gpio

package
v0.9.1 Latest Latest
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 Go to latest Published: Sep 19, 2023 License: AGPL-3.0 Imports: 18 Imported by: 0

Documentation

Overview

Package gpio implements a GPIO based motor.

Index

Constants

This section is empty.

Variables

This section is empty.

Functions

func NewEncodedMotor 

func NewEncodedMotor(
	conf resource.Config,
	motorConfig Config,
	realMotor motor.Motor,
	encoder encoder.Encoder,
	logger golog.Logger,
) (motor.Motor, error)

NewEncodedMotor creates a new motor that supports an arbitrary source of encoder information.

func NewMotor 

func NewMotor(b board.Board, mc Config, name resource.Name, logger golog.Logger) (motor.Motor, error)

NewMotor constructs a new GPIO based motor on the given board using the given configuration.

func WrapMotorWithEncoder 

func WrapMotorWithEncoder(
	ctx context.Context,
	e encoder.Encoder,
	c resource.Config,
	mc Config,
	m motor.Motor,
	logger golog.Logger,
) (motor.Motor, error)

WrapMotorWithEncoder takes a motor and adds an encoder onto it in order to understand its odometry.

Types

type Config 

type Config struct {
	Pins             PinConfig      `json:"pins"`
	BoardName        string         `json:"board"`
	MinPowerPct      float64        `json:"min_power_pct,omitempty"` // min power percentage to allow for this motor default is 0.0
	MaxPowerPct      float64        `json:"max_power_pct,omitempty"` // max power percentage to allow for this motor (0.06 - 1.0)
	PWMFreq          uint           `json:"pwm_freq,omitempty"`
	DirectionFlip    bool           `json:"dir_flip,omitempty"`              // Flip the direction of the signal sent if there is a Dir pin
	ControlLoop      control.Config `json:"control_config,omitempty"`        // Optional control loop
	Encoder          string         `json:"encoder,omitempty"`               // name of encoder
	RampRate         float64        `json:"ramp_rate_rpm_per_sec,omitempty"` // how fast to ramp power to motor when using rpm control
	MaxRPM           float64        `json:"max_rpm,omitempty"`
	TicksPerRotation int            `json:"ticks_per_rotation,omitempty"`
	Debug            bool           `json:"rpm_debug,omitempty"`
}

Config describes the configuration of a motor.

func (*Config) Validate added in v0.1.6 

func (conf *Config) Validate(path string) ([]string, error)

Validate ensures all parts of the config are valid.

type EncodedMotor 

type EncodedMotor struct {
	resource.Named
	resource.AlwaysRebuild
	// contains filtered or unexported fields
}

EncodedMotor is a motor that utilizes an encoder to track its position.

func (*EncodedMotor) Close 

func (m *EncodedMotor) Close(ctx context.Context) error

Close cleanly shuts down the motor.

func (*EncodedMotor) DirectionMoving 

func (m *EncodedMotor) DirectionMoving() int64

DirectionMoving returns the direction we are currently moving in, with 1 representing forward and -1 representing backwards.

func (*EncodedMotor) GoFor 

func (m *EncodedMotor) GoFor(ctx context.Context, rpm, revolutions float64, extra map[string]interface{}) error

GoFor instructs the motor to go in a specific direction for a specific amount of revolutions at a given speed in revolutions per minute. Both the RPM and the revolutions can be assigned negative values to move in a backwards direction. Note: if both are negative the motor will spin in the forward direction. If revolutions is 0, this will run the motor at rpm indefinitely If revolutions != 0, this will block until the number of revolutions has been completed or another operation comes in.

func (*EncodedMotor) GoTo 

func (m *EncodedMotor) GoTo(ctx context.Context, rpm, targetPosition float64, extra map[string]interface{}) error

GoTo instructs the motor to go to a specific position (provided in revolutions from home/zero), at a specific speed. Regardless of the directionality of the RPM this function will move the motor towards the specified target/position This will block until the position has been reached.

func (*EncodedMotor) IsMoving 

func (m *EncodedMotor) IsMoving(ctx context.Context) (bool, error)

IsMoving returns if the motor is moving or not.

func (*EncodedMotor) IsPowered 

func (m *EncodedMotor) IsPowered(ctx context.Context, extra map[string]interface{}) (bool, float64, error)

IsPowered returns whether or not the motor is currently on, and the percent power (between 0 and 1, if the motor is off then the percent power will be 0).

func (*EncodedMotor) Position 

func (m *EncodedMotor) Position(ctx context.Context, extra map[string]interface{}) (float64, error)

Position reports the position of the motor based on its encoder. If it's not supported, the returned data is undefined. The unit returned is the number of revolutions which is intended to be fed back into calls of GoFor.

func (*EncodedMotor) Properties 

func (m *EncodedMotor) Properties(ctx context.Context, extra map[string]interface{}) (motor.Properties, error)

Properties returns whether or not the motor supports certain optional properties.

func (*EncodedMotor) RPMMonitorCalls 

func (m *EncodedMotor) RPMMonitorCalls() int64

RPMMonitorCalls returns the number of calls RPM monitor has made.

func (*EncodedMotor) RPMMonitorStart 

func (m *EncodedMotor) RPMMonitorStart()

RPMMonitorStart starts the RPM monitor.

func (*EncodedMotor) ResetZeroPosition 

func (m *EncodedMotor) ResetZeroPosition(ctx context.Context, offset float64, extra map[string]interface{}) error

ResetZeroPosition sets the current position (+/- offset) to be the new zero (home) position.

func (*EncodedMotor) SetPower 

func (m *EncodedMotor) SetPower(ctx context.Context, powerPct float64, extra map[string]interface{}) error

SetPower sets the percentage of power the motor should employ between -1 and 1. Negative power implies a backward directional rotational.

func (*EncodedMotor) Stop 

func (m *EncodedMotor) Stop(ctx context.Context, extra map[string]interface{}) error

Stop stops rpmMonitor and stops the real motor.

type EncodedMotorState 

type EncodedMotorState struct {
	// contains filtered or unexported fields
}

EncodedMotorState is the core, non-statistical state for the motor. Multiple values should be updated atomically at the same time.

type Motor 

type Motor struct {
	resource.Named
	resource.AlwaysRebuild
	resource.TriviallyCloseable

	// config
	Board                    board.Board
	A, B, Direction, PWM, En board.GPIOPin
	EnablePinLow             board.GPIOPin
	EnablePinHigh            board.GPIOPin
	// contains filtered or unexported fields
}

A Motor is a GPIO based Motor that resides on a GPIO Board.

func (*Motor) GoFor 

func (m *Motor) GoFor(ctx context.Context, rpm, revolutions float64, extra map[string]interface{}) error

GoFor moves an inputted number of revolutions at the given rpm, no encoder is present for this so power is determined via a linear relationship with the maxRPM and the distance traveled is a time based estimation based on desired RPM.

func (*Motor) GoTo 

func (m *Motor) GoTo(ctx context.Context, rpm, positionRevolutions float64, extra map[string]interface{}) error

GoTo is not supported.

func (*Motor) IsMoving 

func (m *Motor) IsMoving(ctx context.Context) (bool, error)

IsMoving returns if the motor is currently on or off.

func (*Motor) IsPowered 

func (m *Motor) IsPowered(ctx context.Context, extra map[string]interface{}) (bool, float64, error)

IsPowered returns if the motor is currently on or off.

func (*Motor) Position 

func (m *Motor) Position(ctx context.Context, extra map[string]interface{}) (float64, error)

Position always returns 0.

func (*Motor) Properties 

func (m *Motor) Properties(ctx context.Context, extra map[string]interface{}) (motor.Properties, error)

Properties returns the status of whether the motor supports certain optional properties.

func (*Motor) ResetZeroPosition 

func (m *Motor) ResetZeroPosition(ctx context.Context, offset float64, extra map[string]interface{}) error

ResetZeroPosition is not supported.

func (*Motor) SetPower 

func (m *Motor) SetPower(ctx context.Context, powerPct float64, extra map[string]interface{}) error

SetPower instructs the motor to operate at an rpm, where the sign of the rpm indicates direction.

func (*Motor) Stop 

func (m *Motor) Stop(ctx context.Context, extra map[string]interface{}) error

Stop turns the power to the motor off immediately, without any gradual step down, by setting the appropriate pins to low states.

type PinConfig 

type PinConfig struct {
	A             string `json:"a"`
	B             string `json:"b"`
	Direction     string `json:"dir"`
	PWM           string `json:"pwm"`
	EnablePinHigh string `json:"en_high,omitempty"`
	EnablePinLow  string `json:"en_low,omitempty"`
}

PinConfig defines the mapping of where motor are wired.

Source Files

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