Removing the raspi_adafruit program as it has been split into three separate programs, removing my Makefile for the raspi adafruit programs, and fixing up a few comments.
This commit is contained in:
Josh Finken
parent
8a4e5a6771
commit
409cdfb041
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@ -1,23 +0,0 @@
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ip := 192.168.0.2
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build_dcmotor := GOARM=7 GOARCH=arm GOOS=linux go build -v raspi_adafruit_dcmotor.go
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build_stepper := GOARM=7 GOARCH=arm GOOS=linux go build -v raspi_adafruit_stepper.go
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build_servo := GOARM=7 GOARCH=arm GOOS=linux go build -v raspi_adafruit_servo.go
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all:
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$(build_stepper)
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$(build_dcmotor)
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$(build_servo)
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scp raspi_adafruit_stepper raspi_adafruit_dcmotor raspi_adafruit_servo pi@$(ip):~
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stepper:
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$(build_stepper)
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scp raspi_adafruit_stepper pi@$(ip):~
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dc:
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$(build_dcmotor)
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scp raspi_adafruit_dcmotor pi@$(ip):~
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servo:
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$(build_servo)
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scp raspi_adafruit_servo pi@$(ip):~
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@ -1,82 +0,0 @@
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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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"github.com/hybridgroup/gobot"
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"github.com/hybridgroup/gobot/platforms/i2c"
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"github.com/hybridgroup/gobot/platforms/raspi"
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)
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func adafruitStepperMotorRunner(a *i2c.AdafruitMotorHatDriver, motor int) (err error) {
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log.Printf("Stepper Motor Run Loop...\n")
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// set the speed state:
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speed := 30 // rpm
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a.SetStepperMotorSpeed(motor, speed)
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//fmt.Println("Single coil steps")
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if err = a.Step(motor, 100, i2c.AdafruitForward, i2c.AdafruitSingle); err != nil {
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log.Printf(err.Error())
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return
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}
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if err = a.Step(motor, 100, i2c.AdafruitBackward, i2c.AdafruitSingle); 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 adafruitDCMotorRunner(a *i2c.AdafruitMotorHatDriver, dcMotor int) (err error) {
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log.Printf("DC Motor Run Loop...\n")
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// set the speed:
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var speed int32 = 255 // 255 = full speed!
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if err = a.SetDCMotorSpeed(dcMotor, speed); err != nil {
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return
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}
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// run FORWARD
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if err = a.RunDCMotor(dcMotor, i2c.AdafruitForward); err != nil {
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return
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}
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// Sleep and RELEASE
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<-time.After(2000 * time.Millisecond)
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if err = a.RunDCMotor(dcMotor, i2c.AdafruitRelease); err != nil {
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return
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}
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// run BACKWARD
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if err = a.RunDCMotor(dcMotor, i2c.AdafruitBackward); err != nil {
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return
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}
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// Sleep and RELEASE
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<-time.After(2000 * time.Millisecond)
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if err = a.RunDCMotor(dcMotor, i2c.AdafruitRelease); err != nil {
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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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gbot := gobot.NewGobot()
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r := raspi.NewRaspiAdaptor("raspi")
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adaFruit := i2c.NewAdafruitMotorHatDriver(r, "adafruit")
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work := func() {
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gobot.Every(5*time.Second, func() {
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//dcMotor := 3 // 0-based
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//adafruitDCMotorRunner(adaFruit, dcMotor)
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motor := 0 // 0-based
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adafruitStepperMotorRunner(adaFruit, motor)
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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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gbot.AddRobot(robot)
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gbot.Start()
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}
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@ -13,8 +13,8 @@ func adafruitStepperMotorRunner(a *i2c.AdafruitMotorHatDriver, motor int) (err e
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log.Printf("Stepper Motor Run Loop...\n")
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// set the speed state:
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speed := 30 // rpm
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style := i2c.AdafruitMicrostep
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steps := 50
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style := i2c.AdafruitDouble
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steps := 20
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a.SetStepperMotorSpeed(motor, speed)
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@ -90,8 +90,8 @@ func TestAdafruitMotorHatDriverRunDCMotor(t *testing.T) {
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ada, _ := initTestAdafruitMotorHatDriverWithStubbedAdaptor()
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dcMotor := 1
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// NOT using this prevents importing the i2c package
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//dir := i2c.AdafruitForward
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// NOTE: not using the direction constant to prevent importing
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// the i2c package
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err := ada.RunDCMotor(dcMotor, 1)
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gobottest.Assert(t, err, nil)
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}
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@ -107,9 +107,8 @@ func TestAdafruitMotorHatDriverSetStepperMotorSpeed(t *testing.T) {
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func TestAdafruitMotorHatDriverStepperStep(t *testing.T) {
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ada, _ := initTestAdafruitMotorHatDriverWithStubbedAdaptor()
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// NOT using these prevents importing the i2c package
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//dir := i2c.AdafruitForward
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//style := i2c.AdafruitMicrostep
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// NOTE: not using the direction and style constants to prevent importing
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// the i2c package
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stepperMotor := 0
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steps := 50
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err := ada.Step(stepperMotor, steps, 1, 3)
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