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[ble] Go to sleep, little Ollie

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Signed-off-by: deadprogram <ron@hybridgroup.com>
This commit is contained in:
deadprogram 2016-07-11 23:46:01 -06:00
parent 8db7405260
commit c5f996c543
1 changed files with 23 additions and 12 deletions
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35
platforms/ble/ollie.go
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@ -3,6 +3,7 @@ package ble
import (
"bytes"
"fmt"
"time"
"github.com/hybridgroup/gobot"
)
@ -10,20 +11,20 @@ import (
var _ gobot.Driver = (*SpheroOllieDriver)(nil)
type SpheroOllieDriver struct {
name string
connection gobot.Connection
seq uint8
packetChannel chan *packet
name string
connection gobot.Connection
seq uint8
packetChannel chan *packet
gobot.Eventer
}
const (
// service IDs
SpheroBLEService = "22bb746f2bb075542d6f726568705327"
SpheroBLEService = "22bb746f2bb075542d6f726568705327"
RobotControlService = "22bb746f2ba075542d6f726568705327"
// characteristic IDs
WakeCharacteristic = "22bb746f2bbf75542d6f726568705327"
WakeCharacteristic = "22bb746f2bbf75542d6f726568705327"
TXPowerCharacteristic = "22bb746f2bb275542d6f726568705327"
AntiDosCharacteristic = "22bb746f2bbd75542d6f726568705327"
@ -42,14 +43,13 @@ type packet struct {
checksum uint8
}
// NewSpheroOllieDriver creates a SpheroOllieDriver by name
func NewSpheroOllieDriver(a *BLEClientAdaptor, name string) *SpheroOllieDriver {
n := &SpheroOllieDriver{
name: name,
connection: a,
Eventer: gobot.NewEventer(),
packetChannel: make(chan *packet, 1024),
name: name,
connection: a,
Eventer: gobot.NewEventer(),
packetChannel: make(chan *packet, 1024),
}
return n
@ -82,6 +82,8 @@ func (s *SpheroOllieDriver) Start() (errs []error) {
// Halt stops Ollie driver (void)
func (b *SpheroOllieDriver) Halt() (errs []error) {
b.Sleep()
time.Sleep(500 * time.Microsecond)
return
}
@ -91,7 +93,7 @@ func (b *SpheroOllieDriver) Init() (err error) {
b.Wake()
// subscribe to Sphero response notifications
//b.adaptor().Subscribe(RobotControlService, ResponseCharacteristic, b.HandleResponses)
b.adaptor().Subscribe(RobotControlService, ResponseCharacteristic, b.HandleResponses)
return
}
@ -159,6 +161,15 @@ func (s *SpheroOllieDriver) Stop() {
s.Roll(0, 0)
}
// Go to sleep
func (s *SpheroOllieDriver) Sleep() {
s.packetChannel <- s.craftPacket([]uint8{0x00, 0x00, 0x00, 0x00, 0x00}, 0x00, 0x22)
}
func (s *SpheroOllieDriver) EnableStopOnDisconnect() {
s.packetChannel <- s.craftPacket([]uint8{0x00, 0x00, 0x00, 0x01}, 0x02, 0x37)
}
func (s *SpheroOllieDriver) write(packet *packet) (err error) {
buf := append(packet.header, packet.body...)
buf = append(buf, packet.checksum)