unified servo and analog output support for pwms

samples/.gitignore

@@ -15,6 +15,7 @@ mcp4725
 pca9685
 pwm
 servo
+servobbb
 servoblaster
 tmp006
 us020

samples/servo.go

@@ -20,11 +20,13 @@ func main() {
 
 	bus := embd.NewI2CBus(1)
 
-	pwm := pca9685.New(bus, 0x41)
-	pwm.Freq = 50
-	defer pwm.Close()
+	d := pca9685.New(bus, 0x41)
+	d.Freq = 50
+	defer d.Close()
 
-	servo := servo.New(pwm, 0)
+	pwm := d.ServoChannel(0)
+
+	servo := servo.New(pwm)
 
 	c := make(chan os.Signal, 1)
 	signal.Notify(c, os.Interrupt, os.Kill)

samples/servobbb.go

@@ -0,0 +1,51 @@
+// +build ignore
+
+package main
+
+import (
+	"os"
+	"os/signal"
+	"time"
+
+	"github.com/kidoman/embd"
+	"github.com/kidoman/embd/motion/servo"
+)
+
+func main() {
+	embd.InitGPIO()
+	defer embd.CloseGPIO()
+
+	pwm, err := embd.NewPWMPin("P9_14")
+	if err != nil {
+		panic(err)
+	}
+	defer pwm.Close()
+
+	servo := servo.New(pwm)
+
+	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
+			switch left {
+			case true:
+				servo.SetAngle(70)
+			case false:
+				servo.SetAngle(110)
+			}
+		case <-c:
+			return
+		}
+	}
+}

samples/servoblaster.go

@@ -15,7 +15,9 @@ func main() {
 	sb := servoblaster.New()
 	defer sb.Close()
 
-	servo := servo.New(sb, 0)
+	pwm := sb.Channel(0)
+
+	servo := servo.New(pwm)
 
 	c := make(chan os.Signal, 1)
 	signal.Notify(c, os.Interrupt, os.Kill)