mirror of
https://github.com/kidoman/embd
synced 2024-06-03 01:28:06 +02:00
53 lines
747 B
Go
53 lines
747 B
Go
// +build ignore
|
|
|
|
package main
|
|
|
|
import (
|
|
"log"
|
|
"os"
|
|
"os/signal"
|
|
"time"
|
|
|
|
"github.com/kidoman/embd/controller/servoblaster"
|
|
"github.com/kidoman/embd/motion/servo"
|
|
)
|
|
|
|
func main() {
|
|
sb := servoblaster.New()
|
|
sb.Debug = true
|
|
defer sb.Close()
|
|
|
|
servo := servo.New(sb, 0)
|
|
servo.Debug = true
|
|
|
|
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
|
|
var err error
|
|
switch left {
|
|
case true:
|
|
err = servo.SetAngle(45)
|
|
case false:
|
|
err = servo.SetAngle(135)
|
|
}
|
|
if err != nil {
|
|
log.Panic(err)
|
|
}
|
|
case <-c:
|
|
return
|
|
}
|
|
}
|
|
}
|