66 lines
1.2 KiB
Go
66 lines
1.2 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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motor := 0 // 0-based
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if err := adafruitStepperMotorRunner(adaFruit, motor); 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 adafruitStepperMotorRunner(a *i2c.Adafruit2348Driver, motor int) 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.Adafruit2348Double
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steps := 20
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if err := a.SetStepperMotorSpeed(motor, speed); err != nil {
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return err
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}
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if err := a.Step(motor, steps, i2c.Adafruit2348Forward, style); err != nil {
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return err
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}
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if err := a.Step(motor, steps, i2c.Adafruit2348Backward, style); 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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