oibot

package module
v0.0.0-...-4e98350 Latest Latest
Warning

This package is not in the latest version of its module.

 Go to latest Published: Nov 24, 2019 License: MIT Imports: 6 Imported by: 1

README

oibot

A Go library for interacting with iRobot® Create® 2 robots according to the iRobot® Open Interface (OI) specification.

This library was based on the github.com/xa4a/go-roomba project which has not been updated in several years, seemingly abandoned, yet surprisingly still functional. A large portion of that library has been removed so that only essential functionality is implemented.

That project was "remotely inspired" by the pyrobot library by damonkohler@gmail.com (Damon Kohler).

I've removed the simulator and Go test harness capabilities of the previous project for the sake of simplicity, as it wasn't immediately apparent how to use them or how complete their test coverage actually was.

Serial support is implemented with github.com/tarm/serial.

Dependencies

License

This software is licensed to you under the terms of the MIT license

Usage

  • TBD!

Documentation

Index

Constants

View Source 
const (
	MaxDriveVelocityMMPS   int16 = 500
	MinDriveVelocityMMPS   int16 = -500
	MaxDriveRadiusMM       int16 = 2000
	MinDriveRadiusMM       int16 = -2000
	StraightDriveRadiusMM  int16 = 0x7FFF
	DriveWheelSeparationMM int16 = 298
)
View Source 
const (
	DefaultBaudRateBPS    int           = 115200
	SerialTransferDelayMS time.Duration = 50 * time.Millisecond
	SensorUpdateDelayMS   time.Duration = 15 * time.Millisecond // from OI spec
	DefaultReadTimeoutMS  time.Duration = 500 * time.Millisecond
	NeverReadTimeoutMS    time.Duration = 0
)
View Source 
const (
	AngleRuneWeightMax = byte(4)
	AngleRuneUnknown   = '⮔'
)
View Source 
const (
	BootupTimeMS time.Duration = 5000 * time.Millisecond
)

Variables

This section is empty.

Functions

func OIModeStr 

func OIModeStr(mode OpenInterfaceMode) (string, bool)

Types

type BatteryStatus 

type BatteryStatus struct {
	ChargingState      byte
	VoltagemV          uint16
	CurrentmA          int16
	BatteryChargemAh   uint16
	BatteryCapacitymAh uint16
	ChargerAvailable   byte
}

type BaudRateCode 

type BaudRateCode byte

=====================================================================================================================

type ChargingStateCode 

type ChargingStateCode byte

=====================================================================================================================

type Direction 

type Direction uint

===================================================================================================================== 

const (
	DirStop Direction = iota
	DirLeft
	DirLeftFwd
	DirFwd
	DirRightFwd
	DirRight
	DirRightAft
	DirAft
	DirLeftAft
)

func AngleRune 

func AngleRune(angle int16, weight byte) (rune, Direction)

type InfoStatus 

type InfoStatus struct {
	Mode    OpenInterfaceMode
	Battery *BatteryStatus
}

type OIBot 

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

func MakeOIBot 

func MakeOIBot(infoLog *log.Logger, errorLog *log.Logger, init bool, path string, baud int, rtime time.Duration) *OIBot

func (*OIBot) Battery 

func (o *OIBot) Battery() (*BatteryStatus, bool)

func (*OIBot) Baud 

func (o *OIBot) Baud(baud int)

func (*OIBot) Clean 

func (o *OIBot) Clean()

func (*OIBot) Close 

func (o *OIBot) Close()

func (*OIBot) Control 

func (o *OIBot) Control()

func (*OIBot) Drive 

func (o *OIBot) Drive(velocity int16, radius int16)

func (*OIBot) DriveStop 

func (o *OIBot) DriveStop()

func (*OIBot) DriveWheels 

func (o *OIBot) DriveWheels(rightVelocity int16, leftVelocity int16)

func (*OIBot) Flush 

func (o *OIBot) Flush()

func (*OIBot) Full 

func (o *OIBot) Full()

func (*OIBot) Info 

func (o *OIBot) Info() (*InfoStatus, bool)

func (*OIBot) MaxClean 

func (o *OIBot) MaxClean()

func (*OIBot) Mode 

func (o *OIBot) Mode() OpenInterfaceMode

func (*OIBot) Pack 

func (o *OIBot) Pack(data ...interface{}) []byte

func (*OIBot) Passive 

func (o *OIBot) Passive()

func (*OIBot) Power 

func (o *OIBot) Power()

func (*OIBot) Read 

func (o *OIBot) Read(buf []byte) int

func (*OIBot) Reset 

func (o *OIBot) Reset()

func (*OIBot) Safe 

func (o *OIBot) Safe()

func (*OIBot) SeekDock 

func (o *OIBot) SeekDock()

func (*OIBot) Sensor 

func (o *OIBot) Sensor(packet *SensorPacket) []byte

func (*OIBot) SensorList 

func (o *OIBot) SensorList(packet ...*SensorPacket) [][]byte

func (*OIBot) Spot 

func (o *OIBot) Spot()

func (*OIBot) Start 

func (o *OIBot) Start()

func (*OIBot) Stop 

func (o *OIBot) Stop()

func (*OIBot) Write 

func (o *OIBot) Write(code OpCode, buf ...interface{}) int

func (*OIBot) WriteCode 

func (o *OIBot) WriteCode(code OpCode)

type OpCode 

type OpCode byte

=====================================================================================================================

type OpenInterfaceMode 

type OpenInterfaceMode byte

===================================================================================================================== 

const (
	OIMOff     OpenInterfaceMode = 0
	OIMPassive OpenInterfaceMode = 1
	OIMSafe    OpenInterfaceMode = 2
	OIMFull    OpenInterfaceMode = 3
)

type SensorGroup 

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

=====================================================================================================================

type SensorPacket 

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

=====================================================================================================================

Source Files

View all Source files

Jump to

Keyboard shortcuts

? : This menu
/ : Search site
f or F : Jump to
y or Y : Canonical URL
go.dev uses cookies from Google to deliver and enhance the quality of its services and to analyze traffic. Learn more.