gobot.io/x/gobot/v2@v2.1.0/examples/raspi_stepper_move.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  	"fmt"
    11  
    12  	"gobot.io/x/gobot/v2"
    13  	"gobot.io/x/gobot/v2/drivers/gpio"
    14  	"gobot.io/x/gobot/v2/platforms/raspi"
    15  )
    16  
    17  func main() {
    18  	r := raspi.NewAdaptor()
    19  	stepper := gpio.NewStepperDriver(r, [4]string{"7", "11", "13", "15"}, gpio.StepperModes.DualPhaseStepping, 2048)
    20  
    21  	work := func() {
    22  		//set spped
    23  		stepper.SetSpeed(15)
    24  
    25  		//Move forward one revolution
    26  		if err := stepper.Move(2048); err != nil {
    27  			fmt.Println(err)
    28  		}
    29  
    30  		//Move backward one revolution
    31  		if err := stepper.Move(-2048); err != nil {
    32  			fmt.Println(err)
    33  		}
    34  	}
    35  
    36  	robot := gobot.NewRobot("stepperBot",
    37  		[]gobot.Connection{r},
    38  		[]gobot.Device{stepper},
    39  		work,
    40  	)
    41  
    42  	robot.Start()
    43  }