Gobot - 用于机器人技术，无人机和物联网（IoT）的Golang框架

Gobot - 用于机器人技术，无人机和物联网（IoT）的Golang框架

Gobot (https://gobot.io/) is a framework using the Go programming language (https://golang.org/) for robotics, physical computing, and the Internet of Things.

It provides a simple, yet powerful way to create solutions that incorporate multiple, different hardware devices at the same time.

Want to run Go directly on microcontrollers? Check out our sister project TinyGo (https://tinygo.org/)

Getting Started

Get the Gobot source with: go get -d -u gobot.io/x/gobot/...

Examples

Gobot with Arduino

package mainimport ( "time" "gobot.io/x/gobot" "gobot.io/x/gobot/drivers/gpio" "gobot.io/x/gobot/platforms/firmata")func main() { firmataAdaptor := firmata.NewAdaptor("/dev/ttyACM0") led := gpio.NewLedDriver(firmataAdaptor, "13") work := func() { gobot.Every(1*time.Second, func() { led.Toggle() }) } robot := gobot.NewRobot("bot", []gobot.Connection{firmataAdaptor}, []gobot.Device{led}, work, ) robot.Start()}

Gobot with Sphero

package mainimport ( "fmt" "time" "gobot.io/x/gobot" "gobot.io/x/gobot/platforms/sphero")func main() { adaptor := sphero.NewAdaptor("/dev/rfcomm0") driver := sphero.NewSpheroDriver(adaptor) work := func() { gobot.Every(3*time.Second, func() { driver.Roll(30, uint16(gobot.Rand(360))) }) } robot := gobot.NewRobot("sphero", []gobot.Connection{adaptor}, []gobot.Device{driver}, work, ) robot.Start()}

"Metal" Gobot

You can use the entire Gobot framework as shown in the examples above ("Classic" Gobot), or you can pick and choose from the various Gobot packages to control hardware with nothing but pure idiomatic Golang code ("Metal" Gobot). For example:

package mainimport ( "gobot.io/x/gobot/drivers/gpio" "gobot.io/x/gobot/platforms/intel-iot/edison" "time")func main() { e := edison.NewAdaptor() e.Connect() led := gpio.NewLedDriver(e, "13") led.Start() for { led.Toggle() time.Sleep(1000 * time.Millisecond) }}

"Master" Gobot

You can also use the full capabilities of the framework aka "Master Gobot" to control swarms of robots or other features such as the built-in API server. For example:

package mainimport ( "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()}

Hardware Support

Gobot has a extensible system for connecting to hardware devices. The following robotics and physical computing platforms are currently supported:

Arduino <=> PackageAudio <=> PackageBeaglebone Black <=> PackageBeaglebone PocketBeagle <=> PackageBluetooth LE <=> PackageC.H.I.P <=> PackageC.H.I.P Pro <=> PackageDigispark <=> PackageDJI Tello <=> PackageDragonBoard <=> PackageESP8266 <=> PackageGoPiGo 3 <=> PackageIntel Curie <=> PackageIntel Edison <=> PackageIntel Joule <=> PackageJoystick <=> PackageKeyboard <=> PackageLeap Motion <=> PackageMavLink <=> PackageMegaPi <=> PackageMicrobit <=> PackageMQTT <=> PackageNATS <=> PackageNeurosky <=> PackageOpenCV <=> PackageParticle <=> PackageParrot ARDrone 2.0 <=> PackageParrot Bebop <=> PackageParrot Minidrone <=> PackagePebble <=> PackageRaspberry Pi <=> PackageSphero <=> PackageSphero BB-8 <=> PackageSphero Ollie <=> PackageSphero SPRK+ <=> PackageTinker Board <=> PackageUP2 <=> Package

Support for many devices that use General Purpose Input/Output (GPIO) have a shared set of drivers provided using the gobot/drivers/gpio package:

GPIO <=> DriversAIP1640 LEDButtonBuzzerDirect PinEasyDriverGrove ButtonGrove BuzzerGrove LEDGrove Magnetic SwitchGrove RelayGrove Touch SensorLEDMakey ButtonMotorProximity Infra Red (PIR) Motion SensorRelayRGB LEDServoStepper MotorTM1638 LED Controller

Support for many devices that use Analog Input/Output (AIO) have a shared set of drivers provided using the gobot/drivers/aio package:

AIO <=> DriversAnalog SensorGrove Light SensorGrove Piezo Vibration SensorGrove Rotary DialGrove Sound SensorGrove Temperature Sensor

Support for devices that use Inter-Integrated Circuit (I2C) have a shared set of drivers provided using the gobot/drivers/i2c package:

I2C <=> DriversAdafruit Motor HatADS1015 Analog to Digital ConverterADS1115 Analog to Digital ConverterADXL345 Digital AccelerometerBH1750 Digital Luminosity/Lux/Light SensorBlinkM LEDBME280 Barometric Pressure/Temperature/Altitude/Humidity SensorBMP180 Barometric Pressure/Temperature/Altitude SensorBMP280 Barometric Pressure/Temperature/Altitude SensorDRV2605L Haptic ControllerGrove Digital AccelerometerGrovePi Expansion BoardGrove RGB LCDHMC6352 CompassINA3221 Voltage MonitorJHD1313M1 LCD Display w/RGB BacklightL3GD20H 3-Axis GyroscopeLIDAR-LiteMCP23017 Port ExpanderMMA7660 3-Axis AccelerometerMPL115A2 BarometerMPU6050 Accelerometer/GyroscopePCA9685 16-channel 12-bit PWM/Servo DriverSHT3x-D Temperature/HumiditySSD1306 OLED Display ControllerTSL2561 Digital Luminosity/Lux/Light SensorWii Nunchuck Controller

Support for devices that use Serial Peripheral Interface (SPI) have a shared set of drivers provided using the gobot/drivers/spi package:

SPI <=> DriversAPA102 Programmable LEDsMCP3002 Analog/Digital ConverterMCP3004 Analog/Digital ConverterMCP3008 Analog/Digital ConverterMCP3202 Analog/Digital ConverterMCP3204 Analog/Digital ConverterMCP3208 Analog/Digital ConverterMCP3304 Analog/Digital ConverterSSD1306 OLED Display Controller

More platforms and drivers are coming soon...

API:

Gobot includes a RESTful API to query the status of any robot running within a group, including the connection and device status, and execute device commands.

To activate the API, import the gobot.io/x/gobot/api package and instantiate the API like this:

master := gobot.NewMaster() api.NewAPI(master).Start()

You can also specify the api host and port, and turn on authentication:

master := gobot.NewMaster() server := api.NewAPI(master) server.Port = "4000" server.AddHandler(api.BasicAuth("gort", "klatuu")) server.Start()

You may access the robeaux React.js interface with Gobot by navigating to http://localhost:3000/index.html.

CLI

Gobot uses the Gort http://gort.io Command Line Interface (CLI) so you can access important features right from the command line. We call it "RobotOps", aka "DevOps For Robotics". You can scan, connect, update device firmware, and more!

Gobot also has its own CLI to generate new platforms, adaptors, and drivers. You can check it out in the /cli directory.

Documentation

We're always adding documentation to our web site at https://gobot.io/ please check there as we continue to work on Gobot

Thank you!

Need help?

Issues: https://github.com/hybridgroup/gobot/issuesTwitter: @gobotioSlack: https://gophers.slack.com/messages/C0N5HDB08Mailing list: https://groups.google.com/forum/#!forum/gobotio

Contributing

For our contribution guidelines, please go to https://github.com/hybridgroup/gobot/blob/master/CONTRIBUTING.md .

Gobot is released with a Contributor Code of Conduct. By participating in this project you agree to abide by its terms. You can read about it here.

License

Copyright (c) 2013-2019 The Hybrid Group. Licensed under the Apache 2.0 license.

The Contributor Covenant is released under the Creative Commons Attribution 4.0 International Public License, which requires that attribution be included.

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