87 lines
1.9 KiB
Go
87 lines
1.9 KiB
Go
package main
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import (
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"log"
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"time"
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"gobot.io/x/gobot"
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"gobot.io/x/gobot/drivers/i2c"
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"gobot.io/x/gobot/platforms/raspi"
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)
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var (
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// Min pulse length out of 4096
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servoMin = 150
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// Max pulse length out of 4096
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servoMax = 700
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// Limiting the max this servo can rotate (in deg)
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maxDegree = 180
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// Number of degrees to increase per call
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degIncrease = 10
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yawDeg = 90
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)
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func degree2pulse(deg int) int32 {
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pulse := servoMin
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pulse += ((servoMax - servoMin) / maxDegree) * deg
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return int32(pulse)
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}
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func adafruitServoMotorRunner(a *i2c.AdafruitMotorHatDriver) (err error) {
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log.Printf("Servo Motor Run Loop...\n")
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// Changing from the default 0x40 address because this configuration involves
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// a Servo HAT stacked on top of a DC/Stepper Motor HAT on top of the Pi.
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stackedHatAddr := 0x41
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var channel byte = 1
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deg := 90
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// update the I2C address state
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a.SetServoHatAddress(stackedHatAddr)
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// Do not need to set this every run loop
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freq := 60.0
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if err = a.SetServoMotorFreq(freq); err != nil {
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log.Printf("%s", err.Error())
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return
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}
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// start in the middle of the 180-deg range
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pulse := degree2pulse(deg)
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if err = a.SetServoMotorPulse(channel, 0, pulse); err != nil {
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log.Printf(err.Error())
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return
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}
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// INCR
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pulse = degree2pulse(deg + degIncrease)
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if err = a.SetServoMotorPulse(channel, 0, pulse); err != nil {
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log.Printf(err.Error())
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return
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}
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time.Sleep(2000 * time.Millisecond)
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// DECR
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pulse = degree2pulse(deg - degIncrease)
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if err = a.SetServoMotorPulse(channel, 0, pulse); err != nil {
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log.Printf(err.Error())
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return
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}
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return
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}
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func main() {
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r := raspi.NewAdaptor()
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adaFruit := i2c.NewAdafruitMotorHatDriver(r)
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work := func() {
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gobot.Every(5*time.Second, func() {
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adafruitServoMotorRunner(adaFruit)
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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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robot.Start()
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}
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