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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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21
motion/servo/servo.go
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@ -11,25 +11,28 @@ const (
maxus = 2400
)
const (
// DefaultFreq represents the default (preferred) freq of a PWM doing servo duties.
DefaultFreq = 50
)
// A PWM interface implements access to a pwm controller.
type PWM interface {
SetMicroseconds(channel int, us int) error
SetMicroseconds(us int) error
}
type Servo struct {
PWM PWM
Channel int
PWM PWM
Minus, Maxus int
}
// New creates a new Servo interface.
func New(pwm PWM, channel int) *Servo {
func New(pwm PWM) *Servo {
return &Servo{
PWM: pwm,
Channel: channel,
Minus: minus,
Maxus: maxus,
PWM: pwm,
Minus: minus,
Maxus: maxus,
}
}
@ -39,5 +42,5 @@ func (s *Servo) SetAngle(angle int) error {
glog.V(1).Infof("servo: given angle %v calculated %v us", angle, us)
return s.PWM.SetMicroseconds(s.Channel, int(us))
return s.PWM.SetMicroseconds(int(us))
}