Full Stack Robotics

hybridgroup.com

Arduino

var Cylon = require("cylon");

Cylon.robot({
  connections: {
    arduino: { adaptor: "firmata", port: "/dev/ttyACM0" }
  },

  devices: {
    led: { driver: "led", pin: 13 }
  },

  work: function(my) {
    every((1).second(), my.led.toggle);
  }
}).start();

Beaglebone Black

var Cylon = require("cylon");

Cylon.robot({
  connections: {
    beaglebone: { adaptor: "beaglebone" }
  },

  devices: {
    led: { driver: "led", pin: "P9_12" }
  },

  work: function(my) {
    every((1).second(), my.led.toggle);
  }
}).start();

Sphero + Commander + Robeaux

var cylon = require('cylon');
 
cylon.api('http',{
  host: '0.0.0.0',
  port: '8080',
  ssl:  false
});
 
cylon.robot({
  name: 'sphero-dpad',
  connections: { 
    sphero: { adaptor: 'sphero', port: '/dev/rfcomm2' } 
  },
  devices: { 
    sphero: { driver: 'sphero' } 
  },
  work: function() {
    var that = this;
    that.sphero.detectCollisions();
    that.sphero.setColor("white");
  },
  commands: function() {
    var that = this;
    return {
      move: function(direction) {
        var heading = 0;
 
        switch (direction) {
          case "up":
            heading = 0;
            break;
          case "down":
            heading = 180;
            break;
          case "left":
            heading = 270;
            break;
          case "right":
            heading = 90;
            break;
        }
 
        that.sphero.roll(100, heading);
 
        setTimeout(function() {
          that.sphero.stop();
        }, 500);
      },
      change_color: function(color) {
        that.sphero.setColor(color);
      }
    };
  }
}).start();

Choose Your Own Hardware Adventure!

To win a Sphero, tweet

@gosphero and @cylonjs

To win a Spark Core, tweet

@spark_io and @cylonjs

Brewmachine

Drink Dispenser

Intel Edison + MQTT

var cylon = require('cylon');
 
cylon.robot({
  name: "brewer",
  connections: {
    edison: { adaptor: 'intel-iot' },
    mqtt:   { adaptor: 'mqtt', host: 'tcp://127.0.0.1:1883' }
  },
  devices: {
    lever: { driver: 'button',     pin: 2,  connection: 'edison' },
    fault: { driver: 'button',     pin: 4,  connection: 'edison' },
    pump:  { driver: 'direct-pin', pin: 13, connection: 'edison' },
    start_pump: { driver: 'mqtt', topic: 'start_pump', connection: 'mqtt' },
    start_fault: { driver: 'mqtt', topic: 'start_fault', connection: 'mqtt' }
  },
  work: function() {
    var that = this,
        pumping = false,
        served = 0,
        dgram = {
          name: "Four",
          event: "online",
          details: "dispenser",
          drink_id: 0,
          dispenser_id: 4
        };
 
    that.lever.on('push', function() {
      console.log('lever');
      that.mqtt.publish('start_pump'); 
    });
 
    that.fault.on('push', function() {
      console.log('fault');
      that.mqtt.publish('start_fault');
    });

    that.start_pump.on('message', function(data) {
      if (!pumping) {
        pumping = true;
        that.pump.digitalWrite(1)
        dgram.drink_id++
        dgram.event = "online";
        that.mqtt.publish('pumped', JSON.stringify(dgram));
        setTimeout(function() {
          that.pump.digitalWrite(0);
          pumping = false;
        }, 2000);
      }
    });
 
    that.start_fault.on('message', function(data) {
      dgram.event = 'error';
      that.mqtt.publish('fault', JSON.stringify(dgram));
    }); 
  }
}).start();

Wearable Notifications

Intel Edison + Pebble + MQTT

watchbot.io

var cylon = require('cylon'),
    request = require('request');
 
cylon.api({
  host: "0.0.0.0",
  port: "8080",
  ssl: false
});
 
cylon.robot({
  name: 'hq',
  connections: {
    mqtt:   { adaptor: 'mqtt', host: 'tcp://127.0.0.1:1883' },
    pebble: { adaptor: 'pebble' } 
  },
  devices: {
    gcs:    { driver: 'mqtt', topic: 'gcs',    connection: 'mqtt' },
    pump:   { driver: 'mqtt', topic: 'pump',   connection: 'mqtt' },
    fault:  { driver: 'mqtt', topic: 'fault',  connection: 'mqtt' }, 
    drone:  { driver: 'mqtt', topic: 'drone',  connection: 'mqtt' }, 
    pumped: { driver: 'mqtt', topic: 'pumped', connection: 'mqtt' },
    pebble: { driver: 'pebble', connection: 'pebble' }
  },
  commands: function() {
    var that = this;
    return {
      pump: function() {
        that.mqtt.publish("start_pump");
      },
      fault: function() {
        that.mqtt.publish("start_fault");
      }
    };
  },
  work: function() {
    var that = this,
        brewmachine = "https://brewmachine.herokuapp.com/drinks";
 
    that.pump.on("message", function(data) {
      that.mqtt.publish("start_pump");
    });
 
    that.pumped.on("message", function(data) {
      request.post(brewmachine, { form: JSON.parse(data) });
      that.pebble.send_notification("Customers served: " + JSON.parse(data).drink_id);
      console.log("Customers served: " + JSON.parse(data).drink_id);
    });
 
    that.fault.on("message", function(data) {
      request.post(brewmachine, { form: JSON.parse(data) });
      that.pebble.send_notification("There was a fault!");
      console.log("There was a fault!");
    });
 
    that.drone.on("message", function(data) {
      request.post(brewmachine, { form: JSON.parse(data) });
      that.pebble.send_notification("Message from drone: " + data.toString());
      console.log("Message from drone: " + data.toString());
    });
 
    that.gcs.on("message", function(data) {
      request.post(brewmachine, { form: JSON.parse(data) });
      console.log(data.toString());
    });
  }
}).start();

Mobile Control

Intel Edison + Pebble + Commander + MQTT

...
  commands: function() {
    var that = this;
    return {
      pump: function() {
        that.mqtt.publish("start_pump");
      },
      fault: function() {
        that.mqtt.publish("start_fault");
      }
    };
  },
...

Drone Delivery

Intel Edison + MQTT + ARDrone + Commander + Pebble

var cylon = require("cylon");

cylon.robot({
  name: "gcs",
  connections: {
    joystick: { adaptor: "joystick" },
    ardrone:  { adaptor: 'rolling-spider', uuid: '276ca7b527984c289e72c5f0daf9ddfa'},
    mqtt:     { adaptor: "mqtt", host: "tcp://192.168.1.3:1883" }
  },
  devices: {
    controller: { driver: "dualshock-3", connection: "joystick" },
    drone:      { driver: "rolling-spider", connection: "ardrone" }
  },
  work: function() {
    var that = this;
        rightStick = { x: 0.0, y: 0.0 },
        leftStick = { x: 0.0, y: 0.0 },
        dgram = {
          name:         "gcs",
          dispenser_id: 34,
          drink_id:     0,
          event:        "available",
          details:      "drone",
        };

    that.drone.trim();
    that.mqtt.publish("gcs", JSON.stringify(dgram));

    that.controller.on("circle:press", function() {
      that.drone.frontFlip();
      dgram.event = "delivery complete";
      console.log(dgram);
      that.mqtt.publish("gcs", JSON.stringify(dgram));
    });

    that.controller.on("square:press", function() {
      that.drone.takeOff();
      dgram.event = "en route";
      console.log(dgram);
      that.mqtt.publish("gcs", JSON.stringify(dgram));
    });

    that.controller.on("triangle:press", function() {
      that.drone.hover();
    });

    that.controller.on("x:press", function() {
      that.drone.land();
      dgram.event = "available";
      console.log(dgram);
      that.mqtt.publish("gcs", JSON.stringify(dgram));
    });

    that.controller.on("right_x:move", function(data) {
      rightStick.x = data;
    });

    that.controller.on("right_y:move", function(data) {
      rightStick.y = data;
    });

    that.controller.on("left_x:move", function(data) {
      leftStick.x = data;
    });

    that.controller.on("left_y:move", function(data) {
      leftStick.y = data;
    });

    setInterval(function() {
      var pair = leftStick;

      if (pair.y < 0) {
        that.drone.forward(validatePitch(pair.y));
      } else if (pair.y > 0) {
        that.drone.backward(validatePitch(pair.y));
      }

      if (pair.x > 0) {
        that.drone.right(validatePitch(pair.x));
      } else if (pair.x < 0) {
        that.drone.left(validatePitch(pair.x));
      }
    }, 0);

    setInterval(function() {
      var pair = rightStick;

      if (pair.y < 0) {
        that.drone.up(validatePitch(pair.y));
      } else if (pair.y > 0) {
        that.drone.down(validatePitch(pair.y));
      }

      if (pair.x > 0) {
        that.drone.clockwise(validatePitch(pair.x));
      } else if (pair.x < 0) {
        that.drone.counterClockwise(validatePitch(pair.x));
      }
    }, 0);

    setInterval(function() {
      that.drone.hover();
    }, 10);
  }
}).start();

function validatePitch(data) {
  var value = Math.abs(data);
  if (value >= 0.1) {
    if (value <= 1.0) {
      return (Math.round(value * 100.0) / 100.0) * 100;
    } else {
      return 1.0 * 100;
    }
  } else {
    return 0.0;
  }
}