gobot.io/x/gobot@v1.16.0/examples/raspi_adafruit_dcmotor.go (about) 1 // +build example 2 // 3 // Do not build by default. 4 5 package main 6 7 import ( 8 "log" 9 "time" 10 11 "gobot.io/x/gobot" 12 "gobot.io/x/gobot/drivers/i2c" 13 "gobot.io/x/gobot/platforms/raspi" 14 ) 15 16 func adafruitDCMotorRunner(a *i2c.AdafruitMotorHatDriver, dcMotor int) (err error) { 17 log.Printf("DC Motor Run Loop...\n") 18 // set the speed: 19 var speed int32 = 255 // 255 = full speed! 20 if err = a.SetDCMotorSpeed(dcMotor, speed); err != nil { 21 return 22 } 23 // run FORWARD 24 if err = a.RunDCMotor(dcMotor, i2c.AdafruitForward); err != nil { 25 return 26 } 27 // Sleep and RELEASE 28 time.Sleep(2000 * time.Millisecond) 29 if err = a.RunDCMotor(dcMotor, i2c.AdafruitRelease); err != nil { 30 return 31 } 32 // run BACKWARD 33 if err = a.RunDCMotor(dcMotor, i2c.AdafruitBackward); err != nil { 34 return 35 } 36 // Sleep and RELEASE 37 time.Sleep(2000 * time.Millisecond) 38 if err = a.RunDCMotor(dcMotor, i2c.AdafruitRelease); err != nil { 39 return 40 } 41 return 42 } 43 44 func main() { 45 r := raspi.NewAdaptor() 46 adaFruit := i2c.NewAdafruitMotorHatDriver(r) 47 48 work := func() { 49 gobot.Every(5*time.Second, func() { 50 51 dcMotor := 2 // 0-based 52 adafruitDCMotorRunner(adaFruit, dcMotor) 53 }) 54 } 55 56 robot := gobot.NewRobot("adaFruitBot", 57 []gobot.Connection{r}, 58 []gobot.Device{adaFruit}, 59 work, 60 ) 61 62 robot.Start() 63 }