robots

README

robots

Experimental code for robotics

Documentation

Index

• type Motor
• type Motors

Types

type Motor

type Motor interface {
	// Return pins used to drive the motor
	Plus() gopi.GPIOPin
	Minus() gopi.GPIOPin

	// Return current speed
	Speed() float32
}

Motor is direct current motor interface

type Motors

type Motors interface {
	// Add a motor into the list of motors, indicting the GPIO pins for - and +
	// and whether the speed should be inverted (where the wires are mixed up)
	Add(minus, plus gopi.GPIOPin, invert bool) (Motor, error)

	// Run one or more motors at speed, which should be between -1.0 and 1.0
	// The function will return immediately, and the context can be used to cancel
	// the operation (and return the motors to 0)
	Run(ctx context.Context, speed float32, motors ...Motor) error

	// Set speed to zero for all running motors, or for specific motors
	Stop(motors ...Motor) error
}

Motors is a set of motors which can be controlled forwards, backwards or stopped