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unified servo and analog output support for pwms

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This commit is contained in:
Karan Misra 2014-04-02 17:25:28 +05:30
parent 9ab49745bc
commit fc887282bf
9 changed files with 181 additions and 40 deletions
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36
controller/pca9685/pca9685.go
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@ -20,9 +20,7 @@ const (
pwm0OnLowReg = 0x6
minAnalogValue = 0
maxAnalogValue = 255
// inspired by arduino's default freq for analogWrites
defaultFreq = 490
)
@ -140,17 +138,35 @@ func (d *PCA9685) SetPwm(channel, onTime, offTime int) error {
return nil
}
// SetMicroseconds is a convinience method which allows easy servo control.
func (d *PCA9685) SetMicroseconds(channel, us int) error {
offTime := us * d.Freq * pwmControlPoints / 1000000
return d.SetPwm(channel, 0, offTime)
type pwmChannel struct {
d *PCA9685
channel int
}
func (p *pwmChannel) SetMicroseconds(us int) error {
return p.d.setMicroseconds(p.channel, us)
}
// 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) error {
offTime := util.Map(int64(value), minAnalogValue, maxAnalogValue, 0, pwmControlPoints-1)
return d.SetPwm(channel, 0, int(offTime))
func (p *pwmChannel) SetAnalog(value byte) error {
offTime := util.Map(int64(value), 0, 255, 0, pwmControlPoints-1)
return p.d.SetPwm(p.channel, 0, int(offTime))
}
func (d *PCA9685) ServoChannel(channel int) *pwmChannel {
return &pwmChannel{d: d, channel: channel}
}
func (d *PCA9685) AnalogChannel(channel int) *pwmChannel {
return &pwmChannel{d: d, channel: channel}
}
// SetMicroseconds is a convinience method which allows easy servo control.
func (d *PCA9685) setMicroseconds(channel, us int) error {
offTime := us * d.Freq * pwmControlPoints / 1000000
return d.SetPwm(channel, 0, offTime)
}
// Close stops the controller and resets mode and pwm controller registers.