299 lines
11 KiB
Markdown
299 lines
11 KiB
Markdown
[](http://cylonjs.com)
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Cylon.js is a JavaScript framework for robotics and physical computing built on
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top of Node.js.
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It provides a simple, but powerful way to create solutions that incorporate
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multiple, different hardware devices concurrently.
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Want to use Ruby on robots? Check out our sister project, [Artoo][].
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Want to use Golang to power your robots? Check out our sister project,
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[Gobot][].
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[Artoo]: http://artoo.io
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[Gobot]: http://gobot.io
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## Build Status:
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[](http://travis-ci.org/hybridgroup/cylon) [](https://codeclimate.com/github/hybridgroup/cylon) [](https://codeclimate.com/github/hybridgroup/cylon)
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## Examples
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### Arduino + LED
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The below example connects to an Arduino over a serial connection, and blinks an
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LED once per second.
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The example requires that the Arduino have the Firmata sketch installed; which
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can be obtained either through the Ardunio IDE or the `cylon arduino upload
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firmata` command available in [cylon-cli][].
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```javascript
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var Cylon = require('cylon');
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// define the robot
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var robot = Cylon.robot({
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// change the port to the correct one for your Arduino
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connection: { name: 'arduino', adaptor: 'firmata', port: '/dev/ttyACM0' },
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device: { name: 'led', driver: 'led', pin: 13 },
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work: function(my) {
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every((1).second(), my.led.toggle);
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}
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});
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// connect to the Arduino and start working
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robot.start();
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```
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### Parrot ARDrone 2.0
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```javascript
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var Cylon = require('cylon');
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Cylon.robot({
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connection: { name: 'ardrone', adaptor: 'ardrone', port: '192.168.1.1' },
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device: { name: 'drone', driver: 'ardrone' },
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work: function(my) {
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my.drone.takeoff();
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after((10).seconds(), my.drone.land);
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after((15).seconds(), my.drone.stop);
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}
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}).start();
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```
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### Cat Toy (Leap Motion + Digispark + Servos)
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```javascript
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var Cylon = require('../..');
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Cylon.robot({
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connections: [
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{ name: 'digispark', adaptor: 'digispark'},
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{ name: 'leapmotion', adaptor: 'leapmotion', port: '127.0.0.1:6437' }
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],
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devices: [
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{name: 'servo1', driver: 'servo', pin: 0, connection: 'digispark'},
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{name: 'servo2', driver: 'servo', pin: 1, connection: 'digispark'},
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{name: 'leapmotion', driver: 'leapmotion', connection: 'leapmotion'}
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],
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work: function(my) {
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my['x'] = 90;
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my['z'] = 90;
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my.leapmotion.on('hand', function(hand) {
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my['x'] = hand.palmX.fromScale(-300, 300).toScale(30, 150);
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my['z'] = hand.palmZ.fromScale(-300, 300).toScale(30, 150);
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});
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every(100, function() {
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my.servo1.angle(my['x']);
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my.servo2.angle(my['z']);
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console.log("Current Angle: " + my.servo1.currentAngle() + ", " + my.servo2.currentAngle());
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});
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}
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}).start();
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```
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### Multiple Spheros + API Server
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```javascript
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var Cylon = require('cylon');
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// tell the API server to listen for requests at
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// https://localhost:4000
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Cylon.api({ port: 4000 });
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var bots = [
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{ port: '/dev/rfcomm0', name: 'Thelma' },
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{ port: '/dev/rfcomm1', name: 'Louise' }
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];
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var SpheroBot = function() {};
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SpheroBot.prototype.connection = { name: "sphero", adaptor: "sphero" };
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SpheroBot.prototype.device = { name: "sphero", driver: "sphero" };
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SpheroBot.prototype.work = function(my) {
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every((1).second(), function() {
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console.log(my.name);
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my.sphero.setRandomColor();
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my.sphero.roll(60, Math.floor(Math.random() * 360));
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});
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};
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for (var i = 0; i < bots.length; i++) {
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var bot = bots[i];
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var robot = new SpheroBot();
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robot.connection.port = bot.port;
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robot.name = bot.name;
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Cylon.robot(robot);
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}
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// start up all robots at once
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Cylon.start();
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```
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[cylon-cli]: https://github.com/hybridgroup/cylon-cli
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## Hardware Support
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Cylon.js has an extensible syntax for connecting to multiple, different hardware
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devices. The following platforms are currently supported:
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- [Ardrone](http://ardrone2.parrot.com/) <==> [Adaptor/Drivers](https://github.com/hybridgroup/cylon-ardrone)
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- [Arduino](http://www.arduino.cc/) <==> [Adaptor](https://github.com/hybridgroup/cylon-firmata)
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- [Beaglebone Black](http://beagleboard.org/Products/BeagleBone+Black/) <==> [Adaptor](https://github.com/hybridgroup/cylon-beaglebone)
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- [Crazyflie](http://www.bitcraze.se/) <==> [Adaptor/Driver](https://github.com/hybridgroup/cylon-crazyflie)
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- [Digispark](http://digistump.com/products/1) <==> [Adaptor](https://github.com/hybridgroup/cylon-digispark)
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- [Joystick](http://en.wikipedia.org/wiki/Joystick) <==> [Adaptor/Driver](https://github.com/hybridgroup/cylon-joystick)
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- [Keyboard](http://en.wikipedia.org/wiki/Computer_keyboard) <==> [Adaptor/Driver](https://github.com/hybridgroup/cylon-keyboard)
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- [Leap Motion](https://www.leapmotion.com/) <==> [Adaptor/Driver](https://github.com/hybridgroup/cylon-leapmotion)
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- [Neurosky](http://store.neurosky.com/products/mindwave-mobile) <==> [Adaptor/Driver](https://github.com/hybridgroup/cylon-neurosky)
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- [OpenCV](http://opencv.org/) <==> [Adaptor/Drivers](https://github.com/hybridgroup/cylon-opencv)
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- [Pebble](http://www.getpebble.com/) <==> [Adaptor/Driver](https://github.com/hybridgroup/cylon-pebble)
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- [Rapiro](http://www.rapiro.com/) <==> [Adaptor/Driver](https://github.com/hybridgroup/cylon-rapiro)
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- [Raspberry Pi](http://www.raspberrypi.org/) <==> [Adaptor](https://github.com/hybridgroup/cylon-raspi)
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- [Salesforce](http://www.force.com/) <==> [Adaptor/Driver](https://github.com/hybridgroup/cylon-force)
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- [Skynet](http://skynet.im/) <==> [Adaptor](https://github.com/hybridgroup/cylon-skynet)
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- [Spark](http://www.spark.io/) <==> [Adaptor](https://github.com/hybridgroup/cylon-spark)
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- [Sphero](http://www.gosphero.com/) <==> [Adaptor/Driver](https://github.com/hybridgroup/cylon-sphero)
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- [Tessel](https://tessel.io/) <==> [Adaptor/Driver](https://github.com/hybridgroup/cylon-tessel)
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Our implementation of GPIO (General Purpose Input/Output) allows for a shared
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set of drivers supporting a number of devices:
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- [GPIO](https://en.wikipedia.org/wiki/General_Purpose_Input/Output) <=> [Drivers](https://github.com/hybridgroup/cylon-gpio)
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- Analog Sensor
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- Button
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- Continuous Servo
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- IR Rangefinder
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- LED
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- MakeyButton
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- Motor
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- Maxbotix Ultrasonic Range Finder
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- Servo
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Additionally, we also support a number of I2C (Inter-Integrated Circuit) devices
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through a shared `cylon-i2c` module:
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- [I2C](https://en.wikipedia.org/wiki/I%C2%B2C) <=> [Drivers](https://github.com/hybridgroup/cylon-i2c)
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- BlinkM
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- BMP180
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- HMC6352 Digital Compass
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- LCD
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- MPL115A2 Barometer/Thermometer
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- MPU6050
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We'll also have many more platforms and drivers coming soon, [follow us on
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Twitter][Twitter] for updates.
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[Twitter]: https://twitter.com/cylonjs
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## Getting Started
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### Installation
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All you need to get started on a new robot is the `cylon` module:
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npm install cylon
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With the core module installed, now install the modules for whatever hardware
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support you need. For the Arduino + LED blink example, we'll need the 'firmata',
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'gpio', and 'i2c' modules:
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npm install cylon-firmata cylon-gpio cylon-i2c
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## CLI
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Cylon has a Command-Line Interface counterpart in [cylon-cli][]. This tool lets
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you access important features from the command line, and isn't dependent on
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Cylon itself. Check it out at https://github.com/hybridgroup/cylon-cli.
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## Documentation
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We're busy adding documentation to our website, check it out at
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[cylonjs.com/documentation][docs].
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If you want to help with documentation, you can find the code for our website at
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on the [https://github.com/hybridgroup/cylon-site](https://github.com/hybridgroup/cylon-site).
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[docs]: http://cylonjs.com/documentation
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[docs site]: https://github.com/hybridgroup/cylon-site
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## Contributing
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* All patches must be provided under the Apache 2.0 License
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* Please use the -s option in git to "sign off" that the commit is your work and you are providing it under the Apache 2.0 License
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* Submit a Github Pull Request to the appropriate branch and ideally discuss the changes with us in IRC.
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* We will look at the patch, test it out, and give you feedback.
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* Avoid doing minor whitespace changes, renamings, etc. along with merged content. These will be done by the maintainers from time to time but they can complicate merges and should be done seperately.
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* Take care to maintain the existing coding style.
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* Add unit tests for any new or changed functionality & lint and test your code using `make test` and `make lint`.
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* All pull requests should be "fast forward"
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* If there are commits after yours use “git rebase -i <new_head_branch>”
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* If you have local changes you may need to use “git stash”
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* For git help see [progit](http://git-scm.com/book) which is an awesome (and free) book on git
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## Release History
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Version 0.15.1 - Fixed issue with the API on Tessel
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Version 0.15.0 - Better halting, cleaner startup, removed 'connect' and 'start'
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events, and misc other cleanups/refactors.
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Version 0.14.0 - Removal of node-namespace and misc. cleanup
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Version 0.13.3 - Fixes bug with disconnect functions not being called.
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Version 0.13.2 - Use pure Express, adds server-sent-events, upd API.
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Version 0.13.1 - Add API authentication and HTTPS support
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Version 0.13.0 - Set minimum Node version to 0.10.20, add utils to global namespace and improve initialization routines
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Version 0.12.0 - Extraction of CLI tooling
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Version 0.11.2 - bugfixes
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Version 0.11.0 - Refactor into pure JavaScript
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Version 0.10.4 - Add JS helper functions
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Version 0.10.3 - Fix dependency issue
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Version 0.10.2 - Create connections convenience vars, refactor config loading
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Version 0.10.1 - Updates required for test driven robotics, update Robeaux version, bugfixes
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Version 0.10.0 - Use Robeaux UX, add CLI commands for helping connect to devices, bugfixes
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Version 0.9.0 - Add AngularJS web interface to API, extensible commands for CLI
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Version 0.8.0 - Refactored Adaptor and Driver into proper base classes for easier authoring of new modules
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Version 0.7.0 - cylon command for generating new adaptors, support code for better GPIO support, literate examples
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Version 0.6.0 - API exposes robot commands, fixes issues in driver/adaptor init
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Version 0.5.0 - Improve API, add GPIO support for reuse in adaptors
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Version 0.4.0 - Refactor proxy in Cylon.Basestar, improve API
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Version 0.3.0 - Improved Cylon.Basestar, and added API
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Version 0.2.0 - Cylon.Basestar to help develop external adaptors/drivers
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Version 0.1.0 - Initial release for ongoing development
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## License
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Copyright (c) 2013-2014 The Hybrid Group. Licensed under the Apache 2.0 license.
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