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package main
import (
"flag"
"fmt"
"log"
"os"
"strconv"
"strings"
"git.jettsang.com/drivers/lobot/network"
"git.jettsang.com/drivers/lobot/servo"
"git.jettsang.com/drivers/lobot/servo/lx"
"github.com/jacobsa/go-serial/serial"
)
var (
portName = flag.String("port", "/dev/tty.usbserial-A9ITPZVR", "the serial port path")
servoID = flag.Int("id", 1, "the ID of the servo")
instruction = flag.String("instruction", "", "instruction")
argument = flag.String("arguments", "1,1000", "uint16 txt break on comma")
debug = flag.Bool("debug", false, "show serial traffic")
)
func main() {
flag.Parse()
options := serial.OpenOptions{
PortName: *portName,
BaudRate: 115200,
DataBits: 8,
StopBits: 1,
MinimumReadSize: 0,
InterCharacterTimeout: 100,
}
serial, err := serial.Open(options)
if err != nil {
fmt.Printf("open error: %s\n", err)
os.Exit(1)
}
network := network.New(serial)
if *debug {
network.Logger = log.New(os.Stderr, "", log.LstdFlags)
}
network.Flush()
// var servo *servo.Servo
srv, err := lx.New(network, *servoID)
if err != nil {
log.Fatalln(err)
}
var params []uint16
textArguments := strings.Split(*argument, ",")
for _, v := range textArguments {
value, _ := strconv.Atoi(v)
params = append(params, uint16(value))
}
instRun := servo.GetInstName(*instruction)
log.Println(instRun.String(), params)
if err = srv.SendInstruction(instRun, params); err != nil {
log.Fatalln(err)
}
}
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