mirror of
https://github.com/kidoman/embd
synced 2024-12-22 21:00:05 +01:00
55 lines
794 B
Go
55 lines
794 B
Go
package main
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import (
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"os"
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"os/signal"
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"time"
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"github.com/kidoman/embd/controller/pca9685"
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"github.com/kidoman/embd/i2c"
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"github.com/kidoman/embd/motion/servo"
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)
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func main() {
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if err := i2c.Open(); err != nil {
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panic(err)
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}
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defer i2c.Close()
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bus := i2c.NewBus(1)
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pwm := pca9685.New(bus, 0x41)
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pwm.Freq = 50
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pwm.Debug = true
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defer pwm.Close()
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servo := servo.New(pwm, 0)
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servo.Debug = true
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c := make(chan os.Signal, 1)
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signal.Notify(c, os.Interrupt, os.Kill)
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turnTimer := time.Tick(500 * time.Millisecond)
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left := true
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servo.SetAngle(90)
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defer func() {
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servo.SetAngle(90)
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}()
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for {
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select {
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case <-turnTimer:
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left = !left
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switch left {
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case true:
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servo.SetAngle(70)
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case false:
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servo.SetAngle(110)
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}
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case <-c:
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return
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}
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}
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}
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