51 lines
967 B
Go
51 lines
967 B
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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func adafruitStepperMotorRunner(a *i2c.AdafruitMotorHatDriver, motor int) (err error) {
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log.Printf("Stepper Motor Run Loop...\n")
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// set the speed state:
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speed := 30 // rpm
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style := i2c.AdafruitDouble
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steps := 20
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a.SetStepperMotorSpeed(motor, speed)
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if err = a.Step(motor, steps, i2c.AdafruitForward, style); err != nil {
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log.Printf(err.Error())
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return
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}
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if err = a.Step(motor, steps, i2c.AdafruitBackward, style); 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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motor := 0 // 0-based
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adafruitStepperMotorRunner(adaFruit, motor)
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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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