picoborgrev

Gobot driver for PicoBorg Reverse

Allows users to control pico borg reverse motor controllers over I2C using the gobot.io robotic framework.

Installation on Raspberry

The library was tested on Raspberry PI. It should run on other Platforms provided by gobot.io too.

It is possible to build the project directly on the Raspberry. A documentation can be found in the gobot documentation. Nevertheless cross compiling on OS X is tested.

Using go1.6 just run:

$ env GOOS=linux GOARCH=arm GOARM=6 go build

And upload the binary to the raspberry

$ scp <binary> pi@192.168.1.xxx:/home/pi/

How to use

Install missing libraries:

$ go get github.com/hybridgroup/gobot && go install github.com/hybridgroup/platforms/i2c
$ go get github.com/joek/picoborgrev

The library is used like every gobot driver:

package main

import (
	"time"

	"github.com/hybridgroup/gobot"
	"github.com/hybridgroup/gobot/platforms/raspi"
	"github.com/joek/picoborgrev"
)

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

	r := raspi.NewRaspiAdaptor("raspi")
	rev := picoborgrev.NewDriver(r, "rev", 10)

	work := func() {
		rev.SetMotorA(0.3)
		time.Sleep(10 * time.Second)
		rev.SetMotorA(-0.3)
		time.Sleep(10 * time.Second)
		rev.SetMotorA(0)
	}

	robot := gobot.NewRobot("beerbot",
		[]gobot.Connection{r},
		[]gobot.Device{rev},
		work,
	)

	gbot.AddRobot(robot)

	gbot.Start()
}

Open Topics

The PicoBorg Reverse is offering a lot of functionality. Currently only the setMotor(A/B) functions are implemented. Based on the piborg python sample library the following functions are missing:

• SetMotors
• GetMotorA
• GetMotorB
• SetEpoIgnore
• GetEpoIgnore
• SetLED
• GetLED
• GetDriveFault
• SetEncoderMoveMode
• GetEncoderMoveMode
• SetEncoderSpeed
• GetEncoderSpeed
• EncoderMoveMotor1
• EncoderMoveMotor2
• EncoderMoveMotors
• IsEncoderMoving
• WaitWhileEncoderMoving

As a view functions are implemented later maybe somebody out of the community likes to contribute to the library to add some out of the list.

Development

The driver is tested using the amazing ginkgo and gomega libraries. You can run the tests using go test

License

MIT License