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Update beaglebone package

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This commit is contained in:
Adrian Zankich 2014-04-28 04:39:51 -07:00
parent 8c41b83316
commit 66af2c90eb
13 changed files with 92 additions and 86 deletions
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2
beaglebone/analog_pin.go
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@ -1,4 +1,4 @@
package gobotBeaglebone
package beaglebone
import (
"fmt"

44
beaglebone/beaglebone.go → beaglebone/beaglebone_adaptor.go
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@ -1,4 +1,4 @@
package gobotBeaglebone
package beaglebone
import (
"github.com/hybridgroup/gobot"
@ -97,7 +97,7 @@ var analogPins = map[string]string{
"P8_35": "AIN6",
}
type Beaglebone struct {
type BeagleboneAdaptor struct {
gobot.Adaptor
digitalPins []*digitalPin
pwmPins map[string]*pwmPin
@ -105,14 +105,18 @@ type Beaglebone struct {
i2cDevice *i2cDevice
}
func (b *Beaglebone) Connect() bool {
func NewBeagleboneAdaptor() *BeagleboneAdaptor {
return &BeagleboneAdaptor{}
}
func (b *BeagleboneAdaptor) Connect() bool {
b.digitalPins = make([]*digitalPin, 120)
b.pwmPins = make(map[string]*pwmPin)
b.analogPins = make(map[string]*analogPin)
return true
}
func (b *Beaglebone) Finalize() bool {
func (b *BeagleboneAdaptor) Finalize() bool {
for _, pin := range b.pwmPins {
if pin != nil {
pin.release()
@ -128,48 +132,48 @@ func (b *Beaglebone) Finalize() bool {
}
return true
}
func (b *Beaglebone) Reconnect() bool { return true }
func (b *Beaglebone) Disconnect() bool { return true }
func (b *BeagleboneAdaptor) Reconnect() bool { return true }
func (b *BeagleboneAdaptor) Disconnect() bool { return true }
func (b *Beaglebone) PwmWrite(pin string, val byte) {
func (b *BeagleboneAdaptor) PwmWrite(pin string, val byte) {
i := b.pwmPin(pin)
period := 500000.0
duty := gobot.FromScale(float64(^val), 0, 255.0)
b.pwmPins[i].pwmWrite(strconv.Itoa(int(period)), strconv.Itoa(int(period*duty)))
}
func (b *Beaglebone) InitServo() {}
func (b *Beaglebone) ServoWrite(pin string, val byte) {
func (b *BeagleboneAdaptor) InitServo() {}
func (b *BeagleboneAdaptor) ServoWrite(pin string, val byte) {
i := b.pwmPin(pin)
period := 20000000.0
duty := gobot.FromScale(float64(^val), 0, 180.0)
b.pwmPins[i].pwmWrite(strconv.Itoa(int(period)), strconv.Itoa(int(period*duty)))
}
func (b *Beaglebone) DigitalWrite(pin string, val byte) {
func (b *BeagleboneAdaptor) DigitalWrite(pin string, val byte) {
i := b.digitalPin(pin, "w")
b.digitalPins[i].digitalWrite(strconv.Itoa(int(val)))
}
func (b *Beaglebone) AnalogRead(pin string) int {
func (b *BeagleboneAdaptor) AnalogRead(pin string) int {
i := b.analogPin(pin)
return b.analogPins[i].analogRead()
}
func (b *Beaglebone) I2cStart(address byte) {
func (b *BeagleboneAdaptor) I2cStart(address byte) {
b.i2cDevice = newI2cDevice(I2C_LOCATION, address)
b.i2cDevice.start()
}
func (b *Beaglebone) I2cWrite(data []byte) {
func (b *BeagleboneAdaptor) I2cWrite(data []byte) {
b.i2cDevice.write(data)
}
func (b *Beaglebone) I2cRead(size byte) []byte {
func (b *BeagleboneAdaptor) I2cRead(size byte) []byte {
return b.i2cDevice.read(size)
}
func (b *Beaglebone) translatePin(pin string) int {
func (b *BeagleboneAdaptor) translatePin(pin string) int {
for key, value := range pins {
if key == pin {
return value
@ -178,7 +182,7 @@ func (b *Beaglebone) translatePin(pin string) int {
panic("Not a valid pin")
}
func (b *Beaglebone) translatePwmPin(pin string) string {
func (b *BeagleboneAdaptor) translatePwmPin(pin string) string {
for key, value := range pwmPins {
if key == pin {
return value
@ -187,7 +191,7 @@ func (b *Beaglebone) translatePwmPin(pin string) string {
panic("Not a valid pin")
}
func (b *Beaglebone) translateAnalogPin(pin string) string {
func (b *BeagleboneAdaptor) translateAnalogPin(pin string) string {
for key, value := range analogPins {
if key == pin {
return value
@ -196,7 +200,7 @@ func (b *Beaglebone) translateAnalogPin(pin string) string {
panic("Not a valid pin")
}
func (b *Beaglebone) analogPin(pin string) string {
func (b *BeagleboneAdaptor) analogPin(pin string) string {
i := b.translateAnalogPin(pin)
if b.analogPins[i] == nil {
b.analogPins[i] = newAnalogPin(i)
@ -204,7 +208,7 @@ func (b *Beaglebone) analogPin(pin string) string {
return i
}
func (b *Beaglebone) digitalPin(pin string, mode string) int {
func (b *BeagleboneAdaptor) digitalPin(pin string, mode string) int {
i := b.translatePin(pin)
if b.digitalPins[i] == nil || b.digitalPins[i].Mode != mode {
b.digitalPins[i] = newDigitalPin(i, mode)
@ -212,7 +216,7 @@ func (b *Beaglebone) digitalPin(pin string, mode string) int {
return i
}
func (b *Beaglebone) pwmPin(pin string) string {
func (b *BeagleboneAdaptor) pwmPin(pin string) string {
i := b.translatePwmPin(pin)
if b.pwmPins[i] == nil {
b.pwmPins[i] = newPwmPin(i)

14
beaglebone/beaglebone_test.go → beaglebone/beaglebone_adaptor_test.go
View File

@ -1,4 +1,4 @@
package gobotBeaglebone
package beaglebone
import (
. "github.com/onsi/ginkgo"
@ -7,23 +7,23 @@ import (
var _ = Describe("Beaglebone", func() {
var (
adaptor *Beaglebone
b *BeagleboneAdaptor
)
BeforeEach(func() {
adaptor = new(Beaglebone)
b = NewBeagleboneAdaptor()
})
It("Must be able to Finalize", func() {
Expect(adaptor.Finalize()).To(Equal(true))
Expect(b.Finalize()).To(Equal(true))
})
It("Must be able to Connect", func() {
Expect(adaptor.Connect()).To(Equal(true))
Expect(b.Connect()).To(Equal(true))
})
It("Must be able to Disconnect", func() {
Expect(adaptor.Disconnect()).To(Equal(true))
Expect(b.Disconnect()).To(Equal(true))
})
It("Must be able to Reconnect", func() {
Expect(adaptor.Reconnect()).To(Equal(true))
Expect(b.Reconnect()).To(Equal(true))
})
})

2
beaglebone/digital_pin.go
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@ -1,4 +1,4 @@
package gobotBeaglebone
package beaglebone
import (
"os"

28
beaglebone/examples/blink.go
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@ -1,28 +0,0 @@
package main
import (
"github.com/hybridgroup/gobot"
"github.com/hybridgroup/gobot-beaglebone"
"github.com/hybridgroup/gobot-gpio"
)
func main() {
beaglebone := new(gobotBeaglebone.Beaglebone)
beaglebone.Name = "beaglebone"
led := gobotGPIO.NewLed(beaglebone)
led.Name = "led"
led.Pin = "P9_12"
work := func() {
gobot.Every("1s", func() { led.Toggle() })
}
robot := gobot.Robot{
Connections: []gobot.Connection{beaglebone},
Devices: []gobot.Device{led},
Work: work,
}
robot.Start()
}

2
beaglebone/gobot-beaglebone_suite_test.go
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@ -1,4 +1,4 @@
package gobotBeaglebone
package beaglebone
import (
. "github.com/onsi/ginkgo"

2
beaglebone/i2c_device.go
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@ -1,4 +1,4 @@
package gobotBeaglebone
package beaglebone
import (
"os"

2
beaglebone/pwm_pin.go
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@ -1,4 +1,4 @@
package gobotBeaglebone
package beaglebone
import (
"fmt"

30
examples/beaglebone_blink.go Normal file
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@ -0,0 +1,30 @@
package main
import (
"github.com/hybridgroup/gobot"
"github.com/hybridgroup/gobot/beaglebone"
"github.com/hybridgroup/gobot/gpio"
)
func main() {
beagleboneAdaptor := beaglebone.NewBeagleboneAdaptor()
beagleboneAdaptor.Name = "beaglebone"
led := gpio.NewLedDriver(beagleboneAdaptor)
led.Name = "led"
led.Pin = "P9_12"
work := func() {
gobot.Every("1s", func() {
led.Toggle()
})
}
robot := gobot.Robot{
Connections: []gobot.Connection{beagleboneAdaptor},
Devices: []gobot.Device{led},
Work: work,
}
robot.Start()
}

12
beaglebone/examples/blinkm.go → examples/beaglebone_blinkm.go
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@ -3,15 +3,15 @@ package main
import (
"fmt"
"github.com/hybridgroup/gobot"
"github.com/hybridgroup/gobot-beaglebone"
"github.com/hybridgroup/gobot-i2c"
"github.com/hybridgroup/gobot/beaglebone"
"github.com/hybridgroup/gobot/i2c"
)
func main() {
beaglebone := new(gobotBeaglebone.Beaglebone)
beaglebone.Name = "beaglebone"
beagleboneAdaptor := beaglebone.NewBeagleboneAdaptor()
beagleboneAdaptor.Name = "beaglebone"
blinkm := gobotI2C.NewBlinkM(beaglebone)
blinkm := i2c.NewBlinkMDriver(beagleboneAdaptor)
blinkm.Name = "blinkm"
work := func() {
@ -25,7 +25,7 @@ func main() {
}
robot := gobot.Robot{
Connections: []gobot.Connection{beaglebone},
Connections: []gobot.Connection{beagleboneAdaptor},
Devices: []gobot.Device{blinkm},
Work: work,
}

12
beaglebone/examples/led_brightness.go → examples/beaglebone_led_brightness.go
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@ -2,15 +2,15 @@ package main
import (
"github.com/hybridgroup/gobot"
"github.com/hybridgroup/gobot-beaglebone"
"github.com/hybridgroup/gobot-gpio"
"github.com/hybridgroup/gobot/beaglebone"
"github.com/hybridgroup/gobot/gpio"
)
func main() {
beaglebone := new(gobotBeaglebone.Beaglebone)
beaglebone.Name = "beaglebone"
beagleboneAdaptor := beaglebone.NewBeagleboneAdaptor()
beagleboneAdaptor.Name = "beaglebone"
led := gobotGPIO.NewLed(beaglebone)
led := gpio.NewLedDriver(beagleboneAdaptor)
led.Name = "led"
led.Pin = "P9_14"
@ -28,7 +28,7 @@ func main() {
}
robot := gobot.Robot{
Connections: []gobot.Connection{beaglebone},
Connections: []gobot.Connection{beagleboneAdaptor},
Devices: []gobot.Device{led},
Work: work,
}

16
beaglebone/examples/led_brightness_with_analog_input.go → examples/beaglebone_led_brightness_with_analog_input.go
View File

@ -3,26 +3,26 @@ package main
import (
"fmt"
"github.com/hybridgroup/gobot"
"github.com/hybridgroup/gobot-beaglebone"
"github.com/hybridgroup/gobot-gpio"
"github.com/hybridgroup/gobot/beaglebone"
"github.com/hybridgroup/gobot/gpio"
)
func main() {
beaglebone := new(gobotBeaglebone.Beaglebone)
beaglebone.Name = "beaglebone"
beagleboneAdaptor := beaglebone.NewBeagleboneAdaptor()
beagleboneAdaptor.Name = "beaglebone"
sensor := gobotGPIO.NewAnalogSensor(beaglebone)
sensor := gpio.NewAnalogSensorDriver(beagleboneAdaptor)
sensor.Name = "sensor"
sensor.Pin = "P9_33"
led := gobotGPIO.NewLed(beaglebone)
led := gpio.NewLedDriver(beagleboneAdaptor)
led.Name = "led"
led.Pin = "P9_14"
work := func() {
gobot.Every("0.1s", func() {
val := sensor.Read()
brightness := uint8(gobotGPIO.ToPwm(val))
brightness := uint8(gpio.ToPwm(val))
fmt.Println("sensor", val)
fmt.Println("brightness", brightness)
led.Brightness(brightness)
@ -30,7 +30,7 @@ func main() {
}
robot := gobot.Robot{
Connections: []gobot.Connection{beaglebone},
Connections: []gobot.Connection{beagleboneAdaptor},
Devices: []gobot.Device{sensor, led},
Work: work,
}

12
beaglebone/examples/servo.go → examples/beaglebone_servo.go
View File

@ -3,15 +3,15 @@ package main
import (
"fmt"
"github.com/hybridgroup/gobot"
"github.com/hybridgroup/gobot-beaglebone"
"github.com/hybridgroup/gobot-gpio"
"github.com/hybridgroup/gobot/beaglebone"
"github.com/hybridgroup/gobot/gpio"
)
func main() {
beaglebone := new(gobotBeaglebone.Beaglebone)
beaglebone.Name = "beaglebone"
beagleboneAdaptor := beaglebone.NewBeagleboneAdaptor()
beagleboneAdaptor.Name = "beaglebone"
servo := gobotGPIO.NewServo(beaglebone)
servo := gpio.NewServoDriver(beagleboneAdaptor)
servo.Name = "servo"
servo.Pin = "P9_14"
@ -24,7 +24,7 @@ func main() {
}
robot := gobot.Robot{
Connections: []gobot.Connection{beaglebone},
Connections: []gobot.Connection{beagleboneAdaptor},
Devices: []gobot.Device{servo},
Work: work,
}