GoBot用于机器人、无人机、物联网（IoT）Golang框架

[](http://gobot.io/) [](https://godoc.org/gobot.io/x/gobot/v2) [](https://circleci.com/gh/hybridgroup/gobot/tree/dev) [](https://ci.appveyor.com/project/deadprogram/gobot/branch/dev) [](https://codecov.io/gh/hybridgroup/gobot) [](https://goreportcard.com/report/hybridgroup/gobot) [](https://github.com/hybridgroup/gobot/blob/master/LICENSE.txt) 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 in touch Get the Gobot source code by running this commands: ```sh git clone https://github.com/hybridgroup/gobot.git git checkout release ``` Afterwards have a look at the [examples directory](./examples). You need to find an example matching your platform for your first test (e.g. "raspi_blink.go"). Than build the binary (cross compile), transfer it to your target and run it. `env GOOS=linux GOARCH=arm GOARM=5 go build -o ./output/my_raspi_bink examples/raspi_blink.go` > Building the code on your local machine with the example code above will create a binary for ARMv5. This is probably not > what you need for your specific target platform. Please read also the platform specific documentation in the platform > subfolders. ### Create your first project Create a new folder and a new Go module project. ```sh mkdir ~/my_gobot_example cd ~/my_gobot_example go mod init my.gobot.example.com ``` Copy your example file besides the go.mod file, import the requirements and build. ```sh cp /<path to gobot folder>/examples/raspi_blink.go ~/my_gobot_example/ go mod tidy env GOOS=linux GOARCH=arm GOARM=5 go build -o ./output/my_raspi_bink raspi_blink.go ``` Now you are ready to modify the example and test your changes. Start by removing the build directives at the beginning of the file. ## Examples ### Gobot with Arduino ```go package main import ( "time" "gobot.io/x/gobot/v2" "gobot.io/x/gobot/v2/drivers/gpio" "gobot.io/x/gobot/v2/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 ```go package main import ( "fmt" "time" "gobot.io/x/gobot/v2" "gobot.io/x/gobot/v2/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: ```go package main import ( "gobot.io/x/gobot/v2/drivers/gpio" "gobot.io/x/gobot/v2/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: ```go package main import ( "fmt" "time" "gobot.io/x/gobot/v2" "gobot.io/x/gobot/v2/api" "gobot.io/x/gobot/v2/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](http://www.arduino.cc/) <=> [Package](https://github.com/hybridgroup/gobot/tree/master/platforms/firmata) - Audio <=> [Package](https://github.com/hybridgroup/gobot/tree/master/platforms/audio) - [Beaglebone Black](http://beagleboard.org/boards) <=> [Package](https://github.com/hybridgroup/gobot/tree/master/platforms/beaglebone) - [Beaglebone PocketBeagle](http://beagleboard.org/pocket/) <=> [Package](https://github.com/hybridgroup/gobot/tree/master/platforms/beaglebone) - [Bluetooth LE](https://www.bluetooth.com/what-is-bluetooth-technology/bluetooth-technology-basics/low-energy) <=> [Package](https://github.com/hybridgroup/gobot/tree/master/platforms/ble) - [C.H.I.P](http://www.nextthing.co/pages/chip) <=> [Package](https://github.com/hybridgroup/gobot/tree/master/platforms/chip) - [C.H.I.P Pro](https://docs.getchip.com/chip_pro.html) <=> [Package](https://github.com/hybridgroup/gobot/tree/master/platforms/chip) - [Digispark](http://digistump.com/products/1) <=> [Package](https://github.com/hybridgroup/gobot/tree/master/platforms/digispark) - [DJI Tello](https://www.ryzerobotics.com/tello) <=> [Package](https://github.com/hybridgroup/gobot/tree/master/platforms/dji/tello) - [DragonBoard](https://developer.qualcomm.com/hardware/dragonboard-410c) <=> [Package](https://github.com/hybridgroup/gobot/tree/master/platforms/dragonboard) - [ESP8266](http://esp8266.net/) <=> [Package](https://github.com/hybridgroup/gobot/tree/master/platforms/firmata) - [GoPiGo 3](https://www.dexterindustries.com/gopigo3/) <=> [Package](https://github.com/hybridgroup/gobot/tree/master/platforms/dexter/gopigo3) - [Intel Curie](https://www.intel.com/content/www/us/en/products/boards-kits/curie.html) <=> [Package](https://github.com/hybridgroup/gobot/tree/master/platforms/intel-iot/curie) - [Intel Edison](http://www.intel.com/content/www/us/en/do-it-yourself/edison.html) <=> [Package](https://github.com/hybridgroup/gobot/tree/master/platforms/intel-iot/edison) - [Intel Joule](http://intel.com/joule/getstarted) <=> [Package](https://github.com/hybridgroup/gobot/tree/master/platforms/intel-iot/joule) - [Jetson Nano](https://developer.nvidia.com/embedded/jetson-nano/) <=>