shuzo-kino.hateblo.jp
package main
import (
"fmt"
"time"
"gobot.io/x/gobot"
"gobot.io/x/gobot/drivers/gpio"
"gobot.io/x/gobot/platforms/firmata"
)
func main() {
firmataAdaptor := firmata.NewAdaptor("/dev/tty.usbmodem1421")
servo1 := gpio.NewServoDriver(firmataAdaptor, "3")
servo2 := gpio.NewServoDriver(firmataAdaptor, "4")
count := 1
work := func() {
gobot.Every(1*time.Second, func() {
count = (count + 1) % 254
if Odd(count) {
moveVal := (count * 20) % 180
fmt.Println("Turning Servo1", moveVal)
servo1.Move(uint8(moveVal))
} else {
moveVal := (count * 20) % 180
fmt.Println("Turning Servo1", moveVal)
fmt.Println("Turning Servo2", moveVal+100)
servo1.Move(uint8(moveVal))
servo2.Move(uint8(moveVal))
}
})
}
robot := gobot.NewRobot("servoBot",
[]gobot.Connection{firmataAdaptor},
[]gobot.Device{servo1, servo2},
work,
)
robot.Start()
}
