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
}
}
}
func main() {
guardianToken := os.Getenv("GUARDIAN_TOKEN")
if guardianToken == "" {
log.Fatal("GUARDIAN_TOKEN is required")
}
ctx, cancel := context.WithCancel(context.Background())
sigch := make(chan os.Signal, 2)
signal.Notify(sigch, os.Interrupt, syscall.SIGTERM)
go handleSignals(sigch, ctx, cancel)
if err := embd.InitI2C(); err != nil {
log.Fatal("I2C init: ", err)
}
defer embd.CloseI2C()
bus := embd.NewI2CBus(1)
dev := pca9685.New(bus, 0x40)
dev.Freq = 100
defer dev.Close()
// wake the servo controller so we can reset its channels
if err := dev.Wake(); err != nil {
log.Fatal("waking: ", err)
}
resetAllChannels(dev)
resetTimer := time.After(time.Second) // long enough for servos to reset
query := url.Values{}
query.Set("vsn", "1.0.0")
query.Set("guardian_token", guardianToken)
u := url.URL{
Scheme: "wss",
Host: "opendoor-pusher.herokuapp.com",
Path: "/events/websocket",
RawQuery: query.Encode(),
}
joinPayload, err := json.Marshal(GuardianPayload{GuardianToken: guardianToken})
if err != nil {
log.Fatal(err)
}
client := phoenix.InitClient(u.String(), []string{topicName}, joinPayload)
eventch := client.Start()
defer client.Close()
select {
case <-resetTimer: // servos have had enough time to reset
if err := dev.Sleep(); err != nil {
log.Fatal(err)
}
case <-ctx.Done():
return
}
for {
select {
case evt := <-eventch:
switch evt.Event {
case "acquisition_contract", "resale_contract":
handleRingEvent(dev, evt)
case "system_test":
handleSystemTest(dev, evt)
default:
log.Printf("unhandled message received: %#v", evt)
}
case <-ctx.Done():
return
}
}
}
