tinogoehlert / gobuki

go driver for kobuki bot

gobuki

go driver for kobuki bot based platforms (e.g. turtlebot v2)

still in developement, interface may change.

examples

read raw gyroscope data

package main

import (
	"flag"
	"fmt"
	"log"

	"github.com/tinogoehlert/gobuki"
	"github.com/tinogoehlert/gobuki/sensors"
)

var (
	tcpAddr    = flag.String("tcp", "", "ip adress:port")
	serialPort = flag.String("serial", "", "serial port")
)

func main() {
	var (
		bot    *gobuki.Bot
		conErr error
	)

	flag.Parse()

	switch {
	case *tcpAddr != "":
		bot, conErr = gobuki.NewBotTCP(*tcpAddr)
	case *serialPort != "":
		bot, conErr = gobuki.NewBotSerial(*serialPort)
	default:
		log.Fatalf("no adress or serial port given")
	}

	if conErr != nil {
		log.Fatalf(conErr.Error())
	}

	bot.Start()
	defer bot.Stop()

	bot.On("Gyro", func(data interface{}) {
		d := data.(*sensors.GyroData)
		fmt.Println(d)
	})

	for {
		log.Println(bot.LogChannel())
	}
}

Send sound sequence command

package main

import (
	"github.com/tinogoehlert/gobuki"
	"github.com/tinogoehlert/gobuki/commands"
)

func main() {
	bot, err := gobuki.NewBotTCP("127.0.0.1:3333")
    if err != nil {
        panic(err)
    }

	bot.Start()
	defer bot.Stop()

	bot.Send(commands.SoundSequenceCmd(commands.ON))
}

use kobuki bot with gobot

package main

import (
	"log"
	"time"

	gk "github.com/tinogoehlert/gobuki/gobot"
	ks "github.com/tinogoehlert/gobuki/sensors"
	"gobot.io/x/gobot"
)

func main() {
	a := gk.NewAdaptorTCP("127.0.0.1:3333")
	kb := gk.NewDriver(a)

	work := func() {
		kb.OnWheelsCurrent(func(w *ks.CurrentWheels) {
			log.Printf("%d:%d", w.LeftMotor, w.RightMotor)
		})

		gobot.Every(1*time.Minute, func() {
			kb.PlaySoundSequence(gk.SoundOn)
		})
	}

	robot := gobot.NewRobot("kobuki",
		[]gobot.Connection{a},
		[]gobot.Device{kb},
		work,
	)

	robot.Start()
}

TODO:

• Implement GPIO.
• Implement EEPROM
• port DockDrive demo to gobuki

Resouces:

http://kobuki.yujinrobot.com/about2/

http://yujinrobot.github.io/kobuki/enAppendixProtocolSpecification.html

https://media.readthedocs.org/pdf/iclebo-kobuki/latest/iclebo-kobuki.pdf