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package gpio
import "gobot.io/x/gobot"
// ServoDriver Represents a Servo
type ServoDriver struct {
name string
pin string
connection ServoWriter
gobot.Commander
CurrentAngle byte
}
// NewServoDriver returns a new ServoDriver given a ServoWriter and pin.
//
// Adds the following API Commands:
// "Move" - See ServoDriver.Move
// "Min" - See ServoDriver.Min
// "Center" - See ServoDriver.Center
// "Max" - See ServoDriver.Max
func NewServoDriver(a ServoWriter, pin string) *ServoDriver {
s := &ServoDriver{
name: gobot.DefaultName("Servo"),
connection: a,
pin: pin,
Commander: gobot.NewCommander(),
CurrentAngle: 0,
}
s.AddCommand("Move", func(params map[string]interface{}) interface{} {
angle := byte(params["angle"].(float64))
return s.Move(angle)
})
s.AddCommand("Min", func(params map[string]interface{}) interface{} {
return s.Min()
})
s.AddCommand("Center", func(params map[string]interface{}) interface{} {
return s.Center()
})
s.AddCommand("Max", func(params map[string]interface{}) interface{} {
return s.Max()
})
return s
}
// Name returns the ServoDrivers name
func (s *ServoDriver) Name() string { return s.name }
// SetName sets the ServoDrivers name
func (s *ServoDriver) SetName(n string) { s.name = n }
// Pin returns the ServoDrivers pin
func (s *ServoDriver) Pin() string { return s.pin }
// Connection returns the ServoDrivers connection
func (s *ServoDriver) Connection() gobot.Connection { return s.connection.(gobot.Connection) }
// Start implements the Driver interface
func (s *ServoDriver) Start() (err error) { return }
// Halt implements the Driver interface
func (s *ServoDriver) Halt() (err error) { return }
// Move sets the servo to the specified angle. Acceptable angles are 0-180
func (s *ServoDriver) Move(angle uint8) (err error) {
if !(angle >= 0 && angle <= 180) {
return ErrServoOutOfRange
}
s.CurrentAngle = angle
return s.connection.ServoWrite(s.Pin(), angle)
}
// Min sets the servo to it's minimum position
func (s *ServoDriver) Min() (err error) {
return s.Move(0)
}
// Center sets the servo to it's center position
func (s *ServoDriver) Center() (err error) {
return s.Move(90)
}
// Max sets the servo to its maximum position
func (s *ServoDriver) Max() (err error) {
return s.Move(180)
}
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