gobot.io/x/gobot@v1.16.0/examples/firmata_pca9685.go (about)

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