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embd/samples/servo.go

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package main
import (
"log"
"os"
"os/signal"
"time"
"github.com/kid0m4n/go-rpi/controller/pca9685"
"github.com/kid0m4n/go-rpi/i2c"
"github.com/kid0m4n/go-rpi/motion/servo"
)
func main() {
bus, err := i2c.NewBus(1)
if err != nil {
log.Panic(err)
}
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pwm := pca9685.New(bus, 0x41, 50)
pwm.Debug = true
defer pwm.Close()
servo := servo.New(pwm, 0)
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servo.Debug = true
c := make(chan os.Signal, 1)
signal.Notify(c, os.Interrupt, os.Kill)
turnTimer := time.Tick(500 * time.Millisecond)
left := true
servo.SetAngle(90)
defer func() {
servo.SetAngle(90)
}()
for {
select {
case <-turnTimer:
left = !left
switch left {
case true:
servo.SetAngle(70)
case false:
servo.SetAngle(110)
}
case <-c:
return
}
}
}