func main() {
flag.Parse()
sb := servoblaster.New()
defer sb.Close()
pwm := sb.Channel(0)
servo := servo.New(pwm)
c := make(chan os.Signal, 1)
signal.Notify(c, 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
var err error
switch left {
case true:
err = servo.SetAngle(45)
case false:
err = servo.SetAngle(135)
}
if err != nil {
panic(err)
}
case <-c:
return
}
}
}
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")
}