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adaptors(pwm): introduce scale option for servo #1046

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Dec 5, 2023
Merged

adaptors(pwm): introduce scale option for servo #1046

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16 changes: 9 additions & 7 deletions examples/tinkerboard_servo.go
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Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,7 @@ import (

"gobot.io/x/gobot/v2"
"gobot.io/x/gobot/v2/drivers/gpio"
"gobot.io/x/gobot/v2/platforms/adaptors"
"gobot.io/x/gobot/v2/platforms/tinkerboard"
)

Expand All @@ -25,15 +26,16 @@ func main() {

fiftyHzNanos = 20 * 1000 * 1000 // 50Hz = 0.02 sec = 20 ms
)
adaptor := tinkerboard.NewAdaptor()
// usually a frequency of 50Hz is used for servos, most servos have 0.5 ms..2.5 ms for 0-180°,
// however the mapping can be changed with options:
adaptor := tinkerboard.NewAdaptor(
adaptors.WithPWMDefaultPeriodForPin(pwmPin, fiftyHzNanos),
adaptors.WithPWMServoDutyCycleRangeForPin(pwmPin, time.Millisecond, 2*time.Millisecond),
adaptors.WithPWMServoAngleRangeForPin(pwmPin, 0, 270),
)
servo := gpio.NewServoDriver(adaptor, pwmPin)

work := func() {
// usually a frequency of 50Hz is used for servos
if err := adaptor.SetPeriod(pwmPin, fiftyHzNanos); err != nil {
log.Println(err)
}

fmt.Printf("first move to minimal position for %s...\n", wait)
if err := servo.ToMin(); err != nil {
log.Println(err)
Expand All @@ -55,7 +57,7 @@ func main() {

time.Sleep(wait)

fmt.Println("finally move 0-180° and back forever...")
fmt.Println("finally move 0-180° (or what your servo do for the new mapping) and back forever...")
angle := 0
fadeAmount := 45

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