108 lines
2.3 KiB
Go
108 lines
2.3 KiB
Go
package i2c
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import (
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"gobot.io/x/gobot"
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"time"
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)
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const lidarliteAddress = 0x62
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// LIDARLiteDriver is the Gobot driver for the LIDARLite I2C LIDAR device.
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type LIDARLiteDriver struct {
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name string
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connector Connector
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connection Connection
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Config
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}
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// NewLIDARLiteDriver creates a new driver for the LIDARLite I2C LIDAR device.
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//
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// Params:
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// conn Connector - the Adaptor to use with this Driver
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//
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// Optional params:
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// i2c.WithBus(int): bus to use with this driver
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// i2c.WithAddress(int): address to use with this driver
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//
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func NewLIDARLiteDriver(a Connector, options ...func(Config)) *LIDARLiteDriver {
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l := &LIDARLiteDriver{
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name: gobot.DefaultName("LIDARLite"),
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connector: a,
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Config: NewConfig(),
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}
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for _, option := range options {
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option(l)
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}
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// TODO: add commands to API
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return l
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}
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// Name returns the Name for the Driver
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func (h *LIDARLiteDriver) Name() string { return h.name }
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// SetName sets the Name for the Driver
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func (h *LIDARLiteDriver) SetName(n string) { h.name = n }
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// Connection returns the connection for the Driver
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func (h *LIDARLiteDriver) Connection() gobot.Connection { return h.connector.(gobot.Connection) }
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// Start initialized the LIDAR
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func (h *LIDARLiteDriver) Start() (err error) {
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bus := h.GetBusOrDefault(h.connector.GetDefaultBus())
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address := h.GetAddressOrDefault(lidarliteAddress)
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h.connection, err = h.connector.GetConnection(address, bus)
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if err != nil {
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return err
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}
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return
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}
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// Halt returns true if devices is halted successfully
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func (h *LIDARLiteDriver) Halt() (err error) { return }
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// Distance returns the current distance in cm
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func (h *LIDARLiteDriver) Distance() (distance int, err error) {
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if _, err = h.connection.Write([]byte{0x00, 0x04}); err != nil {
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return
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}
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time.Sleep(20 * time.Millisecond)
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if _, err = h.connection.Write([]byte{0x0F}); err != nil {
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return
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}
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upper := []byte{0}
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bytesRead, err := h.connection.Read(upper)
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if err != nil {
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return
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}
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if bytesRead != 1 {
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err = ErrNotEnoughBytes
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return
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}
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if _, err = h.connection.Write([]byte{0x10}); err != nil {
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return
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}
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lower := []byte{0}
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bytesRead, err = h.connection.Read(lower)
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if err != nil {
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return
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}
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if bytesRead != 1 {
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err = ErrNotEnoughBytes
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return
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}
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distance = ((int(upper[0]) & 0xff) << 8) | (int(lower[0]) & 0xff)
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return
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}
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