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refactoring

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This commit is contained in:
Karan Misra 2014-01-05 15:49:03 +05:30
parent 2b67e89fad
commit 7d044a8f0e
3 changed files with 30 additions and 36 deletions
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60
motion/servo/servo.go
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@ -3,59 +3,49 @@ package servo
import ( import (
"log" "log"
"github.com/kid0m4n/go-rpi/util"
) )
// A PWM interface implements access to a pwm controller. // A PWM interface implements access to a pwm controller.
type PWM interface { type PWM interface {
SetPwm(n int, onTime int, offTime int) error SetPwm(channel int, onTime int, offTime int) error
} }
// A SERVO interface implements access to the servo. type Servo struct {
type Servo interface { PWM PWM
SetAngle(angle int) error Freq int
Channel int
SetDebug(v bool) Minms, Maxms float64
Debug bool
} }
type servo struct { // New creates a new Servo interface.
pwm PWM
freq int
n int
minms, maxms float64
debug bool
}
// New creates a new SERVO interface.
// pwm: instance of a PWM controller. // pwm: instance of a PWM controller.
// freq: Frequency of pwm signal (typically 50Hz) // freq: Frequency of pwm signal (typically 50Hz)
// n: PWM channel of the pwm controller to be used // channel: PWM channel of the pwm controller to be used
// minms: Pulse width corresponding to servo position of 0deg // minms: Pulse width corresponding to servo position of 0deg
// maxms: Pulse width corresponding to servo position of 180deg // maxms: Pulse width corresponding to servo position of 180deg
func New(pwm PWM, freq int, n int, minms, maxms float64) Servo { func New(pwm PWM, freq, channel int, minms, maxms float64) *Servo {
return &servo{ return &Servo{
pwm: pwm, PWM: pwm,
freq: freq, Freq: freq,
n: n, Channel: channel,
minms: minms, Minms: minms,
maxms: maxms, Maxms: maxms,
} }
} }
// SetDebug is used to enable logging (debug mode).
func (s *servo) SetDebug(v bool) {
s.debug = v
}
// SetAngle sets the servo angle. // SetAngle sets the servo angle.
func (s *servo) SetAngle(angle int) error { func (s *Servo) SetAngle(angle int) error {
ms := s.minms + float64(angle)*(s.maxms-s.minms)/180 us := util.Map(int64(angle), 0, 180, int64(s.Minms*1000), int64(s.Maxms*1000))
offTime := int(ms * float64(s.freq) * 4096 / 1000) offTime := int(us) * s.Freq * 4096 / 1000000
if s.debug { if s.Debug {
log.Printf("servo: given angle %v calculated ms %2.2f offTime %v", angle, ms, offTime) log.Printf("servo: given angle %v calculated %v us offTime %v", angle, us, offTime)
} }
return s.pwm.SetPwm(s.n, 0, offTime) return s.PWM.SetPwm(s.Channel, 0, offTime)
} }

1
samples/servo.go
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@ -21,7 +21,6 @@ func main() {
defer pwm.Close() defer pwm.Close()
servo := servo.New(pwm, 50, 0, 1, 2.5) servo := servo.New(pwm, 50, 0, 1, 2.5)
servo.SetDebug(true)
c := make(chan os.Signal, 1) c := make(chan os.Signal, 1)
signal.Notify(c, os.Interrupt, os.Kill) signal.Notify(c, os.Interrupt, os.Kill)

5
util/map.go Normal file
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@ -0,0 +1,5 @@
package util
func Map(x, inmin, inmax, outmin, outmax int64) int64 {
return (x-inmin)*(outmax-outmin)/(inmax-inmin) + outmin
}