gobot.io/x/gobot/v2@v2.1.0/examples/firmata_pca9685.go (about)

     1  //go:build example
     2  // +build example
     3  
     4  //
     5  // Do not build by default.
     6  
     7  /*
     8   How to run
     9   Pass serial port to use as the first param:
    10  
    11  	go run examples/firmata_pca9685.go /dev/ttyACM0
    12  */
    13  
    14  package main
    15  
    16  import (
    17  	"fmt"
    18  	"os"
    19  	"time"
    20  
    21  	"gobot.io/x/gobot/v2"
    22  	"gobot.io/x/gobot/v2/drivers/gpio"
    23  	"gobot.io/x/gobot/v2/drivers/i2c"
    24  	"gobot.io/x/gobot/v2/platforms/firmata"
    25  )
    26  
    27  func main() {
    28  	firmataAdaptor := firmata.NewAdaptor(os.Args[1])
    29  	pca9685 := i2c.NewPCA9685Driver(firmataAdaptor)
    30  	servo := gpio.NewServoDriver(pca9685, "15")
    31  
    32  	work := func() {
    33  		pca9685.SetPWMFreq(60)
    34  
    35  		for i := 10; i < 150; i += 10 {
    36  			fmt.Println("Turning", i)
    37  			servo.Move(uint8(i))
    38  			time.Sleep(1 * time.Second)
    39  		}
    40  
    41  		for i := 150; i > 10; i -= 10 {
    42  			fmt.Println("Turning", i)
    43  			servo.Move(uint8(i))
    44  			time.Sleep(1 * time.Second)
    45  		}
    46  	}
    47  
    48  	robot := gobot.NewRobot("servoBot",
    49  		[]gobot.Connection{firmataAdaptor},
    50  		[]gobot.Device{pca9685, servo},
    51  		work,
    52  	)
    53  
    54  	robot.Start()
    55  }