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Fix servo and DC motors presence 

Fix the presumption both servo and DC motors are present
This commit is contained in:
Diego Parisi 2021-02-05 20:16:08 +01:00 committed by Ron Evans
parent 979379d765
commit 27c76b4585
1 changed files with 20 additions and 0 deletions
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20
drivers/i2c/adafruit_driver.go
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@ -201,6 +201,21 @@ func (a *AdafruitMotorHatDriver) startDriver(connection Connection) (err error)
func (a *AdafruitMotorHatDriver) Start() (err error) {
bus := a.GetBusOrDefault(a.connector.GetDefaultBus())
err = a.startServoHat(bus)
if adafruitDebug && err != nil {
log.Printf("[adafruit_driver] start servohat error: %s\n", err)
}
err = a.startMotorHat(bus)
if adafruitDebug && err != nil {
log.Printf("[adafruit_driver] start motorhat error: %s\n", err)
}
return
}
// startServoHat starts the Servo motors connection.
func (a *AdafruitMotorHatDriver) startServoHat(bus int) (err error) {
if a.servoHatConnection, err = a.connector.GetConnection(servoHatAddress, bus); err != nil {
return
}
@ -209,6 +224,11 @@ func (a *AdafruitMotorHatDriver) Start() (err error) {
return
}
return
}
// startMotorHat starts the DC motors connection.
func (a *AdafruitMotorHatDriver) startMotorHat(bus int) (err error) {
if a.motorHatConnection, err = a.connector.GetConnection(motorHatAddress, bus); err != nil {
return
}