func main() {
flag.Parse()
if err := embd.InitI2C(); err != nil {
panic(err)
}
defer embd.CloseI2C()
bus := embd.NewI2CBus(1)
d := pca9685.New(bus, 0x41)
d.Freq = 50
defer d.Close()
pwm := d.ServoChannel(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
switch left {
case true:
servo.SetAngle(70)
case false:
servo.SetAngle(110)
}
case <-c:
return
}
}
}
func main() {
flag.Parse()
if err := embd.InitI2C(); err != nil {
panic(err)
}
defer embd.CloseI2C()
bus := embd.NewI2CBus(1)
pca9685 := pca9685.New(bus, 0x41)
pca9685.Freq = 1000
defer pca9685.Close()
if err := pca9685.SetPwm(15, 0, 2000); err != nil {
panic(err)
}
c := make(chan os.Signal, 1)
signal.Notify(c, os.Interrupt, os.Kill)
timer := time.Tick(2 * time.Second)
sleeping := false
for {
select {
case <-timer:
sleeping = !sleeping
if sleeping {
pca9685.Sleep()
} else {
pca9685.Wake()
}
case <-c:
return
}
}
}