func main() {
flag.Parse()
if err := embd.InitGPIO(); err != nil {
panic(err)
}
defer embd.CloseGPIO()
led, err := embd.NewDigitalPin(10)
if err != nil {
panic(err)
}
defer led.Close()
if err := led.SetDirection(embd.Out); err != nil {
panic(err)
}
if err := led.Write(embd.High); err != nil {
panic(err)
}
time.Sleep(1 * time.Second)
if err := led.SetDirection(embd.In); err != nil {
panic(err)
}
}
func main() {
flag.Parse()
if err := embd.InitGPIO(); err != nil {
panic(err)
}
defer embd.CloseGPIO()
pin, err := embd.NewDigitalPin(7)
if err != nil {
panic(err)
}
defer pin.Close()
fluidSensor := watersensor.New(pin)
for {
wet, err := fluidSensor.IsWet()
if err != nil {
panic(err)
}
if wet {
glog.Info("bot is dry")
} else {
glog.Info("bot is Wet")
}
time.Sleep(500 * time.Millisecond)
}
}
func main() {
flag.Parse()
if err := embd.InitGPIO(); err != nil {
panic(err)
}
defer embd.CloseGPIO()
btn, err := embd.NewDigitalPin(10)
if err != nil {
panic(err)
}
defer btn.Close()
if err := btn.SetDirection(embd.In); err != nil {
panic(err)
}
btn.ActiveLow(false)
quit := make(chan interface{})
err = btn.Watch(embd.EdgeFalling, func(btn embd.DigitalPin) {
quit <- btn
})
if err != nil {
panic(err)
}
fmt.Printf("Button %v was pressed.\n", <-quit)
}
func main() {
flag.Parse()
if err := embd.InitGPIO(); err != nil {
panic(err)
}
defer embd.CloseGPIO()
echoPin, err := embd.NewDigitalPin("P9_21")
if err != nil {
panic(err)
}
triggerPin, err := embd.NewDigitalPin("P9_22")
if err != nil {
panic(err)
}
rf := us020.New(echoPin, triggerPin, nil)
defer rf.Close()
quit := make(chan os.Signal, 1)
signal.Notify(quit, os.Interrupt, os.Kill)
for {
select {
default:
distance, err := rf.Distance()
if err != nil {
panic(err)
}
fmt.Printf("Distance is %v\n", distance)
time.Sleep(500 * time.Millisecond)
case <-quit:
return
}
}
}
// New creates a new interface for matrix4x3.
func New(rowPins, colPins []int) (*Matrix4x3, error) {
m := &Matrix4x3{
rowPins: make([]embd.DigitalPin, rows),
colPins: make([]embd.DigitalPin, cols),
poll: pollDelay,
}
var err error
for i := 0; i < rows; i++ {
m.rowPins[i], err = embd.NewDigitalPin(rowPins[i])
if err != nil {
return nil, err
}
}
for i := 0; i < cols; i++ {
m.colPins[i], err = embd.NewDigitalPin(colPins[i])
if err != nil {
return nil, err
}
}
return m, nil
}
// NewGPIO creates a new HD44780 connected by a 4-bit GPIO bus.
func NewGPIO(
rs, en, d4, d5, d6, d7, backlight interface{},
blPolarity BacklightPolarity,
rowAddr RowAddress,
modes ...ModeSetter,
) (*HD44780, error) {
pinKeys := []interface{}{rs, en, d4, d5, d6, d7, backlight}
pins := [7]embd.DigitalPin{}
for idx, key := range pinKeys {
if key == nil {
continue
}
var digitalPin embd.DigitalPin
if pin, ok := key.(embd.DigitalPin); ok {
digitalPin = pin
} else {
var err error
digitalPin, err = embd.NewDigitalPin(key)
if err != nil {
glog.V(1).Infof("hd44780: error creating digital pin %+v: %s", key, err)
return nil, err
}
}
pins[idx] = digitalPin
}
for _, pin := range pins {
if pin == nil {
continue
}
err := pin.SetDirection(embd.Out)
if err != nil {
glog.Errorf("hd44780: error setting pin %+v to out direction: %s", pin, err)
return nil, err
}
}
return New(
NewGPIOConnection(
pins[0],
pins[1],
pins[2],
pins[3],
pins[4],
pins[5],
pins[6],
blPolarity),
rowAddr,
modes...,
)
}
func main() {
flag.Parse()
h, _, err := embd.DetectHost()
if err != nil {
return
}
var pinNo interface{}
switch h {
case embd.HostBBB:
pinNo = "P9_31"
case embd.HostRPi:
pinNo = 10
default:
panic("host not supported (yet :P)")
}
if err := embd.InitGPIO(); err != nil {
panic(err)
}
defer embd.CloseGPIO()
led, err := embd.NewDigitalPin(pinNo)
if err != nil {
panic(err)
}
defer led.Close()
if err := led.SetDirection(embd.Out); err != nil {
panic(err)
}
if err := led.Write(embd.High); err != nil {
panic(err)
}
time.Sleep(1 * time.Second)
if err := led.SetDirection(embd.In); err != nil {
panic(err)
}
}
func main() {
stepDelay := flag.Int("step-delay", 10, "milliseconds between steps")
flag.Parse()
if err := embd.InitGPIO(); err != nil {
panic(err)
}
defer embd.CloseGPIO()
// Physical pins 11,15,16,18 on rasp pi
// GPIO17,GPIO22,GPIO23,GPIO24
stepPinNums := []int{17, 22, 23, 24}
stepPins := make([]embd.DigitalPin, 4)
for i, pinNum := range stepPinNums {
pin, err := embd.NewDigitalPin(pinNum)
if err != nil {
panic(err)
}
defer pin.Close()
if err := pin.SetDirection(embd.Out); err != nil {
panic(err)
}
if err := pin.Write(embd.Low); err != nil {
panic(err)
}
defer pin.SetDirection(embd.In)
stepPins[i] = pin
}
// Define sequence described in manufacturer's datasheet
seq := [][]int{
[]int{1, 0, 0, 0},
[]int{1, 1, 0, 0},
[]int{0, 1, 0, 0},
[]int{0, 1, 1, 0},
[]int{0, 0, 1, 0},
[]int{0, 0, 1, 1},
[]int{0, 0, 0, 1},
[]int{1, 0, 0, 1},
}
stepCount := len(seq) - 1
stepDir := 2 // Set to 1 or 2 for clockwise, -1 or -2 for counter-clockwise
quit := make(chan os.Signal, 1)
signal.Notify(quit, os.Interrupt, os.Kill)
defer signal.Stop(quit)
// Start main loop
ticker := time.NewTicker(time.Duration(*stepDelay) * time.Millisecond)
defer ticker.Stop()
var stepCounter int
for {
select {
case <-ticker.C:
// set pins to appropriate values for given position in the sequence
for i, pin := range stepPins {
if seq[stepCounter][i] != 0 {
fmt.Printf("Enable pin %d, step %d\n", i, stepCounter)
if err := pin.Write(embd.High); err != nil {
panic(err)
}
} else {
if err := pin.Write(embd.Low); err != nil {
panic(err)
}
}
}
stepCounter += stepDir
// If we reach the end of the sequence start again
if stepCounter >= stepCount {
stepCounter = 0
} else if stepCounter < 0 {
stepCounter = stepCount
}
case <-quit:
return
}
}
}
