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72 lines
1.8 KiB
Go
72 lines
1.8 KiB
Go
// Copyright 2024 The Periph Authors. All rights reserved.
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// Use of this source code is governed under the Apache License, Version 2.0
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// that can be found in the LICENSE file.
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package tic_test
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import (
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"log"
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"time"
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"periph.io/x/conn/v3/i2c/i2creg"
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"periph.io/x/conn/v3/physic"
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"periph.io/x/devices/v3/tic"
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"periph.io/x/host/v3"
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)
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func Example() {
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// Make sure periph is initialized.
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if _, err := host.Init(); err != nil {
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log.Fatal(err)
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}
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// Open default I²C bus.
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bus, err := i2creg.Open("")
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if err != nil {
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log.Fatalf("failed to open I²C: %v", err)
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}
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defer bus.Close()
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// Create a new motor controller.
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dev, err := tic.NewI2C(bus, tic.Tic36v4, tic.I2CAddr)
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if err != nil {
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log.Fatal(err)
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}
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// Set the current limit with respect to the motor.
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if err := dev.SetCurrentLimit(1000 * physic.MilliAmpere); err != nil {
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log.Fatalf("failed to set current limit: %v", err)
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}
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// The "Exit safe start" command is required before the motor can move.
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if err := dev.ExitSafeStart(); err != nil {
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log.Fatalf("failed to exit safe start: err %v", err)
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}
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// Set the target velocity to 200 microsteps per second.
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if err := dev.SetTargetVelocity(2000000); err != nil {
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log.Fatalf("failed to set target velocity: err %v", err)
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}
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// Use a ticker to frequently send commands before the timeout period
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// elapses (1000ms default).
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ticker := time.NewTicker(900 * time.Millisecond)
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defer ticker.Stop()
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// Stop after 3 seconds.
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stop := time.After(3 * time.Second)
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for {
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select {
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case <-stop:
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return
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case <-ticker.C:
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// Any command sent to the Tic will reset the timeout. However,
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// this can be done explicitly using ResetCommandTimeout().
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if err := dev.ResetCommandTimeout(); err != nil {
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log.Fatalf("failed to reset command timeout: %v", err)
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}
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}
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}
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}
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