ev32go

WARNING: This is a prototype / outdated project ! Use at your own risk.

For ev3dev news and neater ev3dev go language bindings visit ev3dev.org. EV3DEV sysfs layout / spec has changed since this was written(2015). Use the provided code generator (spec2go) to regenerate ev3api go code for the updated ev3dev spec file.

Project goals:

• Provide ev3dev go language bindings, and ability to rebuild the bindings from spec
• Help novice ev3dev and go developers - use code generation to enable use of code-completion and contextual help IDE features
• Support navigation for Differential (2 motor) and Holonomic (Omni / 3 motor) Robitic chassis
• Publish telemetry for live display and storage (e.g.: via InfluxDB and Grafana)
• Enable the user to write CSP / State Machine -based robots with ease, and minimal ev3-specific boiler plate code
• Try to avoid programming techniques which are slow on Go and ARM5 CPU

Contents:

• clip - wrapper for easily opening ev3dev devices/ports. Use this to create new device/port objects.
• docs
  • spec - ev3dev API spec, used to generate ev3api (currently contains a copy of ev3dev spec.json file, GPL LICENSE. See ev3dev-lang repo )
• cmd/spec2go - utility used to generate ev3api from ev3dev spec.json, called via go:generate, uses codegen library
• codegen - library and templates for generating device and sensor classes from ev3dev spec.json
• ev3api - Generated Go API for LEGO EV3 / ev3dev
• drivers
  • sysfs - ev3dev sysfs driver. Includes two implementations:
    • direct - sysfs files are open/closed on each access
    • cached - sysfs files are cached after opening. caching/open/close is handled automatically. Provides significant performance boost to sysfs access on EV3 platform.
  • keypad - lego ev3 keypad driver
• helpers - robotics helpers
  • monitor - monitor device and send change notifications over channel
  • mqtt - (broken) mqtt logger
• robotics
  • telemetry - telemetry logger (influxdb implementation provided)
  • chassis, nav, pose - partial port of lejos robotics framework navigation code. Supports both diffirential and holonomic (omni) robotic chassis.
  • pid - experiments in user-space PID control, partially based on ev3dev kernel-level pid implementation
• examples - examples and demos
  • holocontrol / diffcontrol - state machine -based robot control example. Robot follows IR remote while IR remote is in beacon/seek mode, but switches to IR direct control mode, if directional control command is recieved.
• bench - benchmarks to compare performance of different math library implementations on LEGO EV3 Platform (ARM5 non-FP CPU)

To build on Linux x86 for LEGO EV3 ARM5 no-FP target: GOARM=5 GOARCH=arm go build github.com/fuzzycow/ev32go/....

Pictures of robots and grabbers used with this project can be found at my mocpages page and home page

The code in this repository is (C) Fuzzycow.Org and is released under GPLv2 LICENSE

GPLv2 LICENSE was chosen to match the license of the ev3dev project, and ev3dev-lang spec.json file