40 lines
836 B
Go
40 lines
836 B
Go
package actuator
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import (
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"go.uber.org/zap"
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"periph.io/x/conn/v3/i2c/i2creg"
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"periph.io/x/conn/v3/physic"
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"periph.io/x/devices/v3/pca9685"
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"periph.io/x/host/v3"
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)
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var (
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device *pca9685.Dev
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)
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func init() {
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zap.S().Info("init pca9685 controller")
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_, err := host.Init()
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if err != nil {
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zap.S().Fatalf("unable to init host: %v", err)
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}
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zap.S().Info("open i2c bus")
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bus, err := i2creg.Open("")
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if err != nil {
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zap.S().Fatalf("unable to init i2c bus: %v", err)
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}
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zap.S().Info("i2c bus opened")
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device, err = pca9685.NewI2C(bus, pca9685.I2CAddr)
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if err != nil {
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zap.S().Fatalf("unable to init pca9685 bus: %v", err)
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}
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zap.S().Infof("set pwm frequency to %d", 60)
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err = device.SetPwmFreq(60 * physic.Hertz)
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if err != nil {
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zap.S().Panicf("unable to set pwm frequency: %v", err)
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}
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zap.S().Info("init done")
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}
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