103 lines
2.6 KiB
Go
103 lines
2.6 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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"time"
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"gobot.io/x/gobot/v2"
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"gobot.io/x/gobot/v2/platforms/raspi"
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"gobot.io/x/gobot/v2/system"
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)
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const (
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inPinNum = "21"
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outPinNum = "24"
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outPinInvertedNum = "26"
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debounceTime = 2 * time.Second
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)
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var (
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outPin gobot.DigitalPinner
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outPinInverted gobot.DigitalPinner
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)
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// Wiring
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// PWR Raspi: 1 (+3.3V, VCC), 2(+5V), 6, 9, 14, 20 (GND)
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// GPIO Raspi: header pin 21 (GPIO9) is input, pin 24 (GPIO8) is normal output, pin 26 (GPIO7) is inverted output
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// Button: the input pin is wired with a button to GND, the internal pull up resistor is used
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// LED's: the output pins are wired to the cathode of a LED, the anode is wired with a resistor (70-130Ohm for 20mA)
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// to VCC
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// Expected behavior: always one LED is on, the other in opposite state, if button is pressed for >2 seconds the state
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// changes
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func main() {
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board := raspi.NewAdaptor()
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work := func() {
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inPin, err := board.DigitalPin(inPinNum)
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if err != nil {
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fmt.Println(err)
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}
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if err := inPin.ApplyOptions(system.WithPinDirectionInput(), system.WithPinPullUp(),
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system.WithPinDebounce(debounceTime), system.WithPinEventOnBothEdges(buttonEventHandler)); err != nil {
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fmt.Println(err)
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}
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// note: WithPinOpenDrain() is optional, if using WithPinOpenSource() the LED's will not light up
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outPin, err = board.DigitalPin(outPinNum)
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if err != nil {
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fmt.Println(err)
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}
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if err := outPin.ApplyOptions(system.WithPinDirectionOutput(1), system.WithPinOpenDrain()); err != nil {
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fmt.Println(err)
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}
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outPinInverted, err = board.DigitalPin(outPinInvertedNum)
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if err != nil {
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fmt.Println(err)
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}
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if err := outPinInverted.ApplyOptions(system.WithPinActiveLow(), system.WithPinDirectionOutput(1),
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system.WithPinOpenDrain()); err != nil {
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fmt.Println(err)
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}
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fmt.Printf("\nPlease press and hold the button for at least %s\n", debounceTime)
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}
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robot := gobot.NewRobot("pinEdgeBot",
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[]gobot.Connection{board},
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[]gobot.Device{},
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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 buttonEventHandler(offset int, t time.Duration, et string, sn uint32, lsn uint32) {
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fmt.Printf("%s: %s detected on line %d with total sequence %d and line sequence %d\n", t, et, offset, sn, lsn)
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level := 1
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if et == "falling edge" {
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level = 0
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}
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err := outPin.Write(level)
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fmt.Printf("pin %s is now %d\n", outPinNum, level)
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if err != nil {
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fmt.Println(err)
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}
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err = outPinInverted.Write(level)
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fmt.Printf("pin %s is now not %d\n", outPinInvertedNum, level)
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if err != nil {
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fmt.Println(err)
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}
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}
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