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servo_driver.go
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servo_driver.go
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package gpio
import (
"github.com/hybridgroup/gobot"
)
type ServoDriver struct {
gobot.Driver
CurrentAngle byte
}
func NewServoDriver(a Servo, name string, pin string) *ServoDriver {
s := &ServoDriver{
Driver: *gobot.NewDriver(
name,
"ServoDriver",
a.(gobot.AdaptorInterface),
pin,
),
CurrentAngle: 0,
}
s.AddCommand("Move", func(params map[string]interface{}) interface{} {
angle := byte(params["angle"].(float64))
s.Move(angle)
return nil
})
s.AddCommand("Min", func(params map[string]interface{}) interface{} {
s.Min()
return nil
})
s.AddCommand("Center", func(params map[string]interface{}) interface{} {
s.Center()
return nil
})
s.AddCommand("Max", func(params map[string]interface{}) interface{} {
s.Max()
return nil
})
return s
}
func (s *ServoDriver) adaptor() Servo {
return s.Adaptor().(Servo)
}
func (s *ServoDriver) Start() bool { return true }
func (s *ServoDriver) Halt() bool { return true }
func (s *ServoDriver) Init() bool { return true }
func (s *ServoDriver) InitServo() {
s.adaptor().InitServo()
}
func (s *ServoDriver) Move(angle uint8) {
if !(angle >= 0 && angle <= 180) {
panic("Servo angle must be an integer between 0-180")
}
s.CurrentAngle = angle
s.adaptor().ServoWrite(s.Pin(), s.angleToSpan(angle))
}
func (s *ServoDriver) Min() {
s.Move(0)
}
func (s *ServoDriver) Center() {
s.Move(90)
}
func (s *ServoDriver) Max() {
s.Move(180)
}
func (s *ServoDriver) angleToSpan(angle byte) byte {
return byte(angle * (255 / 180))
}