Index

/*
 How to run
 Pass serial port to use as the first param:

        go run examples/firmata_pca9685.go /dev/ttyACM0
*/

package main

import (
        "fmt"
        "os"
        "time"

        "gobot.io/x/gobot"
        "gobot.io/x/gobot/drivers/gpio"
        "gobot.io/x/gobot/drivers/i2c"
        "gobot.io/x/gobot/platforms/firmata"
)

func main() {
        firmataAdaptor := firmata.NewAdaptor(os.Args[1])
        pca9685 := i2c.NewPCA9685Driver(firmataAdaptor)
        servo := gpio.NewServoDriver(pca9685, "15")

        work := func() {
                pca9685.SetPWMFreq(60)

                for i := 10; i < 150; i += 10 {
                        fmt.Println("Turning", i)
                        servo.Move(uint8(i))
                        time.Sleep(1 * time.Second)
                }

                for i := 150; i > 10; i -= 10 {
                        fmt.Println("Turning", i)
                        servo.Move(uint8(i))
                        time.Sleep(1 * time.Second)
                }
        }

        robot := gobot.NewRobot("servoBot",
                []gobot.Connection{firmataAdaptor},
                []gobot.Device{pca9685, servo},
                work,
        )

        robot.Start()
}