93 lines
2.4 KiB
Go
93 lines
2.4 KiB
Go
package gpio
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import "gobot.io/x/gobot"
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// ServoDriver Represents a Servo
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type ServoDriver struct {
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name string
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pin string
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connection ServoWriter
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gobot.Commander
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CurrentAngle byte
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}
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// NewServoDriver returns a new ServoDriver given a ServoWriter and pin.
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//
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// Adds the following API Commands:
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// "Move" - See ServoDriver.Move
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// "Min" - See ServoDriver.Min
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// "Center" - See ServoDriver.Center
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// "Max" - See ServoDriver.Max
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func NewServoDriver(a ServoWriter, pin string) *ServoDriver {
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s := &ServoDriver{
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name: "Servo",
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connection: a,
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pin: pin,
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Commander: gobot.NewCommander(),
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CurrentAngle: 0,
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}
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s.AddCommand("Move", func(params map[string]interface{}) interface{} {
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angle := byte(params["angle"].(float64))
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return s.Move(angle)
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})
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s.AddCommand("Min", func(params map[string]interface{}) interface{} {
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return s.Min()
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})
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s.AddCommand("Center", func(params map[string]interface{}) interface{} {
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return s.Center()
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})
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s.AddCommand("Max", func(params map[string]interface{}) interface{} {
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return s.Max()
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})
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return s
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}
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// Name returns the ServoDrivers name
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func (s *ServoDriver) Name() string { return s.name }
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// SetName sets the ServoDrivers name
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func (s *ServoDriver) SetName(n string) { s.name = n }
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// Pin returns the ServoDrivers pin
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func (s *ServoDriver) Pin() string { return s.pin }
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// Connection returns the ServoDrivers connection
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func (s *ServoDriver) Connection() gobot.Connection { return s.connection.(gobot.Connection) }
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// Start implements the Driver interface
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func (s *ServoDriver) Start() (err error) { return }
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// Halt implements the Driver interface
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func (s *ServoDriver) Halt() (err error) { return }
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// Move sets the servo to the specified angle. Acceptable angles are 0-180
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func (s *ServoDriver) Move(angle uint8) (err error) {
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if !(angle >= 0 && angle <= 180) {
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return ErrServoOutOfRange
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}
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s.CurrentAngle = angle
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return s.connection.ServoWrite(s.Pin(), s.angleToSpan(angle))
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}
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// Min sets the servo to it's minimum position
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func (s *ServoDriver) Min() (err error) {
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return s.Move(0)
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}
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// Center sets the servo to it's center position
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func (s *ServoDriver) Center() (err error) {
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return s.Move(90)
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}
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// Max sets the servo to its maximum position
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func (s *ServoDriver) Max() (err error) {
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return s.Move(180)
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}
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func (s *ServoDriver) angleToSpan(angle byte) byte {
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return byte(angle * (255 / 180))
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}
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