func adafruitDCMotorRunner(a *i2c.AdafruitMotorHatDriver, dcMotor int) (err error) {
log.Printf("DC Motor Run Loop...\n")
// set the speed:
var speed int32 = 255 // 255 = full speed!
if err = a.SetDCMotorSpeed(dcMotor, speed); err != nil {
return
}
// run FORWARD
if err = a.RunDCMotor(dcMotor, i2c.AdafruitForward); err != nil {
return
}
// Sleep and RELEASE
time.Sleep(2000 * time.Millisecond)
if err = a.RunDCMotor(dcMotor, i2c.AdafruitRelease); err != nil {
return
}
// run BACKWARD
if err = a.RunDCMotor(dcMotor, i2c.AdafruitBackward); err != nil {
return
}
// Sleep and RELEASE
time.Sleep(2000 * time.Millisecond)
if err = a.RunDCMotor(dcMotor, i2c.AdafruitRelease); err != nil {
return
}
return
}
func adafruitServoMotorRunner(a *i2c.AdafruitMotorHatDriver) (err error) {
log.Printf("Servo Motor Run Loop...\n")
// Changing from the default 0x40 address because this configuration involves
// a Servo HAT stacked on top of a DC/Stepper Motor HAT on top of the Pi.
stackedHatAddr := 0x41
var channel byte = 1
deg := 90
// update the I2C address state
a.SetServoHatAddress(stackedHatAddr)
// Do not need to set this every run loop
freq := 60.0
if err = a.SetServoMotorFreq(freq); err != nil {
log.Printf("%s", err.Error())
return
}
// start in the middle of the 180-deg range
pulse := degree2pulse(deg)
if err = a.SetServoMotorPulse(channel, 0, pulse); err != nil {
log.Printf(err.Error())
return
}
// INCR
pulse = degree2pulse(deg + degIncrease)
if err = a.SetServoMotorPulse(channel, 0, pulse); err != nil {
log.Printf(err.Error())
return
}
time.Sleep(2000 * time.Millisecond)
// DECR
pulse = degree2pulse(deg - degIncrease)
if err = a.SetServoMotorPulse(channel, 0, pulse); err != nil {
log.Printf(err.Error())
return
}
return
}
func adafruitStepperMotorRunner(a *i2c.AdafruitMotorHatDriver, motor int) (err error) {
log.Printf("Stepper Motor Run Loop...\n")
// set the speed state:
speed := 30 // rpm
style := i2c.AdafruitDouble
steps := 20
a.SetStepperMotorSpeed(motor, speed)
if err = a.Step(motor, steps, i2c.AdafruitForward, style); err != nil {
log.Printf(err.Error())
return
}
if err = a.Step(motor, steps, i2c.AdafruitBackward, style); err != nil {
log.Printf(err.Error())
return
}
return
}
