robocape

package module

v0.0.0-...-831ee84 Latest Latest Go to latest Published: May 27, 2018 License: MIT Imports: 5 Imported by: 0

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Repository

github.com/wolfeidau/robocape

Links

Open Source Insights

README ¶

robocape

This is a Go wrapper for the robotcape C library which is designed to work with the beaglebone blue board. It is designed to make it easy to take advantage of this great library without rewriting it in pure Go.

usage

As one would imagine this library must be built on the native platform to enable linking to robotcape library using CGO.

debian@beaglebone:~$ go get -u -v github.com/wolfeidau/robocape
...
debian@beaglebone:~$ cd go/src/github.com/wolfeidau/robocape
debian@beaglebone:~$ go install ./examples/...
debian@beaglebone:~$ sudo /home/debian/go/bin/rc_buttons

license

This code is released under MIT license and is Copyright Mark Wolfe.

Documentation ¶

Index ¶

func CalibrateGyro() error
func CalibrateMag() error
func Cleanup() error
func DisableMotors() error
func ESCPulseNormalised(ch int, throttle float32) error
func EnableMotors() error
func EnableServoPowerRail() error
func Exit()
func Initialise() error
func IsExiting() bool
func MotorBrake(ch int, throttle float32) error
func PowerOffIMU() error
func ServoPulseNormalised(ch int, pos float32) error
func SetModePressed(callback func()) error
func SetModeReleased(callback func()) error
func SetPausePressed(callback func()) error
func SetPauseReleased(callback func()) error
func WaitForExit()
type AccelData
type FusedQuatData
type FusedTaitBryanData
type GyroData
type IMU
- func InitialiseIMU() (*IMU, error)
- func (i *IMU) ReadAccel() (*AccelData, error)
- func (i *IMU) ReadGyro() (*GyroData, error)
- func (i *IMU) ReadMag() (*MagData, error)
- func (i *IMU) ReadTemp() (float32, error)
type IMUDmp
- func InitialiseIMUDmp() (*IMUDmp, error)
- func (i *IMUDmp) AssignDmpCallback(callback func(tbd *FusedTaitBryanData, qd *FusedQuatData))
type MagData

Constants ¶

This section is empty.

Variables ¶

This section is empty.

Functions ¶

func CalibrateGyro ¶

func CalibrateGyro() error

CalibrateGyro calibrate the gyro

func CalibrateMag ¶

func CalibrateMag() error

CalibrateMag calibrate the magnetometer

func Cleanup ¶

func Cleanup() error

Cleanup release resources used by the robotcape

func DisableMotors ¶

func DisableMotors() error

DisableMotors disable the Motor

func ESCPulseNormalised ¶

func ESCPulseNormalised(ch int, throttle float32) error

ESCPulseNormalised send a pulse to the ESC

func EnableMotors ¶

func EnableMotors() error

EnableMotors enable the Motor

func EnableServoPowerRail ¶

func EnableServoPowerRail() error

EnableServoPowerRail enable the servo power rail

func Exit ¶

func Exit()

Exit stop the process

func Initialise ¶

func Initialise() error

Initialise initialise the robotcape

func IsExiting ¶

func IsExiting() bool

IsExiting check if the process should exit

func MotorBrake ¶

func MotorBrake(ch int, throttle float32) error

MotorBrake send a speed to a given motor

func PowerOffIMU ¶

func PowerOffIMU() error

PowerOffIMU shut down the IMU

func ServoPulseNormalised ¶

func ServoPulseNormalised(ch int, pos float32) error

ServoPulseNormalised send a pulse to the servo

func SetModePressed ¶

func SetModePressed(callback func()) error

SetModePressed register function callback for mode pressed

func SetModeReleased ¶

func SetModeReleased(callback func()) error

SetModeReleased register function callback for mode released

func SetPausePressed ¶

func SetPausePressed(callback func()) error

SetPausePressed register function callback for pause pressed

func SetPauseReleased ¶

func SetPauseReleased(callback func()) error

SetPauseReleased register function callback for pause released

func WaitForExit ¶

func WaitForExit()

WaitForExit wait for exit

Types ¶

type AccelData ¶

type AccelData struct {
	X float32
	Y float32
	Z float32
}

AccelData data read from accelerometer

type FusedQuatData ¶

type FusedQuatData struct {
	QuatW float32
	QuatX float32
	QuatY float32
	QuatZ float32
}

FusedQuatData data read from DMP

type FusedTaitBryanData ¶

type FusedTaitBryanData struct {
	PitchX float32
	RollY  float32
	YawZ   float32
}

FusedTaitBryanData data read from DMP

type GyroData ¶

type GyroData struct {
	X float32
	Y float32
	Z float32
}

GyroData data read from gyro

type IMU ¶

type IMU struct {
	// contains filtered or unexported fields
}

IMU holds imu data

func InitialiseIMU ¶

func InitialiseIMU() (*IMU, error)

InitialiseIMU setup the IMU

func (*IMU) ReadAccel ¶

func (i *IMU) ReadAccel() (*AccelData, error)

ReadAccel read the accelerometer data

func (*IMU) ReadGyro ¶

func (i *IMU) ReadGyro() (*GyroData, error)

ReadGyro read the gryro data

func (*IMU) ReadMag ¶

func (i *IMU) ReadMag() (*MagData, error)

ReadMag read the magnetometer data

func (*IMU) ReadTemp ¶

func (i *IMU) ReadTemp() (float32, error)

ReadTemp read the tempreture data

type IMUDmp ¶

type IMUDmp struct {
	// contains filtered or unexported fields
}

IMUDmp holds imu data TODO: needs LOCKING

func InitialiseIMUDmp ¶

func InitialiseIMUDmp() (*IMUDmp, error)

InitialiseIMUDmp setup the IMU with DMP

func (*IMUDmp) AssignDmpCallback ¶

func (i *IMUDmp) AssignDmpCallback(callback func(tbd *FusedTaitBryanData, qd *FusedQuatData))

AssignDmpCallback assign a callback function which is invoked for each interupt

type MagData ¶

type MagData struct {
	X float32
	Y float32
	Z float32
}

MagData data read from magnetometer

Source Files ¶

View all Source files

Directories ¶

Path	Synopsis
examples
rc_buttons
rc_calibrate_gyro
rc_calibrate_mag
rc_dmp
rc_esc
rc_imu
rc_motor
rc_servo

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