72 lines
1.5 KiB
Go
72 lines
1.5 KiB
Go
//go:build example
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// +build example
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//
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// Do not build by default.
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package main
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import (
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"fmt"
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"log"
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"time"
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"gobot.io/x/gobot/v2"
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"gobot.io/x/gobot/v2/drivers/i2c"
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"gobot.io/x/gobot/v2/platforms/raspi"
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)
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func main() {
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r := raspi.NewAdaptor()
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// we use the default address 0x60 for DC/Stepper Motor HAT on top of the Pi
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adaFruit := i2c.NewAdafruit2348Driver(r)
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work := func() {
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gobot.Every(5*time.Second, func() {
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dcMotor := 2 // 0-based
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if err := adafruitDCMotorRunner(adaFruit, dcMotor); err != nil {
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fmt.Println(err)
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}
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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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if err := robot.Start(); err != nil {
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panic(err)
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}
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}
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func adafruitDCMotorRunner(a *i2c.Adafruit2348Driver, dcMotor int) 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 err
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}
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// run FORWARD
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if err := a.RunDCMotor(dcMotor, i2c.Adafruit2348Forward); err != nil {
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return err
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}
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// Sleep and RELEASE
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time.Sleep(2000 * time.Millisecond)
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if err := a.RunDCMotor(dcMotor, i2c.Adafruit2348Release); err != nil {
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return err
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}
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// run BACKWARD
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if err := a.RunDCMotor(dcMotor, i2c.Adafruit2348Backward); err != nil {
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return err
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}
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// Sleep and RELEASE
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time.Sleep(2000 * time.Millisecond)
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if err := a.RunDCMotor(dcMotor, i2c.Adafruit2348Release); err != nil {
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return err
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}
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return nil
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}
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