Cylon.js is a JavaScript framework for robotics, physical computing, and the Internet of Things (IoT).

It provides a simple, but powerful way to create solutions that incorporate multiple, different hardware devices concurrently.

Want to use Ruby on robots? Check out our sister project, Artoo.

Want to use Golang to power your robots? Check out our sister project, Gobot.

Build Status:

Getting Started

Installation

All you need to get started on a new robot is the cylon module:

npm install cylon

With the core module installed, now install the modules for whatever hardware support you need. For the Arduino + LED blink example, we'll need the firmata, gpio, and i2c modules:

npm install cylon-firmata cylon-gpio cylon-i2c

Examples

Arduino + LED

The below example connects to an Arduino over a serial connection, and blinks an LED once per second.

The example requires that the Arduino have the Firmata sketch installed; which can be obtained either through the Ardunio IDE or the gort arduino upload firmata command available in gort.

var Cylon = require('cylon');

// define the robot
var robot = Cylon.robot({
  // change the port to the correct one for your Arduino
  connections: {
    arduino: { adaptor: 'firmata', port: '/dev/ttyACM0' }
  },

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

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

// connect to the Arduino and start working
robot.start();

Parrot ARDrone 2.0

var Cylon = require('cylon');

Cylon.robot({
  connections: {
    ardrone: { adaptor: 'ardrone', port: '192.168.1.1' }
  },

  devices: {
    drone: { driver: 'ardrone' }
  },

  work: function(my) {
    my.drone.takeoff();

    after((10).seconds(), my.drone.land);
    after((15).seconds(), my.drone.stop);
  }
}).start();

Cat Toy (Leap Motion + Digispark + Servos)

var Cylon = require('cylon');

Cylon.robot({
  connections: {
    digispark: { adaptor: 'digispark' },
    leapmotion: { adaptor: 'leapmotion' }
  },

  devices: {
    servo1: { driver: 'servo', pin: 0, connection: 'digispark' },
    servo2: { driver: 'servo', pin: 1, connection: 'digispark' },
    leapmotion: { driver: 'leapmotion', connection: 'leapmotion' }
  },

  work: function(my) {
    my.x = 90;
    my.z = 90;

    my.leapmotion.on('hand', function(hand) {
      my.x = hand.palmX.fromScale(-300, 300).toScale(30, 150);
      my.z = hand.palmZ.fromScale(-300, 300).toScale(30, 150);
    });

    every(100, function() {
      my.servo1.angle(my.x);
      my.servo2.angle(my.z);

      console.log(my.servo1.currentAngle() + ", " + my.servo2.currentAngle());
    });
  }
}).start();

Multiple Spheros + HTTP API Plugin

To use the HTTP API plugin, first install it's NPM module:

$ npm install cylon-api-http

Then it can be used in scripts:

var Cylon = require('cylon');

// tell the HTTP API plugin to listen for requests at https://localhost:4000
Cylon.api("http", { port: 4000 });

var bots = [
  { port: '/dev/rfcomm0', name: 'Thelma' },
  { port: '/dev/rfcomm1', name: 'Louise' }
];

bots.forEach(function(bot) {
  Cylon.robot({
    name: bot.name,

    connections: {
      sphero: { adaptor: "sphero", port: bot.port }
    },

    devices: {
      sphero: { driver: "sphero" }
    },

    work: function(my) {
      every((1).second(), function() {
        console.log(my.name);
        my.sphero.setRandomColor();
        my.sphero.roll(60, Math.floor(Math.random() * 360));
      });
    }
  });
});

// start up all robots at once
Cylon.start();

Fluent Syntax

For those more familiar with jQuery, D3, or other fluent-style JavaScript libraries, Cylon.JS also supports a chainable syntax:

var Cylon = require('cylon');

Cylon
  .robot()
  .connection('arduino', { adaptor: 'firmata', port: '/dev/ttyACM0' })
  .device('led', { driver: 'led', pin: 13 })
  .on('ready', function(bot) {
    setInterval(function() {
      bot.led.toggle();
    }, 1000);
  });

Cylon.start();

Hardware Support

Cylon.js has an extensible syntax for connecting to multiple, different hardware devices. The following 36 platforms are currently supported:

Platform	Support
ARDrone	cylon-ardrone
Arduino	cylon-firmata
Arduino YUN	cylon-firmata
AT&T M2X	cylon-m2x
Audio	cylon-audio
Beaglebone Black	cylon-beaglebone
Bebop	cylon-bebop
Bluetooth LE	cylon-ble
Crazyflie	cylon-crazyflie
Digispark	cylon-digispark
Electric Imp	cylon-imp
Intel Edison	cylon-intel-iot
Intel Galileo	cylon-intel-iot
Intel IoT Analytics	cylon-intel-iot-analytics
Joystick	cylon-joystick
Keyboard	cylon-keyboard
Leap Motion	cylon-leapmotion
MiP	cylon-mip
MQTT	cylon-mqtt
Nest	cylon-nest
Neurosky	cylon-neurosky
Ollie	cylon-ollie
OpenCV	cylon-opencv
Phillips Hue	cylon-hue
Pebble	cylon-pebble
Pinoccio	cylon-pinoccio
PowerUp 3.0	cylon-powerup
Rapiro	cylon-rapiro
Raspberry Pi	cylon-raspi
Salesforce	cylon-force
Skynet	cylon-skynet
Spark	cylon-spark
Speech	cylon-speech
Sphero	cylon-sphero
Tessel	cylon-tessel
WICED Sense	cylon-wiced-sense

Our implementation of GPIO (General Purpose Input/Output) allows for a shared set of drivers supporting a number of devices:

• GPIO <=> Drivers
  • Analog Sensor
  • Button
  • Continuous Servo
  • Direct Pin
  • IR Rangefinder
  • LED
  • MakeyButton
  • Maxbotix Ultrasonic Range Finder
  • Motor
  • Relay
  • RGB LED
  • Servo

Additionally, we also support a number of I2C (Inter-Integrated Circuit) devices through a shared cylon-i2c module:

• I2C <=> Drivers
  • BlinkM
  • BMP180
  • HMC6352 Digital Compass
  • LCD Display
  • LIDAR-Lite
  • LSM9DS0G 9 Degrees of Freedom IMU
  • LSM9DS0XM 9 Degrees of Freedom IMU
  • MPL115A2 Barometer/Thermometer
  • MPU6050 Triple Axis Accelerometer and Gyro
  • PCA9685 16-Channel 12-bit PWM/Servo Driver

In addition to our supported platforms, we have the following user contributed platforms:

Platform	Support
Parrot Rolling Spider	cylon-rolling-spider
PCDuino	cylon-pcduino
iBeacon	cylon-beacon
WeMo	cylon-wemo

We'll also have many more platforms and drivers coming soon, follow us on Twitter for updates.

Browser & Mobile Support

Cylon.js can be run directly in-browser, using the browserify NPM module. You can also run it from withing a Chrome connected app, or a PhoneGap mobile app.

For more info on browser support, and for help with different configurations, you can find more info in our docs.

API Plugins

Cylon.js has support for different API plugins that can be used to interact with your robots remotely. At this time we have support for http/https, mqtt, and socket.io with more coming in the near future.

To use an API plugin, install it alongside Cylon:

$ npm install cylon-api-http cylon-api-socketio

Then, all you need to do is call Cylon#api in your robot's script:

var Cylon = require("cylon");

// For http
Cylon.api('http');

// Or for Socket.io
Cylon.api('socketio');

Then visit https://localhost:3000/ and you are ready to control your robots from a web browser!

You can check out more information on the Cylon API in the docs here.

CLI

Cylon uses the Gort http://gort.io Command Line Interface (CLI) so you can access important features right from the command line. We call it "RobotOps", aka "DevOps For Robotics". You can scan, connect, update device firmware, and more!

Cylon also has its own CLI to generate new robots, adaptors, and drivers. You can check it out at https://github.com/hybridgroup/cylon-cli.

Documentation

We're busy adding documentation to our website, check it out at cylonjs.com/documentation.

If you want to help with documentation, you can find the code for our website at on the https://github.com/hybridgroup/cylon-site.

Contributing

For our contribution guidelines, please go to https://github.com/hybridgroup/cylon/blob/master/CONTRIBUTING.md .

Release History

For the release history, please go to https://github.com/hybridgroup/cylon/blob/master/RELEASES.md .

License

Copyright (c) 2013-2015 The Hybrid Group. Licensed under the Apache 2.0 license.