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

     1  //go:build example
     2  // +build example
     3  
     4  //
     5  // Do not build by default.
     6  
     7  package main
     8  
     9  import (
    10  	"log"
    11  	"time"
    12  
    13  	"gobot.io/x/gobot/v2"
    14  	"gobot.io/x/gobot/v2/drivers/i2c"
    15  	"gobot.io/x/gobot/v2/platforms/raspi"
    16  )
    17  
    18  func adafruitStepperMotorRunner(a *i2c.AdafruitMotorHatDriver, motor int) (err error) {
    19  	log.Printf("Stepper Motor Run Loop...\n")
    20  	// set the speed state:
    21  	speed := 30 // rpm
    22  	style := i2c.AdafruitDouble
    23  	steps := 20
    24  
    25  	a.SetStepperMotorSpeed(motor, speed)
    26  
    27  	if err = a.Step(motor, steps, i2c.AdafruitForward, style); err != nil {
    28  		log.Printf(err.Error())
    29  		return
    30  	}
    31  	if err = a.Step(motor, steps, i2c.AdafruitBackward, style); err != nil {
    32  		log.Printf(err.Error())
    33  		return
    34  	}
    35  	return
    36  }
    37  
    38  func main() {
    39  	r := raspi.NewAdaptor()
    40  	adaFruit := i2c.NewAdafruitMotorHatDriver(r)
    41  
    42  	work := func() {
    43  		gobot.Every(5*time.Second, func() {
    44  			motor := 0 // 0-based
    45  			adafruitStepperMotorRunner(adaFruit, motor)
    46  		})
    47  	}
    48  
    49  	robot := gobot.NewRobot("adaFruitBot",
    50  		[]gobot.Connection{r},
    51  		[]gobot.Device{adaFruit},
    52  		work,
    53  	)
    54  
    55  	robot.Start()
    56  }