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This commit is contained in:
Karan Misra 2014-03-23 15:47:58 +05:30
parent 5c8ea918ab
commit d171cfdc90
13 changed files with 177 additions and 33 deletions
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4
controller/pca9685/pca9685.go
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@ -6,6 +6,7 @@ import (
"math"
"sync"
"time"
"github.com/kidoman/embd"
"github.com/kidoman/embd/util"
)
@ -155,11 +156,14 @@ func (d *PCA9685) SetPwm(channel, onTime, offTime int) (err error) {
return
}
// SetMicroseconds is a convinience method which allows easy servo control.
func (d *PCA9685) SetMicroseconds(channel, us int) (err error) {
offTime := us * d.Freq * pwmControlPoints / 1000000
return d.SetPwm(channel, 0, offTime)
}
// SetAnalog is a convinience method which allows easy manipulation of the PWM
// based on a (0-255) range value.
func (d *PCA9685) SetAnalog(channel int, value byte) (err error) {
offTime := util.Map(int64(value), minAnalogValue, maxAnalogValue, 0, pwmControlPoints-1)
return d.SetPwm(channel, 0, int(offTime))