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package main
import (
"flag"
"fmt"
"log"
"os"
"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 to move")
position = flag.Int("position", 512, "the goal position to set")
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
servo, err = lx.New(network, *servoID)
err = servo.MoveTimeWrite(uint16(*position), 500)
if err != nil {
fmt.Printf("move error: %s\n", err)
os.Exit(1)
}
}
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