From 05ecda9cd0b9c5f8a3986fee55d9483068381943 Mon Sep 17 00:00:00 2001
From: Adrian Zankich <adrian@hybridgroup.com>
Date: Mon, 28 Oct 2013 20:26:57 -0700
Subject: [PATCH] Add collision event

---
 examples/roll.go | 8 ++++++++
 sphero_driver.go | 6 +++---
 2 files changed, 11 insertions(+), 3 deletions(-)

diff --git a/examples/roll.go b/examples/roll.go
index b2226dd..224bd4e 100644
--- a/examples/roll.go
+++ b/examples/roll.go
@@ -2,6 +2,7 @@ package main
 import (
   "github.com/hybridgroup/gobot"
   "github.com/hybridgroup/gobot-sphero"
+  "fmt"
 )
 
 func main() {
@@ -25,6 +26,13 @@ func main() {
 
     sphero.Stop()
 
+    go func() {
+      for{
+        gobot.On(sphero.Events["Collision"])
+        fmt.Println("Collision Detected!")
+      }
+    }()    
+
     gobot.Every("1s", func(){ 
       sphero.Roll(100, uint16(gobot.Random(0, 360))) 
     })
diff --git a/sphero_driver.go b/sphero_driver.go
index 90c86c1..37587cc 100644
--- a/sphero_driver.go
+++ b/sphero_driver.go
@@ -2,7 +2,6 @@ package gobotSphero
 
 import (
   "github.com/hybridgroup/gobot"
-  "fmt"
 )
 
 type packet struct {
@@ -20,6 +19,7 @@ type SpheroDriver struct {
 
 func NewSphero(sa *SpheroAdaptor) *SpheroDriver {
   s := new(SpheroDriver)
+  s.Events = make(map[string]chan interface{})
   s.SpheroAdaptor = sa
   return s
 }
@@ -60,6 +60,7 @@ func (sd *SpheroDriver) ConfigureCollisionDetection() {
   dlen := len(packet.body) + 1
   packet.header = []uint8{0xFF, 0xFF, 0x02, 0x12, sd.seq, uint8(dlen)}
   packet.checksum = sd.calculateChecksum(packet)
+  sd.Events["Collision"] = make(chan interface{}, 1024)
   sd.write(packet) 
 }
 
@@ -116,8 +117,7 @@ func (sd *SpheroDriver) handleMessageEvents() {
 }
 
 func (sd *SpheroDriver) handleCollisionDetected(data []uint8) {
-  //publish(event_topic_name("collision"), data)
-  fmt.Println("Collision")
+  sd.Events["Collision"] <- data
 }
 
 func (sd *SpheroDriver) readHeader() []uint8 {