i2c: implemented DigitalRead, DigitalWrite, and AnalogRead for GrovePi

Signed-off-by: Ron Evans <[email protected]>

drivers/i2c/grovepi_driver.go

@@ -2,6 +2,7 @@ package i2c
 
 import (
 	"strconv"
+	"strings"
 	"time"
 
 	"gobot.io/x/gobot"
@@ -81,7 +82,7 @@ func (d *GrovePiDriver) Halt() (err error) { return }
 
 // AnalogRead returns value from analog pin implementing the AnalogReader interface.
 func (d *GrovePiDriver) AnalogRead(pin string) (value int, err error) {
-	// TODO: strip off the leading "A"
+	pin = getPin(pin)
 
 	var pinNum int
 	pinNum, err = strconv.Atoi(pin)
@@ -94,13 +95,13 @@ func (d *GrovePiDriver) AnalogRead(pin string) (value int, err error) {
 		d.analogPins[pinNum] = "input"
 	}
 
-	value, err = d.ReadAnalog(byte(pinNum))
+	value, err = d.readAnalog(byte(pinNum))
 
 	return
 }
 
 // ReadAnalog reads analog value from the GrovePi
-func (d *GrovePiDriver) ReadAnalog(pin byte) (int, error) {
+func (d *GrovePiDriver) readAnalog(pin byte) (int, error) {
 	b := []byte{1, CommandReadAnalog, pin, 0, 0}
 	_, err := d.connection.Write(b)
 	if err != nil {
@@ -125,7 +126,7 @@ func (d *GrovePiDriver) ReadAnalog(pin byte) (int, error) {
 }
 
 // ReadDigital reads digitally to the GrovePi
-func (d *GrovePiDriver) ReadDigital(pin byte) (val int, err error) {
+func (d *GrovePiDriver) readDigital(pin byte) (val int, err error) {
 	buf := []byte{1, CommandReadDigital, pin, 0, 0}
 	_, err = d.connection.Write(buf)
 	if err != nil {
@@ -145,7 +146,8 @@ func (d *GrovePiDriver) ReadDigital(pin byte) (val int, err error) {
 
 // DigitalRead performs a read on a digital pin.
 func (d *GrovePiDriver) DigitalRead(pin string) (val int, err error) {
-	// TODO: strip off the leading "D"
+	pin = getPin(pin)
+
 	var pinNum int
 	pinNum, err = strconv.Atoi(pin)
 	if err != nil {
@@ -157,13 +159,13 @@ func (d *GrovePiDriver) DigitalRead(pin string) (val int, err error) {
 		d.digitalPins[pinNum] = "input"
 	}
 
-	val, err = d.ReadDigital(byte(pinNum))
+	val, err = d.readDigital(byte(pinNum))
 
 	return
 }
 
 // WriteDigital writes digitally to the GrovePi
-func (d *GrovePiDriver) WriteDigital(pin byte, val byte) error {
+func (d *GrovePiDriver) writeDigital(pin byte, val byte) error {
 	buf := []byte{1, CommandWriteDigital, pin, val, 0}
 	_, err := d.connection.Write(buf)
 	time.Sleep(100 * time.Millisecond)
@@ -172,7 +174,8 @@ func (d *GrovePiDriver) WriteDigital(pin byte, val byte) error {
 
 // DigitalWrite writes a value to a specific digital pin implementing the DigitalWriter interface.
 func (d *GrovePiDriver) DigitalWrite(pin string, val byte) (err error) {
-	// TODO: strip off the leading "D"
+	pin = getPin(pin)
+
 	var pinNum int
 	pinNum, err = strconv.Atoi(pin)
 	if err != nil {
@@ -184,12 +187,12 @@ func (d *GrovePiDriver) DigitalWrite(pin string, val byte) (err error) {
 		d.digitalPins[pinNum] = "output"
 	}
 
-	err = d.WriteDigital(byte(pinNum), val)
+	err = d.writeDigital(byte(pinNum), val)
 
 	return
 }
 
-// WriteAnalog writes analog to the GrovePi
+// WriteAnalog writes PWM aka analog to the GrovePi
 func (d *GrovePiDriver) WriteAnalog(pin byte, val byte) error {
 	buf := []byte{1, CommandWriteAnalog, pin, val, 0}
 	_, err := d.connection.Write(buf)
@@ -236,3 +239,13 @@ func (d *GrovePiDriver) ReadDHT(pin byte, size int) ([]byte, error) {
 
 	return data, err
 }
+
+func getPin(pin string) string {
+	if len(pin) > 1 {
+		if strings.ToUpper(pin[0:1]) == "A" || strings.ToUpper(pin[0:1]) == "D" {
+			return pin[1:len(pin)]
+		}
+	}
+
+	return pin
+}

drivers/i2c/grovepi_driver_test.go

@@ -36,3 +36,23 @@ func TestGrovePiDriverName(t *testing.T) {
 	gobottest.Refute(t, g.Connection(), nil)
 	gobottest.Assert(t, strings.HasPrefix(g.Name(), "GrovePi"), true)
 }
+
+func TestGrovePiDriverOptions(t *testing.T) {
+	g := NewGrovePiDriver(newI2cTestAdaptor(), WithBus(2))
+	gobottest.Assert(t, g.GetBusOrDefault(1), 2)
+}
+
+// Methods
+func TestGrovePiDriverStart(t *testing.T) {
+	g := initTestGrovePiDriver()
+
+	gobottest.Assert(t, g.Start(), nil)
+}
+
+func TestGrovePiDrivergetPin(t *testing.T) {
+	gobottest.Assert(t, getPin("a1"), "1")
+	gobottest.Assert(t, getPin("A16"), "16")
+	gobottest.Assert(t, getPin("D3"), "3")
+	gobottest.Assert(t, getPin("d22"), "22")
+	gobottest.Assert(t, getPin("22"), "22")
+}

examples/raspi_grove_pi_blink.go

@@ -16,7 +16,7 @@ import (
 func main() {
 	r := raspi.NewAdaptor()
 	gp := i2c.NewGrovePiDriver(r)
-	led := gpio.NewLedDriver(gp, "2")
+	led := gpio.NewLedDriver(gp, "D2")
 
 	work := func() {
 		gobot.Every(1*time.Second, func() {

examples/raspi_grove_pi_button.go

@@ -0,0 +1,41 @@
+// +build example
+//
+// Do not build by default.
+
+package main
+
+import (
+	"fmt"
+
+	"gobot.io/x/gobot"
+	"gobot.io/x/gobot/drivers/gpio"
+	"gobot.io/x/gobot/drivers/i2c"
+	"gobot.io/x/gobot/platforms/raspi"
+)
+
+func main() {
+	r := raspi.NewAdaptor()
+	gp := i2c.NewGrovePiDriver(r)
+	button := gpio.NewButtonDriver(gp, "D3")
+	led := gpio.NewLedDriver(gp, "D2")
+
+	work := func() {
+		button.On(gpio.ButtonPush, func(data interface{}) {
+			fmt.Println("button pressed")
+			led.On()
+		})
+
+		button.On(gpio.ButtonRelease, func(data interface{}) {
+			fmt.Println("button released")
+			led.Off()
+		})
+	}
+
+	robot := gobot.NewRobot("buttonBot",
+		[]gobot.Connection{r},
+		[]gobot.Device{gp, button, led},
+		work,
+	)
+
+	robot.Start()
+}

examples/raspi_grove_pi_rotary.go

@@ -0,0 +1,34 @@
+// +build example
+//
+// Do not build by default.
+
+package main
+
+import (
+	"fmt"
+
+	"gobot.io/x/gobot"
+	"gobot.io/x/gobot/drivers/aio"
+	"gobot.io/x/gobot/drivers/i2c"
+	"gobot.io/x/gobot/platforms/raspi"
+)
+
+func main() {
+	board := raspi.NewAdaptor()
+	gp := i2c.NewGrovePiDriver(board)
+	sensor := aio.NewGroveRotaryDriver(gp, "A1")
+
+	work := func() {
+		sensor.On(aio.Data, func(data interface{}) {
+			fmt.Println("sensor", data)
+		})
+	}
+
+	robot := gobot.NewRobot("sensorBot",
+		[]gobot.Connection{board},
+		[]gobot.Device{gp, sensor},
+		work,
+	)
+
+	robot.Start()
+}