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.After(2000 * time.Millisecond) // DECR pulse = degree2pulse(deg - degIncrease) if err = a.SetServoMotorPulse(channel, 0, pulse); err != nil { log.Printf(err.Error()) return } return }