PCA9685寄存器用法和通信（三）——使用golang

本文链接：https://blog.csdn.net/ffmydream/article/details/107869081

导包的时候会报错，网上有解决办法。主要有个错误是：cannot find package "golang.org/x/exp/io/i2c"in any of:
/usr/lib/go-1.11/src/golang.org/x/exp/io/i2c (from $GOROOT)
/home/pi/go/src/golang.org/x/exp/io/i2c (from $GOPATH)

使用git clone https://github.com/golang/exp.git，将复制下来的exp文件夹移动到你的GOPATH目录，我的就是/home/pi/go/src/golang.org/x/。

package main

import (
	"github.com/op/go-logging"
	"github.com/sergiorb/pca9685-golang/device"
	"golang.org/x/exp/io/i2c"
	"log"
	"time"
)

const (
	I2C_ADDR = "/dev/i2c-1"
	ADDR_01  = 0x40
	SVO_TYPE = 180		//舵机类型：最大转角
	SERVO_HORIZ  = 0	//横向舵机
	SERVO_VERTIC = 1	//纵向舵机
	MIN_PULSE    = 103
	MAX_PULSE    = 512
)

func main() {
	logger := logging.Logger{}
	dev, err := i2c.Open(&i2c.Devfs{Dev: I2C_ADDR}, ADDR_01)
	if err != nil {
		log.Fatal(err)
	}

	pca := device.NewPCA9685(dev, "Servo Controller", MIN_PULSE, MAX_PULSE, &logger)
	pca.Frequency = 50.0
	pca.Init()
	//横向舵机先转到100°，2秒后转到0°
	servo0 := pca.NewPwm(SERVO_HORIZ)
	setAngle(servo0, 100.0)
	time.Sleep(2 * time.Second)
	setAngle(servo0, 0.0)
	time.Sleep(2 * time.Second)
	//纵向舵机先转到100°，2秒后转到0°
	servo1 := pca.NewPwm(SERVO_VERTIC)
	setAngle(servo1, 100.0)
	time.Sleep(2 * time.Second)
	setAngle(servo1, 0.0)
	time.Sleep(2 * time.Second)
	//关闭所有通道
	pca.SetAllPwm(0, 0)
}

func setAngle(p *device.Pwm, angle float32) {
	offReg := int((0.5 + angle/SVO_TYPE*2) * 4096 / 20)
	p.SetPulse(0, offReg)
}