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sphero_multiple.go
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/
sphero_multiple.go
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package main
import (
"fmt"
"time"
"gobot.io/x/gobot"
"gobot.io/x/gobot/api"
"gobot.io/x/gobot/platforms/sphero"
)
func NewSwarmBot(port string) *gobot.Robot {
spheroAdaptor := sphero.NewAdaptor(port)
spheroDriver := sphero.NewSpheroDriver(spheroAdaptor)
spheroDriver.SetName("Sphero" + port)
work := func() {
spheroDriver.Stop()
spheroDriver.On(sphero.Collision, func(data interface{}) {
fmt.Println("Collision Detected!")
})
gobot.Every(1*time.Second, func() {
spheroDriver.Roll(100, uint16(gobot.Rand(360)))
})
gobot.Every(3*time.Second, func() {
spheroDriver.SetRGB(uint8(gobot.Rand(255)),
uint8(gobot.Rand(255)),
uint8(gobot.Rand(255)),
)
})
}
robot := gobot.NewRobot("sphero",
[]gobot.Connection{spheroAdaptor},
[]gobot.Device{spheroDriver},
work,
)
return robot
}
func main() {
master := gobot.NewMaster()
api.NewAPI(master).Start()
spheros := []string{
"/dev/rfcomm0",
"/dev/rfcomm1",
"/dev/rfcomm2",
"/dev/rfcomm3",
}
for _, port := range spheros {
master.AddRobot(NewSwarmBot(port))
}
master.Start()
}