예제 #1
0
파일: servo.go 프로젝트: bgentry/embd
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
		}
	}
}
예제 #2
0
파일: pca9685.go 프로젝트: bgentry/embd
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
		}
	}
}