Golang framework for robotics, drones, and the Internet of Things (IoT)
Golang framework for robotics, drones, and the Internet of Things (IoT)
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/)
Get the Gobot source code by running this commands:
git clone https://github.com/hybridgroup/gobot.git
git checkout release
Afterwards have a look at the examples directory. 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 a new folder and a new Go module project.
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.
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.
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() {
if err := led.Toggle(); err != nil {
fmt.Println(err)
}
})
}
robot := gobot.NewRobot("bot",
[]gobot.Connection{firmataAdaptor},
[]gobot.Device{led},
work,
)
if err := robot.Start(); err != nil {
panic(err)
}
}
package main
import (
"fmt"
"time"
"gobot.io/x/gobot/v2"
"gobot.io/x/gobot/v2/drivers/serial"
"gobot.io/x/gobot/v2/platforms/serialport"
)
func main() {
adaptor := serialport.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,
)
if err := robot.Start(); err != nil {
panic(err)
}
}
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 main
import (
"gobot.io/x/gobot/v2/drivers/gpio"
"gobot.io/x/gobot/v2/platforms/intel-iot/edison"
"time"
)
func main() {
e := edison.NewAdaptor()
if err := e.Connect(); err != nil {
fmt.Println(err)
}
led := gpio.NewLedDriver(e, "13")
if err := led.Start(); err != nil {
fmt.Println(err)
}
for {
if err := led.Toggle(); err != nil {
fmt.Println(err)
}
time.Sleep(1000 * time.Millisecond)
}
}
You can also use the full capabilities of the framework aka "Manager Gobot" to control swarms of robots or other features such as the built-in API server. For example:
…
Gobot has a extensible system for connecting to hardware devices. The following robotics and physical computing platforms are currently supported:
Support for many devices that use Analog Input/Output (AIO) have a shared set of drivers provided using
the gobot/drivers/aio package:
Support for many devices that use Bluetooth LE (BLE) have a shared set of drivers provided using
the gobot/drivers/ble 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:
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