使用gobot库使Sphero的BB8绕圈走会导致错误消息

Question

I have recently discovered the awesome gobot library which also interfaces with Sphero's BB8. I am trying to make the robot go in a circle, and while the BB8 behaves as expected, I get error messages in the console.

Here's the function I am using to make the BB8 go in a circle:

func circles(driver *bb8.BB8Driver, steps float64) {
    rotateBy := math.Floor(360.0 / steps)
    currentAngle := 5.0
    directionInterval := 300

    for i := 0; i < int(steps); i++ {
        gobot.After(time.Millisecond*time.Duration(directionInterval), func() {
            driver.Roll(80, uint16(int(currentAngle)%360))
            currentAngle+=rotateBy
            directionInterval+=directionInterval
        })
    }
    gobot.After(time.Millisecond*time.Duration(directionInterval+500), func() {
        driver.Halt()
    })
}

And this is the worker program:

package main

import (
    "math"
    "os"

    "gobot.io/x/gobot"
    "gobot.io/x/gobot/platforms/ble"
    "gobot.io/x/gobot/platforms/sphero/bb8"
)

func main() {
    bleAdaptor := ble.NewClientAdaptor(os.Args[1])
    bb := bb8.NewDriver(bleAdaptor)
    work := func() {
        circles2(bb, 50)
    }

    robot := gobot.NewRobot("bb",
        []gobot.Connection{bleAdaptor},
        []gobot.Device{bb},
        work,
    )

    robot.Start()
}

When I run this, the robot does what I want it to do. However, I repeatedly get the same error message in the console suggesting the for loop is overloading a messaging queue of sorts:

ERR att client req: can't enqueue incoming notification. goroutine 34 [running]: runtime/debug.Stack(0x0, 0x0, 0x0) /usr/lib/go-1.7/src/runtime/debug/stack.go:24 +0x84 github.com/mgutz/logxi/v1.(*HappyDevFormatter).getLevelContext(0x1056a7e0, 0x3, 0x106418a0, 0x0, 0x0, 0x0, 0x0, 0x1056a794, 0x5) /path/to/dir/bb8/src/github.com/go-ble/ble/linux/att/client.go:551 +0x930 created by github.com/go-ble/ble/linux/gatt.NewClient /path/to/dir/bb8/src/github.com/go-ble/ble/linux/gatt/client.go:25 +0x124

I am wondering whether there is a better approach that avoids the error messages, as my knowledge of Go is still fairly limited. Any suggestions and comments are appreciated!