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50d5869808
Make all examples to not be built by default by adding the build tag 'example'. Some files were automatically reformatted by goimports upon saving.
91 lines
1.9 KiB
Go
91 lines
1.9 KiB
Go
// +build example
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//
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// Do not build by default.
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package main
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import (
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"log"
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"time"
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"gobot.io/x/gobot"
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"gobot.io/x/gobot/drivers/i2c"
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"gobot.io/x/gobot/platforms/raspi"
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)
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var (
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// Min pulse length out of 4096
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servoMin = 150
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// Max pulse length out of 4096
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servoMax = 700
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// Limiting the max this servo can rotate (in deg)
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maxDegree = 180
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// Number of degrees to increase per call
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degIncrease = 10
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yawDeg = 90
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)
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func degree2pulse(deg int) int32 {
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pulse := servoMin
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pulse += ((servoMax - servoMin) / maxDegree) * deg
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return int32(pulse)
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}
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func adafruitServoMotorRunner(a *i2c.AdafruitMotorHatDriver) (err error) {
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log.Printf("Servo Motor Run Loop...\n")
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// Changing from the default 0x40 address because this configuration involves
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// a Servo HAT stacked on top of a DC/Stepper Motor HAT on top of the Pi.
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stackedHatAddr := 0x41
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var channel byte = 1
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deg := 90
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// update the I2C address state
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a.SetServoHatAddress(stackedHatAddr)
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// Do not need to set this every run loop
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freq := 60.0
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if err = a.SetServoMotorFreq(freq); err != nil {
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log.Printf("%s", err.Error())
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return
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}
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// start in the middle of the 180-deg range
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pulse := degree2pulse(deg)
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if err = a.SetServoMotorPulse(channel, 0, pulse); err != nil {
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log.Printf(err.Error())
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return
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}
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// INCR
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pulse = degree2pulse(deg + degIncrease)
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if err = a.SetServoMotorPulse(channel, 0, pulse); err != nil {
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log.Printf(err.Error())
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return
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}
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time.Sleep(2000 * time.Millisecond)
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// DECR
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pulse = degree2pulse(deg - degIncrease)
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if err = a.SetServoMotorPulse(channel, 0, pulse); err != nil {
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log.Printf(err.Error())
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return
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}
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return
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}
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func main() {
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r := raspi.NewAdaptor()
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adaFruit := i2c.NewAdafruitMotorHatDriver(r)
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work := func() {
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gobot.Every(5*time.Second, func() {
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adafruitServoMotorRunner(adaFruit)
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})
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}
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robot := gobot.NewRobot("adaFruitBot",
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[]gobot.Connection{r},
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[]gobot.Device{adaFruit},
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work,
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)
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robot.Start()
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}
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