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Merge pull request hybridgroup#571 from ulisesflynn/gopigo3upd
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update gopigo3 with default spi values, cleanup
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@deadprogram
deadprogram authored Jun 26, 2018
2 parents 45d103a + 180a7ee commit 088f12b
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Showing 2 changed files with 42 additions and 47 deletions.
83 changes: 39 additions & 44 deletions platforms/dexter/gopigo3/driver.go
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Original file line number Diff line number Diff line change
@@ -1,6 +1,7 @@
// Based on https://github.com/DexterInd/GoPiGo3/blob/master/Software/Python/gopigo3.py
// You will need to run the following script if using a stock raspbian image before this library will work:
// https://www.dexterindustries.com/GoPiGo/get-started-with-the-gopigo3-raspberry-pi-robot/3-program-your-raspberry-pi-robot/python-programming-language/
// Package gopigo3 is based on https://github.com/DexterInd/GoPiGo3/blob/master/Software/Python/gopigo3.py
// You will need to run the following commands if using a stock raspbian image before this library will work:
// sudo curl -kL dexterindustries.com/update_gopigo3 | bash
// sudo reboot
package gopigo3

import (
Expand Down Expand Up @@ -120,12 +121,16 @@ const (
type Grove byte

const (
AD_1_1 Grove = 0x01 // default pin for most grove devices, A0/D0
AD_1_2 Grove = 0x02
AD_2_1 Grove = 0x04 // default pin for most grove devices, A0/D0
AD_2_2 Grove = 0x08
AD_1 Grove = AD_1_1 + AD_1_2
AD_2 Grove = AD_2_1 + AD_2_2
AD11 string = "AD_1_1"
AD12 string = "AD_1_2"
AD21 string = "AD_2_1"
AD22 string = "AD_2_2"
AD_1_1_G Grove = 0x01 // default pin for most grove devices, A0/D0
AD_1_2_G Grove = 0x02
AD_2_1_G Grove = 0x04 // default pin for most grove devices, A0/D0
AD_2_2_G Grove = 0x08
AD_1_G Grove = AD_1_1_G + AD_1_2_G
AD_2_G Grove = AD_2_1_G + AD_2_2_G
)

// GroveType represents the type of a grove device.
Expand Down Expand Up @@ -171,10 +176,14 @@ type Driver struct {
// spi.WithSpeed(int64): speed in Hz to use with this driver
//
func NewDriver(a spi.Connector, options ...func(spi.Config)) *Driver {
spiConfig := spi.NewConfig()
// use /dev/spidev0.1
spiConfig.WithBus(0)
spiConfig.WithChip(1)
g := &Driver{
name: gobot.DefaultName("GoPiGo3"),
connector: a,
Config: spi.NewConfig(),
Config: spiConfig,
}
for _, option := range options {
option(g)
Expand Down Expand Up @@ -305,17 +314,18 @@ func (g *Driver) SetLED(led Led, red, green, blue uint8) error {
}

// SetServo sets a servo's position in microseconds (0-16666).
func (g *Driver) SetServo(servo Servo, us uint16) error {
func (g *Driver) SetServo(srvo Servo, us uint16) error {
return g.writeBytes([]byte{
goPiGo3Address,
SET_SERVO,
byte(servo),
byte(srvo),
byte((us >> 8) & 0xFF),
byte(us & 0xFF),
})
}

func (g *Driver) ServoWrite(pin string, angle byte) error {
// ServoWrite writes an angle (0-180) to the given servo (servo 1 or servo 2).
func (g *Driver) ServoWrite(srvo Servo, angle byte) error {
pulseWidthRange := 1850
if angle > 180 {
angle = 180
Expand All @@ -324,11 +334,7 @@ func (g *Driver) ServoWrite(pin string, angle byte) error {
angle = 0
}
pulseWidth := ((1500 - (pulseWidthRange / 2)) + ((pulseWidthRange / 180) * int(angle)))
servoPin, err := strToServo(pin)
if err != nil {
return err
}
return g.SetServo(servoPin, uint16(pulseWidth))
return g.SetServo(srvo, uint16(pulseWidth))
}

// SetMotorPower sets a motor's power from -128 to 127.
Expand Down Expand Up @@ -476,7 +482,7 @@ func (g *Driver) SetGroveMode(port Grove, mode GroveMode) error {
}

// SetPWMDuty sets the pwm duty cycle for the given pin/port.
func (g *Driver) SetPWMDuty(port Grove, duty uint8) (err error) {
func (g *Driver) SetPWMDuty(port Grove, duty uint16) (err error) {
if duty < 0 {
duty = 0
}
Expand Down Expand Up @@ -534,7 +540,7 @@ func (g *Driver) PwmWrite(pin string, val byte) (err error) {
return err
}
val64 := math.Float64frombits(uint64(val))
dutyCycle := uint8(math.Float64bits((100.0 / 255.0) * val64))
dutyCycle := uint16(math.Float64bits((100.0 / 255.0) * val64))
return g.SetPWMDuty(grovePin, dutyCycle)
}

Expand Down Expand Up @@ -568,8 +574,9 @@ func (g *Driver) AnalogRead(pin string) (value int, err error) {
if err := g.valueValid(response); err != nil {
return value, err
}
return int((uint64(response[5]<<8) & 0xFF00) | uint64(response[6]&0xFF)), nil
return
highBytes := uint16(response[5])
lowBytes := uint16(response[6])
return int((highBytes<<8)&0xFF00) | int(lowBytes&0xFF), nil
}

// DigitalWrite writes a 0/1 value to the given pin.
Expand Down Expand Up @@ -633,38 +640,26 @@ func (g *Driver) DigitalRead(pin string) (value int, err error) {
return int(response[5]), nil
}

func strToServo(pin string) (servo Servo, err error) {
switch pin {
case "SERVO_1":
servo = SERVO_1
case "SERVO_2":
servo = SERVO_2
default:
err = fmt.Errorf("Invalid servo pin name")
}
return servo, err
}

func getGroveAddresses(pin string) (gPin, gPort Grove, analog, state byte, err error) {
switch pin {
case "AD_1_1":
gPin = AD_1_1
gPort = AD_1
gPin = AD_1_1_G
gPort = AD_1_G
analog = GET_GROVE_ANALOG_1_1
state = GET_GROVE_STATE_1_1
case "AD_1_2":
gPin = AD_1_2
gPort = AD_1
gPin = AD_1_2_G
gPort = AD_1_G
analog = GET_GROVE_ANALOG_1_2
state = GET_GROVE_STATE_1_2
case "AD_2_1":
gPin = AD_2_1
gPort = AD_2
gPin = AD_2_1_G
gPort = AD_2_G
analog = GET_GROVE_ANALOG_2_1
state = GET_GROVE_STATE_2_1
case "AD_2_2":
gPin = AD_2_2
gPort = AD_2
gPin = AD_2_2_G
gPort = AD_2_G
analog = GET_GROVE_ANALOG_2_2
state = GET_GROVE_STATE_2_2
default:
Expand Down Expand Up @@ -726,9 +721,9 @@ func (g *Driver) writeBytes(w []byte) (err error) {
}

func (g *Driver) resetAll() {
g.SetGroveType(AD_1+AD_2, CUSTOM)
g.SetGroveType(AD_1_G+AD_2_G, CUSTOM)
time.Sleep(10 * time.Millisecond)
g.SetGroveMode(AD_1+AD_2, GROVE_INPUT_DIGITAL)
g.SetGroveMode(AD_1_G+AD_2_G, GROVE_INPUT_DIGITAL)
time.Sleep(10 * time.Millisecond)
g.SetMotorPower(MOTOR_LEFT+MOTOR_RIGHT, 0.0)
g.SetMotorLimits(MOTOR_LEFT+MOTOR_RIGHT, 0, 0)
Expand Down
6 changes: 3 additions & 3 deletions platforms/dexter/gopigo3/driver_test.go
View file
Original file line number Diff line number Diff line change
Expand Up @@ -176,7 +176,7 @@ func TestDigitalRead(t *testing.T) {

func TestServoWrite(t *testing.T) {
d := initTestDriver()
err := d.ServoWrite("SERVO_1", 0x7F)
err := d.ServoWrite(SERVO_1, 0x7F)
if err != nil {
t.Error(err)
}
Expand Down Expand Up @@ -216,15 +216,15 @@ func TestOffsetMotorEncoder(t *testing.T) {

func TestSetPWMDuty(t *testing.T) {
d := initTestDriver()
err := d.SetPWMDuty(AD_1_1, 80)
err := d.SetPWMDuty(AD_1_1_G, 80)
if err != nil {
t.Error(err)
}
}

func TestSetPWMfreq(t *testing.T) {
d := initTestDriver()
err := d.SetPWMFreq(AD_1_2, 100)
err := d.SetPWMFreq(AD_1_2_G, 100)
if err != nil {
t.Error(err)
}
Expand Down

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