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change JSBlasterPeriod to pwmDefaultPeriod

This commit is contained in:
INSEOB KANG 2022-10-23 09:06:56 +09:00
parent ee0bff582a
commit b04ecaa329
1 changed files with 9 additions and 9 deletions
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18
platforms/jetson/jetson_adaptor.go
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@ -12,6 +12,8 @@ import (
"gobot.io/x/gobot/sysfs"
)
const pwmDefaultPeriod = 3000000
// Adaptor is the Gobot Adaptor for the Jetson Nano
type Adaptor struct {
mutex *sync.Mutex
@ -26,17 +28,15 @@ type Adaptor struct {
spiDevices [2]spi.Connection
spiDefaultMode int
spiDefaultMaxSpeed int64
JSBlasterPeriod uint32
}
// NewAdaptor creates a Raspi Adaptor
func NewAdaptor() *Adaptor {
j := &Adaptor{
mutex: &sync.Mutex{},
name: gobot.DefaultName("JetsonNano"),
digitalPins: make(map[int]*sysfs.DigitalPin),
pwmPins: make(map[int]*PWMPin),
JSBlasterPeriod: 3000000,
mutex: &sync.Mutex{},
name: gobot.DefaultName("JetsonNano"),
digitalPins: make(map[int]*sysfs.DigitalPin),
pwmPins: make(map[int]*PWMPin),
}
j.i2cDefaultBus = 1
@ -224,7 +224,7 @@ func (j *Adaptor) PWMPin(pin string) (JetsonPWMPin sysfs.PWMPinner, err error) {
return
}
j.pwmPins[i].Export()
j.pwmPins[i].SetPeriod(j.JSBlasterPeriod)
j.pwmPins[i].SetPeriod(pwmDefaultPeriod)
j.pwmPins[i].Enable(true)
return j.pwmPins[i], nil
@ -237,7 +237,7 @@ func (j *Adaptor) PwmWrite(pin string, val byte) (err error) {
return err
}
duty := uint32(gobot.FromScale(float64(val), 0, 255) * float64(j.JSBlasterPeriod))
duty := uint32(gobot.FromScale(float64(val), 0, 255) * float64(pwmDefaultPeriod))
return sysfsPin.SetDutyCycle(duty)
}
@ -248,7 +248,7 @@ func (j *Adaptor) ServoWrite(pin string, angle byte) (err error) {
return err
}
duty := uint32(gobot.FromScale(float64(angle), 0, 180) * float64(j.JSBlasterPeriod))
duty := uint32(gobot.FromScale(float64(angle), 0, 180) * float64(pwmDefaultPeriod))
return sysfsPin.SetDutyCycle(duty)
}