mirror of https://github.com/periph/devices
You cannot select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
64 lines
1.5 KiB
Go
64 lines
1.5 KiB
Go
// Copyright 2018 The Periph Authors. All rights reserved.
|
|
// Use of this source code is governed under the Apache License, Version 2.0
|
|
// that can be found in the LICENSE file.
|
|
|
|
package pca9685_test
|
|
|
|
import (
|
|
"log"
|
|
|
|
"periph.io/x/periph/conn/i2c/i2creg"
|
|
"periph.io/x/periph/conn/physic"
|
|
"periph.io/x/periph/experimental/devices/pca9685"
|
|
"periph.io/x/periph/host"
|
|
)
|
|
|
|
func Example() {
|
|
_, err := host.Init()
|
|
if err != nil {
|
|
log.Fatal(err)
|
|
}
|
|
|
|
bus, err := i2creg.Open("")
|
|
if err != nil {
|
|
log.Fatal(err)
|
|
}
|
|
|
|
pca, err := pca9685.NewI2C(bus, pca9685.I2CAddr)
|
|
if err != nil {
|
|
log.Fatal(err)
|
|
}
|
|
|
|
if err := pca.SetPwmFreq(50 * physic.Hertz); err != nil {
|
|
log.Fatal(err)
|
|
}
|
|
if err := pca.SetAllPwm(0, 0); err != nil {
|
|
log.Fatal(err)
|
|
}
|
|
servos := pca9685.NewServoGroup(pca, 50, 650, 0, 180)
|
|
|
|
// This is an example of using with an Me Arm robot arm
|
|
gripServo := servos.GetServo(0)
|
|
baseServo := servos.GetServo(1)
|
|
elbowServo := servos.GetServo(2)
|
|
shoulderServo := servos.GetServo(3)
|
|
|
|
gripServo.SetMinMaxAngle(15, 120)
|
|
elbowServo.SetMinMaxAngle(50, 110) // Set limit of the robot arm
|
|
shoulderServo.SetMinMaxAngle(60, 140) // Set limit of the robot arm
|
|
|
|
// Set all in the middle in a MeArm robot arm
|
|
if err := gripServo.SetAngle(90); err != nil {
|
|
log.Fatal(err)
|
|
}
|
|
if err := baseServo.SetAngle(90); err != nil {
|
|
log.Fatal(err)
|
|
}
|
|
if err := elbowServo.SetAngle(90); err != nil {
|
|
log.Fatal(err)
|
|
}
|
|
if err := shoulderServo.SetAngle(90); err != nil {
|
|
log.Fatal(err)
|
|
}
|
|
}
|