provided using the gobot/drivers/aio package:

AIO <=> Drivers
- Analog Sensor
- Grove Light Sensor
- Grove Piezo Vibration Sensor
- Grove Rotary Dial
- Grove Sound Sensor
- Grove Temperature Sensor

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

I2C <=> Drivers
- Adafruit Motor Hat
- ADS1015 Analog to Digital Converter
- ADS1115 Analog to Digital Converter
- ADXL345 Digital Accelerometer
- BH1750 Digital Luminosity/Lux/Light Sensor
- BlinkM LED
- BME280 Barometric Pressure/Temperature/Altitude/Humidity Sensor
- BMP180 Barometric Pressure/Temperature/Altitude Sensor
- BMP280 Barometric Pressure/Temperature/Altitude Sensor
- DRV2605L Haptic Controller
- Grove Digital Accelerometer
- GrovePi Expansion Board
- Grove RGB LCD
- HMC6352 Compass
- INA3221 Voltage Monitor
- JHD1313M1 LCD Display w/RGB Backlight
- L3GD20H 3-Axis Gyroscope
- LIDAR-Lite
- MCP23017 Port Expander
- MMA7660 3-Axis Accelerometer
- MPL115A2 Barometer
- MPU6050 Accelerometer/Gyroscope
- PCA9685 16-channel 12-bit PWM/Servo Driver
- SHT3x-D Temperature/Humidity
- SSD1306 OLED Display Controller
- TSL2561 Digital Luminosity/Lux/Light Sensor
- Wii Nunchuck Controller

Support for devices that use Serial Peripheral Interface (SPI) have a shared set of drivers provided using the gobot/drivers/spi package:

SPI <=> Drivers
- APA102 Programmable LEDs
- MCP3002 Analog/Digital Converter
- MCP3004 Analog/Digital Converter
- MCP3008 Analog/Digital Converter
- MCP3202 Analog/Digital Converter
- MCP3204 Analog/Digital Converter
- MCP3208 Analog/Digital Converter
- MCP3304 Analog/Digital Converter
- SSD1306 OLED Display Controller

More platforms and drivers are coming soon...

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, import the gobot.io/x/gobot/api package and instantiate the API like this:

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

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

  master := gobot.NewMaster()
  server := api.NewAPI(master)
  server.Port = "4000"
  server.AddHandler(api.BasicAuth("gort", "klatuu"))
  server.Start()

You may access the robeaux React.js interface with Gobot by navigating to http://localhost:3000/index.html.

CLI

Gobot uses the Gort http://gort.io Command Line Interface (CLI) so you can access important features right from the command line. We call it "RobotOps", aka "DevOps For Robotics". You can scan, connect, update device firmware, and more!

Gobot also has its own CLI to generate new platforms, adaptors, and drivers. You can check it out in the /cli directory.

Documentation

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

Thank you!

Need help?

Issues: https://github.com/hybridgroup/gobot/issues
Twitter: @gobotio
Slack: https://gophers.slack.com/messages/C0N5HDB08
Mailing list: https://groups.google.com/forum/#!forum/gobotio

Contributing

For our contribution guidelines, please go to https://github.com/hybridgroup/gobot/blob/master/CONTRIBUTING.md .

Gobot is released with a Contributor Code of Conduct. By participating in this project you agree to abide by its terms. You can read about it here.

License

The Contributor Covenant is released under the Creative Commons Attribution 4.0 International Public License, which requires that attribution be included.

# Packages

api

Package api provides a webserver to interact with your Gobot program over the network.

cli

CLI tool for generating new Gobot projects.

drivers

No description provided by the author

gobottest

No description provided by the author

platforms

No description provided by the author

sysfs

Package sysfs provides generic access to linux gpio.

# Functions

After

After triggers f after t duration.

DefaultName

DefaultName returns a sensible random default name for a robot, adaptor or driver.

Every

Every triggers f every t time.Duration until the end of days, or when a Stop() is called on the Ticker that is returned by the Every function.

FromScale

FromScale returns a converted input from min, max to 0.0...1.0.

NewCommander

NewCommander returns a new Commander.

NewEvent

NewEvent returns a new Event and its associated data.

NewEventer

NewEventer returns a new Eventer.

NewJSONConnection

NewJSONConnection returns a JSONConnection given a Connection.

NewJSONDevice

NewJSONDevice returns a JSONDevice given a Device.

NewJSONMaster

NewJSONMaster returns a JSONMaster given a Gobot Master.

NewJSONRobot

NewJSONRobot returns a JSONRobot given a Robot.

NewMaster

NewMaster returns a new Gobot Master.

NewRobot

NewRobot returns a new Robot.

Rand

Rand returns a positive random int up to max.

Rescale

Rescale performs a direct linear rescaling of a number from one scale to another.

ToScale

ToScale returns a converted input from 0...1 to min...max scale.

Version

Version returns the current Gobot version.

# Constants

AfterWorkKind

No description provided by the author

EveryWorkKind

No description provided by the author

# Structs

Event

Event represents when something asynchronous happens in a Driver or Adaptor.

JSONConnection

JSONConnection is a JSON representation of a Connection.

JSONDevice

JSONDevice is a JSON representation of a Device.

JSONMaster

JSONMaster is a JSON representation of a Gobot Master.

JSONRobot

JSONRobot a JSON representation of a Robot.

Master

Master is the main type of your Gobot application and contains a collection of Robots, API commands that apply to the Master, and Events that apply to the Master.

Robot

Robot is a named entity that manages a collection of connections and devices.

RobotWork

RobotWork and the RobotWork registry represent units of executing computation managed at the Robot level.

RobotWorkRegistry

RobotWorkRegistry contains all the work units registered on a Robot.