unified servo and analog output support for pwms

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
+		}
+	}
+}