cylon---JavaScript framework for robotics, physical computing, and the Internet of Things

2015年05月21日 Resource, robotics 暂无评论 阅读 1,554 次





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JavaScript framework for robotics, physical computing, and the Internet of Things


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


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


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

Parrot ARDrone 2.0

var Cylon = require('cylon');

  connections: {
    ardrone: { adaptor: 'ardrone', port: '' }

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

  work: function(my) {

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

Cat Toy (Leap Motion + Digispark + Servos)

var Cylon = require('cylon');

  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() {

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

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) {
    name: bot.name,

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

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

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

// start up all robots at once

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');

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


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
    • 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 forhttp/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

// Or for Socket.io

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.


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.


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.


  • All patches must be provided under the Apache 2.0 License
  • 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
  • Submit a Github Pull Request to the appropriate branch and ideally discuss the changes with us in IRC.
  • We will look at the patch, test it out, and give you feedback.
  • 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.
  • Take care to maintain the existing coding style.
  • Add unit tests for any new or changed functionality & lint and test your code using make test and make lint.
  • All pull requests should be "fast forward"
    • If there are commits after yours use “git rebase -i ”
    • If you have local changes you may need to use “git stash”
    • For git help see progit which is an awesome (and free) book on git

Release History

Version Notes
1.0.0 Remove deprecated Device and Connection syntax, add Basestar#respond method
0.22.2 Bug-fix for Registry loader
0.22.1 Remove lodash, misc. bug fixes
0.22.0 API extraction, new devices syntax.
0.21.2 Update Robeaux version
0.21.1 Add back debug logging for starting/connecting devices/connections
0.21.0 Remove Connection/Device objects, update Robot connection/device syntax, fluent syntax updates
0.20.2 Correct API issues, possible issue with test setups
0.20.1 Revert accidental scrict handling of param in driver initializer
0.20.0 Browser support, new module loading, log level support, misc. development changes
0.19.1 Correct issue with dynamic method proxying
0.19.0 Fluent syntax, improved start/halt, various other updates
0.18.0 Updates Robot and Driver commands structure
0.17.0 Updates to API to match CPPP-IO spec
0.16.0 New IO Utils, removal of Utils#bind, add Adaptor#_noop method.
0.15.1 Fixed issue with the API on Tessel
0.15.0 Better halting, cleaner startup, removed 'connect' and 'start' events, and misc other cleanups/refactors.
0.14.0 Removal of node-namespace and misc. cleanup
0.13.3 Fixes bug with disconnect functions not being called.
0.13.2 Use pure Express, adds server-sent-events, upd API.
0.13.1 Add API authentication and HTTPS support
0.13.0 Set minimum Node version to 0.10.20, add utils to global namespace and improve initialization routines
0.12.0 Extraction of CLI tooling
0.11.2 bugfixes
0.11.0 Refactor into pure JavaScript
0.10.4 Add JS helper functions
0.10.3 Fix dependency issue
0.10.2 Create connections convenience vars, refactor config loading
0.10.1 Updates required for test driven robotics, update Robeaux version, bugfixes
0.10.0 Use Robeaux UX, add CLI commands for helping connect to devices, bugfixes
0.9.0 Add AngularJS web interface to API, extensible commands for CLI
0.8.0 Refactored Adaptor and Driver into proper base classes for easier authoring of new modules
0.7.0 cylon command for generating new adaptors, support code for better GPIO support, literate examples
0.6.0 API exposes robot commands, fixes issues in driver/adaptor init
0.5.0 Improve API, add GPIO support for reuse in adaptors
0.4.0 Refactor proxy in Cylon.Basestar, improve API
0.3.0 Improved Cylon.Basestar, and added API
0.2.0 Cylon.Basestar to help develop external adaptors/drivers
0.1.0 Initial release for ongoing development


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



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