- support for servo blaster

- servo requires the underlying PWM to support a SetMicroseconds method

samples/pca9685.go

@@ -16,11 +16,11 @@ func main() {
 		log.Panic(err)
 	}
 
-	pca9685 := pca9685.New(bus, 0x42, 1000)
+	pca9685 := pca9685.New(bus, 0x41, 1000)
 	pca9685.Debug = true
 	defer pca9685.Close()
 
-	if err := pca9685.SetPwm(0, 0, 2000); err != nil {
+	if err := pca9685.SetPwm(15, 0, 2000); err != nil {
 		log.Panic(err)
 	}
 

samples/servo.go

@@ -21,7 +21,7 @@ func main() {
 	pwm.Debug = true
 	defer pwm.Close()
 
-	servo := servo.New(pwm, 50, 15, 1, 2.5)
+	servo := servo.New(pwm, 0, 500, 2500)
 	servo.Debug = true
 
 	c := make(chan os.Signal, 1)

samples/servoblaster.go

@@ -0,0 +1,50 @@
+package main
+
+import (
+	"log"
+	"os"
+	"os/signal"
+	"time"
+
+	"github.com/kid0m4n/go-rpi/controller/servoblaster"
+	"github.com/kid0m4n/go-rpi/motion/servo"
+)
+
+func main() {
+	sb := servoblaster.New()
+	sb.Debug = true
+	defer sb.Close()
+
+	servo := servo.New(sb, 0, 500, 2500)
+	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
+			var err error
+			switch left {
+			case true:
+				err = servo.SetAngle(45)
+			case false:
+				err = servo.SetAngle(135)
+			}
+			if err != nil {
+				log.Panic(err)
+			}
+		case <-c:
+			return
+		}
+	}
+}