firmata

README

Firmata

This package provides the adaptor for microcontrollers such as Arduino that support the Firmata protocol

Getting Started

go get github.com/hybridgroup/gobot && go install github.com/hybridgroup/gobot/platforms/firmata

Example

package main

import (
	"time"

	"github.com/hybridgroup/gobot"
	"github.com/hybridgroup/gobot/platforms/firmata"
	"github.com/hybridgroup/gobot/platforms/gpio"
)

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

	firmataAdaptor := firmata.NewFirmataAdaptor("arduino", "/dev/ttyACM0")
	led := gpio.NewLedDriver(firmataAdaptor, "led", "13")

	work := func() {
		gobot.Every(1*time.Second, func() {
			led.Toggle()
		})
	}

	robot := gobot.NewRobot("bot",
		[]gobot.Connection{firmataAdaptor},
		[]gobot.Device{led},
		work,
	)

	gbot.AddRobot(robot)

	gbot.Start()
}

Hardware Support

The following firmata devices have been tested and are currently supported:

• Arduino uno r3
• Teensy 3.0

More devices are coming soon...

Documentation

Index

• Constants
• type FirmataAdaptor
  • func NewFirmataAdaptor(name, port string) *FirmataAdaptor
  • func (f *FirmataAdaptor) AnalogRead(pin string) int
  • func (f *FirmataAdaptor) AnalogWrite(pin string, level byte)
  • func (f *FirmataAdaptor) Connect() bool
  • func (f *FirmataAdaptor) DigitalRead(pin string) int
  • func (f *FirmataAdaptor) DigitalWrite(pin string, level byte)
  • func (f *FirmataAdaptor) Disconnect() bool
  • func (f *FirmataAdaptor) Finalize() bool
  • func (f *FirmataAdaptor) I2cRead(size uint) []byte
  • func (f *FirmataAdaptor) I2cStart(address byte)
  • func (f *FirmataAdaptor) I2cWrite(data []byte)
  • func (f *FirmataAdaptor) InitServo()
  • func (f *FirmataAdaptor) PwmWrite(pin string, level byte)
  • func (f *FirmataAdaptor) ServoWrite(pin string, angle byte)

Constants

const (
	Open                     byte = 1
	Close                    byte = 0
	Input                    byte = 0x00
	Output                   byte = 0x01
	Analog                   byte = 0x02
	PWM                      byte = 0x03
	Servo                    byte = 0x04
	Low                      byte = 0
	High                     byte = 1
	ReportVersion            byte = 0xF9
	SystemReset              byte = 0xFF
	DigitalMessage           byte = 0x90
	DigitalMessageRangeStart byte = 0x90
	DigitalMessageRangeEnd   byte = 0x9F
	AnalogMessage            byte = 0xE0
	AnalogMessageRangeStart  byte = 0xE0
	AnalogMessageRangeEnd    byte = 0xEF
	ReportAnalog             byte = 0xC0
	ReportDigital            byte = 0xD0
	PinMode                  byte = 0xF4
	StartSysex               byte = 0xF0
	EndSysex                 byte = 0xF7
	CapabilityQuery          byte = 0x6B
	CapabilityResponse       byte = 0x6C
	PinStateQuery            byte = 0x6D
	PinStateResponse         byte = 0x6E
	AnalogMappingQuery       byte = 0x69
	AnalogMappingResponse    byte = 0x6A
	StringData               byte = 0x71
	I2CRequest               byte = 0x76
	I2CReply                 byte = 0x77
	I2CConfig                byte = 0x78
	FirmwareQuery            byte = 0x79
	I2CModeWrite             byte = 0x00
	I2CModeRead              byte = 0x01
	I2CmodeContinuousRead    byte = 0x02
	I2CModeStopReading       byte = 0x03
)

Types

type FirmataAdaptor

type FirmataAdaptor struct {
	gobot.Adaptor
	Board *board
	// contains filtered or unexported fields
}

func NewFirmataAdaptor

func NewFirmataAdaptor(name, port string) *FirmataAdaptor

func (*FirmataAdaptor) AnalogRead

func (f *FirmataAdaptor) AnalogRead(pin string) int

NOTE pins are numbered A0-A5, which translate to digital pins 14-19

func (*FirmataAdaptor) AnalogWrite

func (f *FirmataAdaptor) AnalogWrite(pin string, level byte)

func (*FirmataAdaptor) Connect

func (f *FirmataAdaptor) Connect() bool

func (*FirmataAdaptor) DigitalRead

func (f *FirmataAdaptor) DigitalRead(pin string) int

func (*FirmataAdaptor) DigitalWrite

func (f *FirmataAdaptor) DigitalWrite(pin string, level byte)

func (*FirmataAdaptor) Disconnect

func (f *FirmataAdaptor) Disconnect() bool

func (*FirmataAdaptor) Finalize

func (f *FirmataAdaptor) Finalize() bool

func (*FirmataAdaptor) I2cRead

func (f *FirmataAdaptor) I2cRead(size uint) []byte

func (*FirmataAdaptor) I2cStart

func (f *FirmataAdaptor) I2cStart(address byte)

func (*FirmataAdaptor) I2cWrite

func (f *FirmataAdaptor) I2cWrite(data []byte)

func (*FirmataAdaptor) InitServo

func (f *FirmataAdaptor) InitServo()

func (*FirmataAdaptor) PwmWrite

func (f *FirmataAdaptor) PwmWrite(pin string, level byte)

func (*FirmataAdaptor) ServoWrite

func (f *FirmataAdaptor) ServoWrite(pin string, angle byte)