54 lines
925 B
Go
54 lines
925 B
Go
// +build example
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//
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// Do not build by default.
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/*
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How to run
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Pass serial port to use as the first param:
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go run examples/firmata_pca9685.go /dev/ttyACM0
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*/
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package main
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import (
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"fmt"
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"os"
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"time"
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"gobot.io/x/gobot"
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"gobot.io/x/gobot/drivers/gpio"
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"gobot.io/x/gobot/drivers/i2c"
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"gobot.io/x/gobot/platforms/firmata"
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)
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func main() {
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firmataAdaptor := firmata.NewAdaptor(os.Args[1])
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pca9685 := i2c.NewPCA9685Driver(firmataAdaptor)
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servo := gpio.NewServoDriver(pca9685, "15")
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work := func() {
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pca9685.SetPWMFreq(60)
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for i := 10; i < 150; i += 10 {
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fmt.Println("Turning", i)
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servo.Move(uint8(i))
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time.Sleep(1 * time.Second)
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}
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for i := 150; i > 10; i -= 10 {
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fmt.Println("Turning", i)
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servo.Move(uint8(i))
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time.Sleep(1 * time.Second)
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}
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}
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robot := gobot.NewRobot("servoBot",
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[]gobot.Connection{firmataAdaptor},
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[]gobot.Device{pca9685, servo},
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work,
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)
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robot.Start()
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}
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