func (s *servo) init() error {
if s.initialized {
return nil
}
var p embd.PWMPin
var err error
fmt.Printf("NewPWMPin called for: %v", s.pin)
p, err = embd.NewPWMPin(s.pin)
if err != nil {
return err
}
s.pwmDriver = p
fmt.Printf("Setting polarity here to: %v", embd.Positive)
if err = s.pwmDriver.SetPolarity(embd.Positive); err != nil {
return err
}
fmt.Printf("Setting period here to: %v", 15000000)
if err = s.pwmDriver.SetPeriod(15000000); err != nil {
return err
}
fmt.Printf("Setting duty here to: %v", 2500000)
if err = s.pwmDriver.SetDuty(2500000); err != nil {
return err
}
s.initialized = true
return nil
}
func main() {
if err := embd.InitGPIO(); err != nil {
panic(err)
}
defer embd.CloseGPIO()
pwm, err := embd.NewPWMPin("P9_14")
if err != nil {
panic(err)
}
defer pwm.Close()
if err := pwm.SetDuty(embd.BBBPWMDefaultPeriod / 2); err != nil {
panic(err)
}
time.Sleep(1 * time.Second)
}
func main() {
flag.Parse()
embd.InitGPIO()
defer embd.CloseGPIO()
pwm, err := embd.NewPWMPin("P9_14")
if err != nil {
panic(err)
}
defer pwm.Close()
servo := servo.New(pwm)
quit := make(chan os.Signal, 1)
signal.Notify(quit, os.Interrupt, os.Kill)
turnTimer := time.Tick(500 * time.Millisecond)
left := true
servo.SetAngle(90)
defer func() {
servo.SetAngle(90)
}()
for {
select {
case <-turnTimer:
left = !left
switch left {
case true:
servo.SetAngle(70)
case false:
servo.SetAngle(110)
}
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
}
