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servo_driver.go
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servo_driver.go
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package gpio
import (
"fmt"
"gobot.io/x/gobot/v2"
)
// ServoDriver Represents a Servo
type ServoDriver struct {
*driver
currentAngle byte
}
// NewServoDriver returns a new ServoDriver given a ServoWriter and pin.
//
// Supported options:
//
// "WithName"
//
// Adds the following API Commands:
//
// "Move" - See ServoDriver.Move
// "Min" - See ServoDriver.ToMin
// "Center" - See ServoDriver.ToCenter
// "Max" - See ServoDriver.ToMax
func NewServoDriver(a ServoWriter, pin string, opts ...interface{}) *ServoDriver {
//nolint:forcetypeassert // no error return value, so there is no better way
d := &ServoDriver{
driver: newDriver(a.(gobot.Connection), "Servo", append(opts, withPin(pin))...),
}
d.AddCommand("Move", func(params map[string]interface{}) interface{} {
angle := byte(params["angle"].(float64)) //nolint:forcetypeassert // ok here
return d.Move(angle)
})
d.AddCommand("ToMin", func(params map[string]interface{}) interface{} {
return d.ToMin()
})
d.AddCommand("ToCenter", func(params map[string]interface{}) interface{} {
return d.ToCenter()
})
d.AddCommand("ToMax", func(params map[string]interface{}) interface{} {
return d.ToMax()
})
return d
}
// Move sets the servo to the specified angle. Acceptable angles are 0-180
func (d *ServoDriver) Move(angle uint8) error {
if angle > 180 {
return fmt.Errorf("servo angle (%d) must be between 0-180", angle)
}
d.currentAngle = angle
return d.servoWrite(d.driverCfg.pin, angle)
}
// Min sets the servo to it's minimum position
func (d *ServoDriver) ToMin() error {
return d.Move(0)
}
// Center sets the servo to it's center position
func (d *ServoDriver) ToCenter() error {
return d.Move(90)
}
// Max sets the servo to its maximum position
func (d *ServoDriver) ToMax() error {
return d.Move(180)
}
// Angle returns the current angle
func (d *ServoDriver) Angle() uint8 {
return d.currentAngle
}