83 lines
1.6 KiB
Go
83 lines
1.6 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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"log"
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"os"
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"time"
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"gobot.io/x/gobot/v2"
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"gobot.io/x/gobot/v2/drivers/gpio"
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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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const (
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coilA1 = "7"
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coilA2 = "13"
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coilB1 = "11"
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coilB2 = "15"
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degPerStep = 1.875
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countRot = 10
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)
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stepPerRevision := int(360.0 / degPerStep)
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r := raspi.NewAdaptor()
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stepper := gpio.NewStepperDriver(r, [4]string{coilA1, coilB1, coilA2, coilB2}, gpio.StepperModes.DualPhaseStepping,
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uint(stepPerRevision))
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work := func() {
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defer func() {
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ec := 0
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// set current to zero to prevent overheating
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if err := stepper.Sleep(); err != nil {
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ec = 1
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log.Println("work done", err)
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} else {
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log.Println("work done")
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}
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os.Exit(ec)
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}()
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gobot.After(5*time.Second, func() {
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// this stops only the current movement and the next will start immediately (if any)
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// this means for the example, that the first rotation stops after ~5 rotations
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log.Println("asynchron stop after 5 sec.")
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if err := stepper.Stop(); err != nil {
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log.Println(err)
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}
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})
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// one rotation per second
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if err := stepper.SetSpeed(60); err != nil {
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log.Println("set speed", err)
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}
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// Move forward N revolution
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if err := stepper.Move(stepPerRevision * countRot); err != nil {
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log.Println("move forward", err)
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}
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// Move backward N revolution
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if err := stepper.MoveDeg(-360 * countRot); err != nil {
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log.Println("move backward", err)
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}
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return
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}
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robot := gobot.NewRobot("stepperBot",
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[]gobot.Connection{r},
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[]gobot.Device{stepper},
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work,
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)
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robot.Start()
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}
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