mirror of https://github.com/kidoman/embd
52 lines
762 B
Go
52 lines
762 B
Go
package main
|
|
|
|
import (
|
|
"log"
|
|
"os"
|
|
"os/signal"
|
|
"time"
|
|
|
|
"github.com/kid0m4n/go-rpi/controller/pca9685"
|
|
"github.com/kid0m4n/go-rpi/i2c"
|
|
"github.com/kid0m4n/go-rpi/motion/servo"
|
|
)
|
|
|
|
func main() {
|
|
bus, err := i2c.NewBus(1)
|
|
if err != nil {
|
|
log.Panic(err)
|
|
}
|
|
|
|
pwm := pca9685.New(bus, 0x42, 50)
|
|
defer pwm.Close()
|
|
|
|
servo := servo.New(pwm, 50, 0, 1, 2.5)
|
|
servo.SetDebug(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
|
|
switch left {
|
|
case true:
|
|
servo.SetAngle(70)
|
|
case false:
|
|
servo.SetAngle(110)
|
|
}
|
|
case <-c:
|
|
return
|
|
}
|
|
}
|
|
}
|