arduino

Documentation

Overview

Package arduino implements the arduino board and some peripherals.

Index

• Constants
• type Config
  • func (config *Config) Validate(path string) error
• type Encoder
  • func NewEncoder(ctx context.Context, deps registry.Dependencies, config config.Component, ...) (*Encoder, error)
  • func (e *Encoder) Reset(ctx context.Context, offset float64, extra map[string]interface{}) error
  • func (e *Encoder) TicksCount(ctx context.Context, extra map[string]interface{}) (float64, error)
• type EncoderConfig
  • func (cfg *EncoderConfig) Validate(path string) ([]string, error)
• type EncoderPins

Constants

const SetPowerZeroThreshold = .0001

SetPowerZeroThreshold represents a power below which value attempting to run the motor simply stops it.

Types

type Config

type Config struct {
	Analogs    []board.AnalogConfig `json:"analogs,omitempty"`
	SerialPath string               `json:"serial_path"`
	Attributes config.AttributeMap  `json:"attributes,omitempty"`
}

A Config describes the configuration of a board and all of its connected parts.

func (*Config) Validate

func (config *Config) Validate(path string) error

Validate ensures all parts of the config are valid.

type Encoder

type Encoder struct {
	A, B string

	generic.Unimplemented
	// contains filtered or unexported fields
}

Encoder keeps track of an arduino motor position.

func NewEncoder

func NewEncoder(ctx context.Context, deps registry.Dependencies, config config.Component, logger golog.Logger) (*Encoder, error)

NewEncoder creates a new incremental Encoder.

func (*Encoder) Reset

func (e *Encoder) Reset(ctx context.Context, offset float64, extra map[string]interface{}) error

Reset sets the current position of the motor (adjusted by a given offset) to be its new zero position.

func (*Encoder) TicksCount

func (e *Encoder) TicksCount(ctx context.Context, extra map[string]interface{}) (float64, error)

TicksCount returns number of ticks since last zeroing.

type EncoderConfig

type EncoderConfig struct {
	Pins      EncoderPins `json:"pins"`
	BoardName string      `json:"board"`
	MotorName string      `json:"motor_name"`
}

EncoderConfig describes the config of an arduino Encoder.

func (*EncoderConfig) Validate

func (cfg *EncoderConfig) Validate(path string) ([]string, error)

Validate ensures all parts of the config are valid.

type EncoderPins

type EncoderPins struct {
	A string `json:"a"`
	B string `json:"b"`
}

EncoderPins defines the format the pin config should be in for Encoder.