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raspi_adafruit_stepper.go
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raspi_adafruit_stepper.go
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package main
import (
"log"
"time"
"github.com/hybridgroup/gobot"
"github.com/hybridgroup/gobot/platforms/i2c"
"github.com/hybridgroup/gobot/platforms/raspi"
)
func adafruitStepperMotorRunner(a *i2c.AdafruitMotorHatDriver, motor int) (err error) {
log.Printf("Stepper Motor Run Loop...\n")
// set the speed state:
speed := 30 // rpm
style := i2c.AdafruitDouble
steps := 20
a.SetStepperMotorSpeed(motor, speed)
if err = a.Step(motor, steps, i2c.AdafruitForward, style); err != nil {
log.Printf(err.Error())
return
}
if err = a.Step(motor, steps, i2c.AdafruitBackward, style); err != nil {
log.Printf(err.Error())
return
}
return
}
func main() {
gbot := gobot.NewGobot()
r := raspi.NewRaspiAdaptor("raspi")
adaFruit := i2c.NewAdafruitMotorHatDriver(r, "adafruit")
work := func() {
gobot.Every(5*time.Second, func() {
motor := 0 // 0-based
adafruitStepperMotorRunner(adaFruit, motor)
})
}
robot := gobot.NewRobot("adaFruitBot",
[]gobot.Connection{r},
[]gobot.Device{adaFruit},
work,
)
gbot.AddRobot(robot)
gbot.Start()
}