gobot: gobot.io/x/gobot/platforms/sphero/ollie Index | Files

package ollie

import "gobot.io/x/gobot/platforms/sphero/ollie"

Package ollie contains the Gobot driver for the Sphero Ollie.

For more information refer to the Ollie README: https://github.com/hybridgroup/gobot/blob/master/platforms/sphero/ollie/README.md

Index

Package Files

doc.go ollie_driver.go ollie_packets.go

Constants

const (

    // SensorData event
    SensorData = "sensordata"

    // Collision event
    Collision = "collision"

    // Error event
    Error = "error"

    // Packet header size
    PacketHeaderSize = 5

    // Response packet max size
    ResponsePacketMaxSize = 20

    // Collision Packet data size: The number of bytes following the DLEN field through the end of the packet
    CollisionDataSize = 17

    // Full size of the collision response
    CollisionResponseSize = PacketHeaderSize + CollisionDataSize
)

func DefaultCollisionConfig Uses

func DefaultCollisionConfig() sphero.CollisionConfig

DefaultCollisionConfig returns a CollisionConfig with sensible collision defaults

type DataStreamingPacket Uses

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 Driver Uses

type Driver struct {
    gobot.Eventer
    // contains filtered or unexported fields
}

Driver is the Gobot driver for the Sphero Ollie robot

func NewDriver Uses

func NewDriver(a ble.BLEConnector) *Driver

NewDriver creates a Driver for a Sphero Ollie

func (*Driver) AntiDOSOff Uses

func (b *Driver) AntiDOSOff() (err error)

AntiDOSOff turns off Anti-DOS code so we can control Ollie

func (*Driver) Boost Uses

func (b *Driver) Boost(state bool)

Boost executes the boost macro from within the SSB which takes a 1 byte parameter which is either 01h to begin boosting or 00h to stop.

func (*Driver) ConfigureCollisionDetection Uses

func (b *Driver) ConfigureCollisionDetection(cc sphero.CollisionConfig)

ConfigureCollisionDetection configures the sensitivity of the detection.

func (*Driver) Connection Uses

func (b *Driver) Connection() gobot.Connection

Connection returns the connection to this Ollie

func (*Driver) EnableStopOnDisconnect Uses

func (b *Driver) EnableStopOnDisconnect()

EnableStopOnDisconnect auto-sends a Stop command after losing the connection

func (*Driver) GetLocatorData Uses

func (b *Driver) GetLocatorData(f func(p Point2D))

GetLocatorData calls the passed function with the data from the locator

func (*Driver) GetPowerState Uses

func (b *Driver) GetPowerState(f func(p PowerStatePacket))

GetPowerState calls the passed function with the Power State information from the sphero

func (*Driver) Halt Uses

func (b *Driver) Halt() (err error)

Halt stops Ollie driver (void)

func (*Driver) HandleResponses Uses

func (b *Driver) HandleResponses(data []byte, e error)

HandleResponses handles responses returned from Ollie

func (*Driver) Init Uses

func (b *Driver) Init() (err error)

Init is used to initialize the Ollie

func (*Driver) Name Uses

func (b *Driver) Name() string

Name returns the name for the Driver

func (*Driver) PacketChannel Uses

func (b *Driver) PacketChannel() chan *Packet

PacketChannel returns the channel for packets to be sent to the sp

func (*Driver) Roll Uses

func (b *Driver) Roll(speed uint8, heading uint16)

Roll tells the Ollie to roll

func (*Driver) Sequence Uses

func (b *Driver) Sequence() uint8

Sequence returns the Sequence number of the current packet

func (*Driver) SetBackLEDOutput Uses

func (b *Driver) SetBackLEDOutput(value uint8)

SetBackLEDOutput allows you to control the brightness of the back(tail) LED.

func (*Driver) SetDataStreamingConfig Uses

func (b *Driver) SetDataStreamingConfig(d sphero.DataStreamingConfig)

SetDataStreamingConfig passes the config to the sphero to stream sensor data

func (*Driver) SetName Uses

func (b *Driver) SetName(n string)

SetName sets the Name for the Driver

func (*Driver) SetRGB Uses

func (b *Driver) SetRGB(r uint8, g uint8, bl uint8)

SetRGB sets the Ollie to the given r, g, and b values

func (*Driver) SetRawMotorValues Uses

func (b *Driver) SetRawMotorValues(lmode MotorModes, lpower uint8, rmode MotorModes, rpower uint8)

SetRawMotorValues allows you to take over one or both of the motor output values, instead of having the stabilization system control them. Each motor (left and right) requires a mode and a power value from 0-255

func (*Driver) SetRotationRate Uses

func (b *Driver) SetRotationRate(speed uint8)

SetRotationRate allows you to control the rotation rate that Sphero will use to meet new heading commands. A value of 255 jumps to the maximum (currently 400 degrees/sec). A value of zero doesn't make much sense so it's interpreted as 1, the minimum.

func (*Driver) SetStabilization Uses

func (b *Driver) SetStabilization(state bool)

SetStabilization enables or disables the built-in auto stabilizing features of the Ollie

func (*Driver) SetTXPower Uses

func (b *Driver) SetTXPower(level int) (err error)

SetTXPower sets transmit level

func (*Driver) Sleep Uses

func (b *Driver) Sleep()

Sleep says Go to sleep

func (*Driver) Start Uses

func (b *Driver) Start() (err error)

Start tells driver to get ready to do work

func (*Driver) Stop Uses

func (b *Driver) Stop()

Stop tells the Ollie to stop

func (*Driver) Wake Uses

func (b *Driver) Wake() (err error)

Wake wakes Ollie up so we can play

type MotorModes Uses

type MotorModes uint8

MotorModes is used to configure the motor

const (
    Off MotorModes = iota
    Forward
    Reverse
    Brake
    Ignore
)

MotorModes required for SetRawMotorValues command

type Packet Uses

type Packet struct {
    Header   []uint8
    Body     []uint8
    Checksum uint8
}

Packet describes head, body and checksum for a data package to be sent to the sphero.

type Point2D Uses

type Point2D struct {
    X   int16
    Y   int16
}

Point2D represents a koordinate in 2-Dimensional space

type PowerStatePacket Uses

type PowerStatePacket struct {
    // record Version Code
    RecVer uint8
    // High-Level State of the Battery; 1=charging, 2=battery ok, 3=battery low, 4=battery critical
    PowerState uint8
    // Battery Voltage, scaled in 100th of a Volt, 0x02EF would be 7.51 volts
    BattVoltage uint16
    // Number of charges in the total lifetime of the sphero
    NumCharges uint16
    //Seconds awake since last charge
    TimeSinceChg uint16
}

PowerStatePacket contains all data relevant to the power state of the sphero

Package ollie imports 8 packages (graph) and is imported by 2 packages. Updated 2019-05-23. Refresh now. Tools for package owners.