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package servo
// High-level interface. (Most of this should be removed, or moved to a separate
// type which embeds or interacts with the servo type.)
func (s *Servo) posToAngle(p int) float64 {
return (positionToAngle * float64(p))
}
func (s *Servo) angleToPos(angle float64) int {
return int((angle) * angleToPosition)
}
/*
// Returns the current position of the servo, relative to the zero angle.
func (s *Servo) Angle() (float64, error) {
p, err := s.Position()
if err != nil {
return 0, err
}
return s.posToAngle(p), nil
}
// MoveTo sets the goal position of the servo by angle (in degrees), where zero
// is the midpoint, 150 deg is max left (clockwise), and -150 deg is max right
// (counter-clockwise). This is generally preferable to calling SetGoalPosition,
// which uses the internal uint16 representation.
func (s *Servo) MoveTo(angle float64) error {
p := s.angleToPos(normalizeAngle(angle))
return s.SetGoalPosition(p)
}
// Voltage returns the current voltage supplied. Unlike the underlying register,
// this is the actual voltage, not multiplied by ten.
func (s *Servo) Voltage() (float64, error) {
val, err := s.PresentVoltage()
if err != nil {
return 0.0, err
}
// Convert the return value into actual volts.
return (float64(val) / 10), nil
}
*/
//
func normalizeAngle(d float64) float64 {
if d > 180 {
return normalizeAngle(d - 360)
} else if d < -180 {
return normalizeAngle(d + 360)
} else {
return d
}
}
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