46 lines
1.5 KiB
Go
46 lines
1.5 KiB
Go
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package i2c
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import (
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"gobot.io/x/gobot/v2"
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)
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// Adafruit2327Driver is a driver for Adafruit 16-Channel PWM/Servo HAT & Bonnet - a Raspberry Pi add-on, based on
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// PCA9685. This driver just wraps the PCA9685Driver.
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// Stacking 62 of them is possible (addresses 0x40..0x7E), for controlling up to 992 servos.
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// datasheet:
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// https://cdn-learn.adafruit.com/downloads/pdf/adafruit-16-channel-pwm-servo-hat-for-raspberry-pi.pdf
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type Adafruit2327Driver struct {
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*PCA9685Driver
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}
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// NewAdafruit2327Driver initializes a new driver for PWM servos.
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// Params:
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//
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// c Connector - the Adaptor to use with this Driver
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//
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// Optional params:
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//
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// i2c.WithBus(int): bus to use with this driver
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// i2c.WithAddress(int): address to use with this driver
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func NewAdafruit2327Driver(c Connector, options ...func(Config)) *Adafruit2327Driver {
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pca := NewPCA9685Driver(c, options...) // the default address of the driver is already 0x40
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pca.SetName(gobot.DefaultName("Adafruit2327ServoHat"))
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d := &Adafruit2327Driver{
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PCA9685Driver: pca,
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}
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// TODO: add API funcs
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return d
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}
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// SetServoMotorFreq sets the frequency for the currently addressed PWM Servo HAT.
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func (a *Adafruit2327Driver) SetServoMotorFreq(freq float64) error {
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return a.SetPWMFreq(float32(freq))
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}
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// SetServoMotorPulse is a convenience function to specify the 'tick' value,
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// between 0-4095, when the signal will turn on, and when it will turn off.
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func (a *Adafruit2327Driver) SetServoMotorPulse(channel byte, on, off int32) error {
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return a.SetPWM(int(channel), uint16(on), uint16(off))
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}
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