From 409cdfb0412a7349aa94ddb88b372c18d0230a87 Mon Sep 17 00:00:00 2001
From: Josh Finken <josh.finken@here.com>
Date: Fri, 2 Sep 2016 06:44:50 -0600
Subject: [PATCH] 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.

---
 examples/Makefile                     | 23 --------
 examples/raspi_adafruit.go            | 82 ---------------------------
 examples/raspi_adafruit_stepper.go    |  4 +-
 platforms/i2c/adafruit_driver_test.go |  9 ++-
 4 files changed, 6 insertions(+), 112 deletions(-)
 delete mode 100644 examples/Makefile
 delete mode 100644 examples/raspi_adafruit.go

diff --git a/examples/Makefile b/examples/Makefile
deleted file mode 100644
index 7cced90e..00000000
--- a/examples/Makefile
+++ /dev/null
@@ -1,23 +0,0 @@
-
-ip 				:= 192.168.0.2
-build_dcmotor 	:= GOARM=7 GOARCH=arm GOOS=linux go build -v raspi_adafruit_dcmotor.go
-build_stepper 	:= GOARM=7 GOARCH=arm GOOS=linux go build -v raspi_adafruit_stepper.go
-build_servo 	:= GOARM=7 GOARCH=arm GOOS=linux go build -v raspi_adafruit_servo.go
-
-all:
-	$(build_stepper)	
-	$(build_dcmotor)	
-	$(build_servo)	
-	scp raspi_adafruit_stepper raspi_adafruit_dcmotor raspi_adafruit_servo pi@$(ip):~
-
-stepper:
-	$(build_stepper)	
-	scp raspi_adafruit_stepper pi@$(ip):~
-
-dc:
-	$(build_dcmotor)	
-	scp raspi_adafruit_dcmotor pi@$(ip):~
-
-servo:
-	$(build_servo)	
-	scp raspi_adafruit_servo pi@$(ip):~
diff --git a/examples/raspi_adafruit.go b/examples/raspi_adafruit.go
deleted file mode 100644
index 08d98f76..00000000
--- a/examples/raspi_adafruit.go
+++ /dev/null
@@ -1,82 +0,0 @@
-package main
-
-import (
-	"log"
-	"time"
-
-	"github.com/hybridgroup/gobot"
-	"github.com/hybridgroup/gobot/platforms/i2c"
-	"github.com/hybridgroup/gobot/platforms/raspi"
-)
-
-func adafruitStepperMotorRunner(a *i2c.AdafruitMotorHatDriver, motor int) (err error) {
-	log.Printf("Stepper Motor Run Loop...\n")
-	// set the speed state:
-	speed := 30 // rpm
-	a.SetStepperMotorSpeed(motor, speed)
-
-	//fmt.Println("Single coil steps")
-	if err = a.Step(motor, 100, i2c.AdafruitForward, i2c.AdafruitSingle); err != nil {
-		log.Printf(err.Error())
-		return
-	}
-	if err = a.Step(motor, 100, i2c.AdafruitBackward, i2c.AdafruitSingle); err != nil {
-		log.Printf(err.Error())
-		return
-	}
-	return
-}
-func adafruitDCMotorRunner(a *i2c.AdafruitMotorHatDriver, dcMotor int) (err error) {
-
-	log.Printf("DC Motor Run Loop...\n")
-	// set the speed:
-	var speed int32 = 255 // 255 = full speed!
-	if err = a.SetDCMotorSpeed(dcMotor, speed); err != nil {
-		return
-	}
-	// run FORWARD
-	if err = a.RunDCMotor(dcMotor, i2c.AdafruitForward); err != nil {
-		return
-	}
-	// Sleep and RELEASE
-	<-time.After(2000 * time.Millisecond)
-	if err = a.RunDCMotor(dcMotor, i2c.AdafruitRelease); err != nil {
-		return
-	}
-	// run BACKWARD
-	if err = a.RunDCMotor(dcMotor, i2c.AdafruitBackward); err != nil {
-		return
-	}
-	// Sleep and RELEASE
-	<-time.After(2000 * time.Millisecond)
-	if err = a.RunDCMotor(dcMotor, i2c.AdafruitRelease); err != nil {
-		return
-	}
-	return
-}
-func main() {
-	gbot := gobot.NewGobot()
-	r := raspi.NewRaspiAdaptor("raspi")
-	adaFruit := i2c.NewAdafruitMotorHatDriver(r, "adafruit")
-
-	work := func() {
-		gobot.Every(5*time.Second, func() {
-
-			//dcMotor := 3 // 0-based
-			//adafruitDCMotorRunner(adaFruit, dcMotor)
-
-			motor := 0 // 0-based
-			adafruitStepperMotorRunner(adaFruit, motor)
-		})
-	}
-
-	robot := gobot.NewRobot("adaFruitBot",
-		[]gobot.Connection{r},
-		[]gobot.Device{adaFruit},
-		work,
-	)
-
-	gbot.AddRobot(robot)
-
-	gbot.Start()
-}
diff --git a/examples/raspi_adafruit_stepper.go b/examples/raspi_adafruit_stepper.go
index 697ff41e..5a2956ac 100644
--- a/examples/raspi_adafruit_stepper.go
+++ b/examples/raspi_adafruit_stepper.go
@@ -13,8 +13,8 @@ func adafruitStepperMotorRunner(a *i2c.AdafruitMotorHatDriver, motor int) (err e
 	log.Printf("Stepper Motor Run Loop...\n")
 	// set the speed state:
 	speed := 30 // rpm
-	style := i2c.AdafruitMicrostep
-	steps := 50
+	style := i2c.AdafruitDouble
+	steps := 20
 
 	a.SetStepperMotorSpeed(motor, speed)
 
diff --git a/platforms/i2c/adafruit_driver_test.go b/platforms/i2c/adafruit_driver_test.go
index 494e0093..bcc01044 100644
--- a/platforms/i2c/adafruit_driver_test.go
+++ b/platforms/i2c/adafruit_driver_test.go
@@ -90,8 +90,8 @@ func TestAdafruitMotorHatDriverRunDCMotor(t *testing.T) {
 	ada, _ := initTestAdafruitMotorHatDriverWithStubbedAdaptor()
 
 	dcMotor := 1
-	// NOT using this prevents importing the i2c package
-	//dir := i2c.AdafruitForward
+	// NOTE: not using the direction constant to prevent importing
+	// the i2c package
 	err := ada.RunDCMotor(dcMotor, 1)
 	gobottest.Assert(t, err, nil)
 }
@@ -107,9 +107,8 @@ func TestAdafruitMotorHatDriverSetStepperMotorSpeed(t *testing.T) {
 func TestAdafruitMotorHatDriverStepperStep(t *testing.T) {
 	ada, _ := initTestAdafruitMotorHatDriverWithStubbedAdaptor()
 
-	// NOT using these prevents importing the i2c package
-	//dir := i2c.AdafruitForward
-	//style := i2c.AdafruitMicrostep
+	// NOTE: not using the direction and style constants to prevent importing
+	// the i2c package
 	stepperMotor := 0
 	steps := 50
 	err := ada.Step(stepperMotor, steps, 1, 3)