ollie

README

Sphero Ollie

The Sphero Ollie is a toy robot from Sphero that is controlled using Bluetooth LE. For more information, go to http://www.sphero.com/ollie

How to Install

go get -d -u gobot.io/x/gobot/...

How to Use

package main

import (
	"os"
	"time"

	"gobot.io/x/gobot"
	"gobot.io/x/gobot/platforms/ble"
	"gobot.io/x/gobot/platforms/sphero/ollie"
)

func main() {
	bleAdaptor := ble.NewClientAdaptor(os.Args[1])
	ollie := ollie.NewDriver(bleAdaptor)

	work := func() {
		gobot.Every(1*time.Second, func() {
			r := uint8(gobot.Rand(255))
			g := uint8(gobot.Rand(255))
			b := uint8(gobot.Rand(255))
			ollie.SetRGB(r, g, b)
		})
	}

	robot := gobot.NewRobot("ollieBot",
		[]gobot.Connection{bleAdaptor},
		[]gobot.Device{ollie},
		work,
	)

	robot.Start()
}

How to Connect

The Sphero Ollie is a Bluetooth LE device.

You need to know the BLE ID of the Ollie you want to connect to. The Gobot BLE client adaptor also lets you connect by friendly name, aka "2B-1247".

OSX

To run any of the Gobot BLE code you must use the GODEBUG=cgocheck=0 flag in order to get around some of the issues in the CGo-based implementation.

If you connect by name, then you do not need to worry about the Bluetooth LE ID. However, if you want to connect by ID, OS X uses its own Bluetooth ID system which is different from the IDs used on Linux. The code calls thru the XPC interfaces provided by OSX, so as a result does not need to run under sudo.

For example:

GODEBUG=cgocheck=0 go run examples/ollie.go 2B-1247

Ubuntu

On Linux the BLE code will need to run as a root user account. The easiest way to accomplish this is probably to use go build to build your program, and then to run the requesting executable using sudo.

For example:

go build examples/ollie.go
sudo ./minidrone 2B-1247

Windows

Hopefully coming soon...

Documentation

Overview

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

• Constants
• func DefaultCollisionConfig() sphero.CollisionConfig
• type Driver
  • func NewDriver(a ble.BLEConnector) *Driver
  • func (b *Driver) AntiDOSOff() (err error)
  • func (b *Driver) Boost(state bool)
  • func (b *Driver) ConfigureCollisionDetection(cc sphero.CollisionConfig)
  • func (b *Driver) Connection() gobot.Connection
  • func (b *Driver) EnableStopOnDisconnect()
  • func (b *Driver) Halt() (err error)
  • func (b *Driver) HandleResponses(data []byte, e error)
  • func (b *Driver) Init() (err error)
  • func (b *Driver) Name() string
  • func (b *Driver) Roll(speed uint8, heading uint16)
  • func (b *Driver) SetBackLEDOutput(value uint8)
  • func (b *Driver) SetName(n string)
  • func (b *Driver) SetRGB(r uint8, g uint8, bl uint8)
  • func (b *Driver) SetRawMotorValues(lmode MotorModes, lpower uint8, rmode MotorModes, rpower uint8)
  • func (b *Driver) SetRotationRate(speed uint8)
  • func (b *Driver) SetStabilization(state bool)
  • func (b *Driver) SetTXPower(level int) (err error)
  • func (b *Driver) Sleep()
  • func (b *Driver) Start() (err error)
  • func (b *Driver) Stop()
  • func (b *Driver) Wake() (err error)
• type MotorModes

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
)

Functions

func DefaultCollisionConfig

func DefaultCollisionConfig() sphero.CollisionConfig

DefaultCollisionConfig returns a CollisionConfig with sensible collision defaults

Types

type Driver

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

Driver is the Gobot driver for the Sphero Ollie robot

func NewDriver

func NewDriver(a ble.BLEConnector) *Driver

NewDriver creates a Driver for a Sphero Ollie

func (*Driver) AntiDOSOff

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

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

func (*Driver) Boost

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

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

ConfigureCollisionDetection configures the sensitivity of the detection.

func (*Driver) Connection

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

Connection returns the connection to this Ollie

func (*Driver) EnableStopOnDisconnect

func (b *Driver) EnableStopOnDisconnect()

EnableStopOnDisconnect auto-sends a Stop command after losing the connection

func (*Driver) Halt

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

Halt stops Ollie driver (void)

func (*Driver) HandleResponses

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

HandleResponses handles responses returned from Ollie

func (*Driver) Init

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

Init is used to initialize the Ollie

func (*Driver) Name

func (b *Driver) Name() string

Name returns the name for the Driver

func (*Driver) Roll

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

Roll tells the Ollie to roll

func (*Driver) SetBackLEDOutput

func (b *Driver) SetBackLEDOutput(value uint8)

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

func (*Driver) SetName

func (b *Driver) SetName(n string)

SetName sets the Name for the Driver

func (*Driver) SetRGB

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

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

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

func (b *Driver) SetStabilization(state bool)

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

func (*Driver) SetTXPower

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

SetTXPower sets transmit level

func (*Driver) Sleep

func (b *Driver) Sleep()

Sleep says Go to sleep

func (*Driver) Start

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

Start tells driver to get ready to do work

func (*Driver) Stop

func (b *Driver) Stop()

Stop tells the Ollie to stop

func (*Driver) Wake

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

Wake wakes Ollie up so we can play

type MotorModes

type MotorModes uint8

const (
	Off MotorModes = iota
	Forward
	Reverse
	Brake
	Ignore
)

MotorModes required for SetRawMotorValues command