func OpenDigits() (*Digits, error) {
mosiPin, err := embd.NewDigitalPin(10)
if err != nil {
return nil, err
}
clkPin, err := embd.NewDigitalPin(11)
if err != nil {
return nil, err
}
csPin, err := embd.NewDigitalPin(8)
if err != nil {
return nil, err
}
if err := mosiPin.SetDirection(embd.Out); err != nil {
panic(err)
}
if err := clkPin.SetDirection(embd.Out); err != nil {
panic(err)
}
if err := csPin.SetDirection(embd.Out); err != nil {
panic(err)
}
return &Digits{
mosiPin: mosiPin,
clkPin: clkPin,
csPin: csPin,
}, nil
}
func main() {
if err := embd.InitGPIO(); err != nil {
panic(err)
}
defer embd.CloseGPIO()
echoPin, err := embd.NewDigitalPin(10)
if err != nil {
panic(err)
}
triggerPin, err := embd.NewDigitalPin(9)
if err != nil {
panic(err)
}
rf := us020.New(echoPin, triggerPin, nil)
defer rf.Close()
for {
distance, err := rf.Distance()
if err != nil {
panic(err)
}
fmt.Printf("Distance is %v\n", distance)
time.Sleep(500 * time.Millisecond)
}
}
func OpenLights() (*Lights, error) {
redPin, err := embd.NewDigitalPin(2)
if err != nil {
return nil, err
}
yellowPin, err := embd.NewDigitalPin(3)
if err != nil {
return nil, err
}
greenPin, err := embd.NewDigitalPin(4)
if err != nil {
return nil, err
}
if err := redPin.SetDirection(embd.Out); err != nil {
panic(err)
}
if err := yellowPin.SetDirection(embd.Out); err != nil {
panic(err)
}
if err := greenPin.SetDirection(embd.Out); err != nil {
panic(err)
}
l := &Lights{
redPin: redPin,
yellowPin: yellowPin,
greenPin: greenPin,
}
return l, nil
}
func main() {
flag.Parse()
if err := embd.InitGPIO(); err != nil {
panic(err)
}
defer embd.CloseGPIO()
pin, err := embd.NewDigitalPin(7)
if err != nil {
panic(err)
}
defer pin.Close()
fluidSensor := watersensor.New(pin)
for {
wet, err := fluidSensor.IsWet()
if err != nil {
panic(err)
}
if wet {
glog.Info("bot is dry")
} else {
glog.Info("bot is Wet")
}
time.Sleep(500 * time.Millisecond)
}
}
func main() {
flag.Parse()
if err := embd.InitGPIO(); err != nil {
panic(err)
}
defer embd.CloseGPIO()
led, err := embd.NewDigitalPin(10)
if err != nil {
panic(err)
}
defer led.Close()
if err := led.SetDirection(embd.Out); err != nil {
panic(err)
}
if err := led.Write(embd.High); err != nil {
panic(err)
}
time.Sleep(1 * time.Second)
if err := led.SetDirection(embd.In); err != nil {
panic(err)
}
}
func main() {
flag.Parse()
if err := embd.InitGPIO(); err != nil {
panic(err)
}
defer embd.CloseGPIO()
btn, err := embd.NewDigitalPin(10)
if err != nil {
panic(err)
}
defer btn.Close()
if err := btn.SetDirection(embd.In); err != nil {
panic(err)
}
btn.ActiveLow(false)
quit := make(chan interface{})
err = btn.Watch(embd.EdgeFalling, func(btn embd.DigitalPin) {
quit <- btn
})
if err != nil {
panic(err)
}
fmt.Printf("Button %v was pressed.\n", <-quit)
}
func newButtons() Buttons {
btns := &buttons{
clicks: map[string]int{"0": 0, "1": 0, "2": 0},
gpioBtns: []*gpioButton{},
}
for i := 0; i < 3; i++ {
btnNum := i
pinNumber := 22 + i
log.Println("Set up", btnNum+1, "at pin", pinNumber)
pin, err := embd.NewDigitalPin(pinNumber)
if err != nil {
fmt.Printf("Error in NewDigitalPin (%d)!", pinNumber)
panic(err)
}
if err := pin.SetDirection(embd.In); err != nil {
fmt.Printf("Error in SetDirection (%d)!", pinNumber)
panic(err)
}
gpioBtn := &gpioButton{number: fmt.Sprintf("%d", btnNum), pin: pin}
btns.gpioBtns = append(btns.gpioBtns, gpioBtn)
}
return btns
}
func New(pin int) *LED {
p, err := embd.NewDigitalPin(pin)
if err != nil {
fmt.Fprintf(os.Stderr, "error instantiating pin %v: %s\n", pin, err)
os.Exit(1)
}
p.SetDirection(embd.Out)
return &LED{pin: p}
}
func inputPin(n int) embd.DigitalPin {
pin, err := embd.NewDigitalPin(n)
if err != nil {
panic(err)
}
pin.SetDirection(embd.In)
return pin
}
func outputPin(n int, value int) embd.DigitalPin {
pin, err := embd.NewDigitalPin(n)
if err != nil {
panic(err)
}
pin.SetDirection(embd.Out)
pin.Write(value)
return pin
}
func main() {
flag.Parse()
if err := embd.InitGPIO(); err != nil {
panic(err)
}
defer embd.CloseGPIO()
data, err := embd.NewDigitalPin(4)
if err != nil {
panic(err)
}
defer data.Close()
clock, err := embd.NewDigitalPin(3)
if err != nil {
panic(err)
}
defer clock.Close()
sensor := sht1x.New(data, clock)
quit := make(chan os.Signal, 1)
signal.Notify(quit, os.Interrupt, os.Kill)
defer signal.Stop(quit)
ticker := time.NewTicker(2 * time.Second)
defer ticker.Stop()
for {
select {
case <-ticker.C:
m, err := sensor.Measure()
if err != nil {
fmt.Printf("err: %v\n", err)
}
fmt.Printf("Temperature: %.1fC, Relative Humidity: %.1f%%, Dew Point: %.1fC\n", m.Temperature, m.RelativeHumidity, m.DewPoint)
case <-quit:
return
}
}
}
func InitGPIO(file string) (embd.DigitalPin, error) {
embd.InitGPIO()
pin, pin_err := embd.NewDigitalPin(file)
if pin_err != nil {
log.Fatal("Error opening pin! \n", pin_err)
return nil, pin_err
}
pin.SetDirection(embd.In)
return pin, nil
}
func main() {
flag.Parse()
if err := embd.InitGPIO(); err != nil {
panic(err)
}
defer embd.CloseGPIO()
echoPin, err := embd.NewDigitalPin("P9_21")
if err != nil {
panic(err)
}
triggerPin, err := embd.NewDigitalPin("P9_22")
if err != nil {
panic(err)
}
rf := us020.New(echoPin, triggerPin, nil)
defer rf.Close()
quit := make(chan os.Signal, 1)
signal.Notify(quit, os.Interrupt, os.Kill)
for {
select {
default:
distance, err := rf.Distance()
if err != nil {
panic(err)
}
fmt.Printf("Distance is %v\n", distance)
time.Sleep(500 * time.Millisecond)
case <-quit:
return
}
}
}
// New creates a new interface for matrix4x3.
func New(rowPins, colPins []int) (*Matrix4x3, error) {
m := &Matrix4x3{
rowPins: make([]embd.DigitalPin, rows),
colPins: make([]embd.DigitalPin, cols),
poll: pollDelay,
}
var err error
for i := 0; i < rows; i++ {
m.rowPins[i], err = embd.NewDigitalPin(rowPins[i])
if err != nil {
return nil, err
}
}
for i := 0; i < cols; i++ {
m.colPins[i], err = embd.NewDigitalPin(colPins[i])
if err != nil {
return nil, err
}
}
return m, nil
}
// NewGPIO creates a new HD44780 connected by a 4-bit GPIO bus.
func NewGPIO(
rs, en, d4, d5, d6, d7, backlight interface{},
blPolarity BacklightPolarity,
rowAddr RowAddress,
modes ...ModeSetter,
) (*HD44780, error) {
pinKeys := []interface{}{rs, en, d4, d5, d6, d7, backlight}
pins := [7]embd.DigitalPin{}
for idx, key := range pinKeys {
if key == nil {
continue
}
var digitalPin embd.DigitalPin
if pin, ok := key.(embd.DigitalPin); ok {
digitalPin = pin
} else {
var err error
digitalPin, err = embd.NewDigitalPin(key)
if err != nil {
glog.V(1).Infof("hd44780: error creating digital pin %+v: %s", key, err)
return nil, err
}
}
pins[idx] = digitalPin
}
for _, pin := range pins {
if pin == nil {
continue
}
err := pin.SetDirection(embd.Out)
if err != nil {
glog.Errorf("hd44780: error setting pin %+v to out direction: %s", pin, err)
return nil, err
}
}
return New(
NewGPIOConnection(
pins[0],
pins[1],
pins[2],
pins[3],
pins[4],
pins[5],
pins[6],
blPolarity),
rowAddr,
modes...,
)
}
func main() {
if err := embd.InitGPIO(); err != nil {
panic(err)
}
defer embd.CloseGPIO()
led, err := embd.NewDigitalPin(17)
if err != nil {
panic(err)
}
defer led.Close()
if err := led.SetDirection(embd.In); err != nil {
panic(err)
}
state := false
count := 0
for {
pin, err := led.Read()
if err != nil {
panic(err)
}
if pin == 1 {
if state == false {
count++
}
} else {
count = 0
state = false
}
if count >= 3 {
state = true
count = 0
client.SendCounterTick("GAS_1")
}
time.Sleep(10 * time.Millisecond)
}
}
func main() {
flag.Parse()
h, _, err := embd.DetectHost()
if err != nil {
return
}
var pinNo interface{}
switch h {
case embd.HostBBB:
pinNo = "P9_31"
case embd.HostRPi:
pinNo = 10
default:
panic("host not supported (yet :P)")
}
if err := embd.InitGPIO(); err != nil {
panic(err)
}
defer embd.CloseGPIO()
led, err := embd.NewDigitalPin(pinNo)
if err != nil {
panic(err)
}
defer led.Close()
if err := led.SetDirection(embd.Out); err != nil {
panic(err)
}
if err := led.Write(embd.High); err != nil {
panic(err)
}
time.Sleep(1 * time.Second)
if err := led.SetDirection(embd.In); err != nil {
panic(err)
}
}
func main() {
glog.Info("main: starting up")
flag.Parse()
var car Car = NullCar
if !*fakeCar {
if err := embd.InitI2C(); err != nil {
panic(err)
}
defer embd.CloseI2C()
bus := embd.NewI2CBus(byte(*i2cBusNo))
var cam Camera = NullCamera
if !*fakeCam {
cam = NewCamera(*camWidth, *camHeight, *camTurnImage, *camFps)
}
defer cam.Close()
cam.Run()
var comp Compass = NullCompass
if !*fakeCompass {
comp = NewCompass(bus)
}
defer comp.Close()
var rf RangeFinder = NullRangeFinder
if !*fakeRangeFinder {
thermometer := bmp180.New(bus)
defer thermometer.Close()
if err := embd.InitGPIO(); err != nil {
panic(err)
}
defer embd.CloseGPIO()
echoPin, err := embd.NewDigitalPin(*echoPinNumber)
if err != nil {
panic(err)
}
triggerPin, err := embd.NewDigitalPin(*triggerPinNumber)
if err != nil {
panic(err)
}
rf = NewRangeFinder(echoPin, triggerPin, thermometer)
}
defer rf.Close()
var fw FrontWheel = NullFrontWheel
if !*fakeFrontWheel {
sb := servoblaster.New()
defer sb.Close()
pwm := sb.Channel(*sbChannel)
servo := servo.New(pwm)
fw = &frontWheel{servo}
}
defer fw.Turn(0)
var engine Engine = NullEngine
if !*fakeEngine {
ctrl := pca9685.New(bus, 0x41)
defer ctrl.Close()
pwm := ctrl.AnalogChannel(15)
engine = NewEngine(pwm)
}
defer engine.Stop()
var gyro Gyroscope = NullGyroscope
if !*fakeGyro {
gyro = NewGyroscope(bus, l3gd20.R250DPS)
}
defer gyro.Close()
car = NewCar(bus, cam, comp, rf, gyro, fw, engine)
}
defer car.Close()
ws := NewWebServer(car)
ws.Run()
quit := make(chan os.Signal, 1)
signal.Notify(quit, os.Interrupt, os.Kill)
<-quit
glog.Info("main: all done")
}
func main() {
if err := embd.InitGPIO(); err != nil {
panic(err)
}
defer embd.CloseGPIO()
btn17, err := embd.NewDigitalPin(17)
if err != nil {
panic(err)
}
btn18, err := embd.NewDigitalPin(18)
if err != nil {
panic(err)
}
defer btn17.Close()
defer btn18.Close()
if err := btn17.SetDirection(embd.In); err != nil {
panic(err)
}
if err := btn18.SetDirection(embd.In); err != nil {
panic(err)
}
btn17.ActiveLow(false)
btn18.ActiveLow(false)
motion := make(chan embd.DigitalPin)
err = btn17.Watch(embd.EdgeBoth, func(btn embd.DigitalPin) {
motion <- btn
})
if err != nil {
panic(err)
}
err = btn18.Watch(embd.EdgeBoth, func(btn embd.DigitalPin) {
motion <- btn
})
if err != nil {
panic(err)
}
c := make(chan os.Signal, 1)
signal.Notify(c, os.Interrupt)
fmt.Println("listening...")
dur, _ := time.ParseDuration("-5m")
onTime := time.Now().Add(dur)
for {
select {
case <-c:
fmt.Println("bye")
return
case btn := <-motion:
direction := getDirection(btn.N())
v, _ := btn.Read()
if v == 0 {
log.Printf("Motion stopped from %s.\n", direction)
continue
}
log.Printf("Motion detected from %s.\n", direction)
if time.Since(onTime).Seconds() > 300 {
turnScreenOn()
onTime = time.Now()
}
}
}
}
func initHardware() {
err := embd.InitGPIO()
if err != nil {
fmt.Println("GPIO ERR:", err)
os.Exit(1)
}
relays = make([]embd.DigitalPin, 8)
if err != nil {
fmt.Println("GPIO ERR:", err)
os.Exit(1)
}
relays[0], err = embd.NewDigitalPin(4) //7)
if err != nil {
fmt.Println("GPIO ERR:", err)
os.Exit(1)
}
relays[1], err = embd.NewDigitalPin(17) //0)
if err != nil {
fmt.Println("GPIO ERR:", err)
os.Exit(1)
}
relays[2], err = embd.NewDigitalPin(18) //1)
if err != nil {
fmt.Println("GPIO ERR:", err)
os.Exit(1)
}
relays[3], err = embd.NewDigitalPin(27) //2)
if err != nil {
fmt.Println("GPIO ERR:", err)
os.Exit(1)
}
relays[4], err = embd.NewDigitalPin(22) //3)
if err != nil {
fmt.Println("GPIO ERR:", err)
os.Exit(1)
}
relays[5], err = embd.NewDigitalPin(23) //4)
if err != nil {
fmt.Println("GPIO ERR:", err)
os.Exit(1)
}
relays[6], err = embd.NewDigitalPin(24) //5)
if err != nil {
fmt.Println("GPIO ERR:", err)
os.Exit(1)
}
relays[7], err = embd.NewDigitalPin(25) //6)
if err != nil {
fmt.Println("GPIO ERR:", err)
os.Exit(1)
}
for _, r := range relays {
err = r.SetDirection(embd.Out)
if err != nil {
fmt.Println("GPIO ERR:", err)
os.Exit(1)
}
err = r.Write(embd.Low)
if err != nil {
fmt.Println("GPIO ERR:", err)
os.Exit(1)
}
}
}
func main() {
stepDelay := flag.Int("step-delay", 10, "milliseconds between steps")
flag.Parse()
if err := embd.InitGPIO(); err != nil {
panic(err)
}
defer embd.CloseGPIO()
// Physical pins 11,15,16,18 on rasp pi
// GPIO17,GPIO22,GPIO23,GPIO24
stepPinNums := []int{17, 22, 23, 24}
stepPins := make([]embd.DigitalPin, 4)
for i, pinNum := range stepPinNums {
pin, err := embd.NewDigitalPin(pinNum)
if err != nil {
panic(err)
}
defer pin.Close()
if err := pin.SetDirection(embd.Out); err != nil {
panic(err)
}
if err := pin.Write(embd.Low); err != nil {
panic(err)
}
defer pin.SetDirection(embd.In)
stepPins[i] = pin
}
// Define sequence described in manufacturer's datasheet
seq := [][]int{
[]int{1, 0, 0, 0},
[]int{1, 1, 0, 0},
[]int{0, 1, 0, 0},
[]int{0, 1, 1, 0},
[]int{0, 0, 1, 0},
[]int{0, 0, 1, 1},
[]int{0, 0, 0, 1},
[]int{1, 0, 0, 1},
}
stepCount := len(seq) - 1
stepDir := 2 // Set to 1 or 2 for clockwise, -1 or -2 for counter-clockwise
quit := make(chan os.Signal, 1)
signal.Notify(quit, os.Interrupt, os.Kill)
defer signal.Stop(quit)
// Start main loop
ticker := time.NewTicker(time.Duration(*stepDelay) * time.Millisecond)
defer ticker.Stop()
var stepCounter int
for {
select {
case <-ticker.C:
// set pins to appropriate values for given position in the sequence
for i, pin := range stepPins {
if seq[stepCounter][i] != 0 {
fmt.Printf("Enable pin %d, step %d\n", i, stepCounter)
if err := pin.Write(embd.High); err != nil {
panic(err)
}
} else {
if err := pin.Write(embd.Low); err != nil {
panic(err)
}
}
}
stepCounter += stepDir
// If we reach the end of the sequence start again
if stepCounter >= stepCount {
stepCounter = 0
} else if stepCounter < 0 {
stepCounter = stepCount
}
case <-quit:
return
}
}
}
func (g *GPIO) PinInit(pinId string, dir Direction, pullup PullUp, name string) error {
var pin interface{}
state := byte(0)
if dir == PWM {
host, _, err := embd.DetectHost()
if err != nil {
return err
}
if host == embd.HostRPi {
// use pi blaster pin
log.Println("Creating PWM pin on Pi")
// get the host descriptor
desc, err := embd.DescribeHost()
if err != nil {
return err
}
// get the pinmap
embdMap := desc.GPIODriver().PinMap()
// lookup the pinId in the map
var pinDesc *embd.PinDesc
for i := range embdMap {
pd := embdMap[i]
if pd.ID == pinId {
pinDesc = pd
break
}
for j := range pd.Aliases {
if pd.Aliases[j] == pinId {
pinDesc = pd
break
}
}
}
if pinDesc != nil {
// we found a pin with that name....what is its first Alias?
pinIdInt, err := strconv.Atoi(pinDesc.Aliases[0])
if err != nil {
log.Println("Failed to parse int from alias : ", pinDesc.Aliases[0])
return err
}
p := NewBlasterPin(pinIdInt)
pin = p
} else {
log.Println("Failed to find Pin ", pinId)
return errors.New("Failed to find pin " + pinId)
}
} else {
// bbb, so use embd since pwm pins work there
p, err := embd.NewPWMPin(pinId)
if err != nil {
log.Println("Failed to create PWM Pin using key ", pinId, " : ", err.Error())
return err
}
pin = p
}
} else {
// add a pin
p, err := embd.NewDigitalPin(pinId)
if err != nil {
return err
}
pin = p
err = p.SetDirection(embd.Direction(dir))
if err != nil {
return err
}
if pullup == Pull_Up {
err = p.PullUp()
// pullup and down not implemented on rpi host so we need to manually set initial states
// not ideal as a pullup really isn't the same thing but it works for most use cases
if err != nil {
log.Println("Failed to set pullup on " + pinId + " setting high state instead : " + err.Error())
// we failed to set pullup, so lets set initial state high instead
err = p.Write(1)
state = 1
if err != nil {
return err
}
}
} else if pullup == Pull_Down {
err = p.PullDown()
if err != nil {
log.Println("Failed to set pulldown on " + pinId + " setting low state instead : " + err.Error())
err = p.Write(0)
state = 1
if err != nil {
return err
}
}
}
}
// test to see if we already have a state for this pin
existingPin, exists := g.pinStates[pinId]
if exists {
existingPin.Pin = pin
existingPin.Name = name
existingPin.Dir = dir
existingPin.State = state
existingPin.Pullup = pullup
g.pinStates[pinId] = existingPin
g.pinStateChanged <- existingPin
g.pinRemoved <- pinId
g.pinAdded <- g.pinStates[pinId]
} else {
g.pinStates[pinId] = PinState{pin, pinId, dir, state, pullup, name}
g.pinAdded <- g.pinStates[pinId]
}
return nil
}
