Merge pull request hybridgroup#308 from jfinken/dev

Adafruit Motor HAT driver support

examples/raspi_adafruit_dcmotor.go

@@ -0,0 +1,62 @@
+package main
+
+import (
+	"log"
+	"time"
+
+	"github.com/hybridgroup/gobot"
+	"github.com/hybridgroup/gobot/platforms/i2c"
+	"github.com/hybridgroup/gobot/platforms/raspi"
+)
+
+func adafruitDCMotorRunner(a *i2c.AdafruitMotorHatDriver, dcMotor int) (err error) {
+
+	log.Printf("DC Motor Run Loop...\n")
+	// set the speed:
+	var speed int32 = 255 // 255 = full speed!
+	if err = a.SetDCMotorSpeed(dcMotor, speed); err != nil {
+		return
+	}
+	// run FORWARD
+	if err = a.RunDCMotor(dcMotor, i2c.AdafruitForward); err != nil {
+		return
+	}
+	// Sleep and RELEASE
+	<-time.After(2000 * time.Millisecond)
+	if err = a.RunDCMotor(dcMotor, i2c.AdafruitRelease); err != nil {
+		return
+	}
+	// run BACKWARD
+	if err = a.RunDCMotor(dcMotor, i2c.AdafruitBackward); err != nil {
+		return
+	}
+	// Sleep and RELEASE
+	<-time.After(2000 * time.Millisecond)
+	if err = a.RunDCMotor(dcMotor, i2c.AdafruitRelease); err != nil {
+		return
+	}
+	return
+}
+func main() {
+	gbot := gobot.NewGobot()
+	r := raspi.NewRaspiAdaptor("raspi")
+	adaFruit := i2c.NewAdafruitMotorHatDriver(r, "adafruit")
+
+	work := func() {
+		gobot.Every(5*time.Second, func() {
+
+			dcMotor := 2 // 0-based
+			adafruitDCMotorRunner(adaFruit, dcMotor)
+		})
+	}
+
+	robot := gobot.NewRobot("adaFruitBot",
+		[]gobot.Connection{r},
+		[]gobot.Device{adaFruit},
+		work,
+	)
+
+	gbot.AddRobot(robot)
+
+	gbot.Start()
+}

examples/raspi_adafruit_servo.go

@@ -0,0 +1,88 @@
+package main
+
+import (
+	"log"
+	"time"
+
+	"github.com/hybridgroup/gobot"
+	"github.com/hybridgroup/gobot/platforms/i2c"
+	"github.com/hybridgroup/gobot/platforms/raspi"
+)
+
+var (
+	// Min pulse length out of 4096
+	servoMin = 150
+	// Max pulse length out of 4096
+	servoMax = 700
+	// Limiting the max this servo can rotate (in deg)
+	maxDegree = 180
+	// Number of degrees to increase per call
+	degIncrease = 10
+	yawDeg      = 90
+)
+
+func degree2pulse(deg int) int32 {
+	pulse := servoMin
+	pulse += ((servoMax - servoMin) / maxDegree) * deg
+	return int32(pulse)
+}
+func adafruitServoMotorRunner(a *i2c.AdafruitMotorHatDriver) (err error) {
+	log.Printf("Servo Motor Run Loop...\n")
+	// Changing from the default 0x40 address because this configuration involves
+	// a Servo HAT stacked on top of a DC/Stepper Motor HAT on top of the Pi.
+	stackedHatAddr := 0x41
+	var channel byte = 1
+	deg := 90
+
+	// update the I2C address state
+	a.SetServoHatAddress(stackedHatAddr)
+
+	// Do not need to set this every run loop
+	freq := 60.0
+	if err = a.SetServoMotorFreq(freq); err != nil {
+		log.Printf("%s", err.Error())
+		return
+	}
+	// start in the middle of the 180-deg range
+	pulse := degree2pulse(deg)
+	if err = a.SetServoMotorPulse(channel, 0, pulse); err != nil {
+		log.Printf(err.Error())
+		return
+	}
+	// INCR
+	pulse = degree2pulse(deg + degIncrease)
+	if err = a.SetServoMotorPulse(channel, 0, pulse); err != nil {
+		log.Printf(err.Error())
+		return
+	}
+	<-time.After(2000 * time.Millisecond)
+	// DECR
+	pulse = degree2pulse(deg - degIncrease)
+	if err = a.SetServoMotorPulse(channel, 0, pulse); 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() {
+
+			adafruitServoMotorRunner(adaFruit)
+		})
+	}
+
+	robot := gobot.NewRobot("adaFruitBot",
+		[]gobot.Connection{r},
+		[]gobot.Device{adaFruit},
+		work,
+	)
+
+	gbot.AddRobot(robot)
+
+	gbot.Start()
+}

examples/raspi_adafruit_stepper.go

@@ -0,0 +1,53 @@
+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()
+}