tinygo_servo

package module
v0.0.10 Latest Latest
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 Go to latest Published: Sep 16, 2025 License: GPL-3.0 Imports: 5 Imported by: 0

README

tinygo-servo

Servo wrapper for TinyGo projects

Documentation

Index

Constants

View Source 
const (
	// LeftLimitAngle is the angle that represents the left limit position of the servo motors.
	LeftLimitAngle uint16 = 0

	// RightLimitAngle is the angle that represents the right limit position of the servo motors.
	RightLimitAngle uint16 = 180
)
View Source 
const (
	ErrorCodeServoFailedToConfigurePWM tinygoerrors.ErrorCode = tinygoerrors.ErrorCode(iota + ErrorCodeServoStartNumber)
	ErrorCodeServoFailedToInitializeServo
	ErrorCodeServoAngleOutOfRange
	ErrorCodeServoAngleBelowMinPulseWidth
	ErrorCodeServoAngleAboveMaxPulseWidth
	ErrorCodeServoFailedToSetServoAngle
	ErrorCodeServoNilHandler
)
View Source 
const (
	// ErrorCodeServoStartNumber is the starting number for servo-related error codes.
	ErrorCodeServoStartNumber uint16 = 5230
)

Variables

This section is empty.

Functions

This section is empty.

Types

type DefaultHandler 

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

DefaultHandler is the default implementation of the Servo interface

func NewDefaultHandler 

func NewDefaultHandler(
	pwm tinygodriversservo.PWM,
	pin machine.Pin,
	afterSetAngleFunc func(angle uint16),
	isMovementEnabled func() bool,
	frequency uint16,
	minPulseWidth uint16,
	maxPulseWidth uint16,
	centerAngle uint16,
	maxAngle uint16,
	isDirectionInverted bool,
	logger tinygologger.Logger,
) (*DefaultHandler, tinygoerrors.ErrorCode)

NewDefaultHandler creates a new instance of DefaultHandler

Parameters:

pwm: The PWM interface to control the servo pin: The pin connected to the servo afterSetAngleFunc: A callback function to be called after setting the angle isMovementEnabled: A function to check if movement is enabled frequency: The frequency of the PWM signal minPulseWidth: The minimum pulse width for the servo motor maxPulseWidth: The maximum pulse width for the servo motor centerAngle: The center angle of the servo motor maxAngle: The maximum angle the servo can move from the center isDirectionInverted: Whether the direction of the servo motor is inverted logger: The logger instance for logging messages

Returns:

An instance of DefaultHandler and an error if any occurred during initialization

func (*DefaultHandler) GetAngle 

func (h *DefaultHandler) GetAngle() uint16

GetAngle returns the current angle of the servo motor

Returns:

The current angle of the servo motor

func (*DefaultHandler) IsAngleCentered 

func (h *DefaultHandler) IsAngleCentered() bool

IsAngleCentered checks if the servo motor angle is centered

Returns:

True if the servo motor is centered, false otherwise

func (*DefaultHandler) SafeSetAngleToLeft added in v0.0.10 

func (h *DefaultHandler) SafeSetAngleToLeft(angle uint16) tinygoerrors.ErrorCode

SafeSetAngleToLeft sets the servo motor to the left by a specified angle without exceeding limits

Parameters:

angle: The angle value to move the servo to the left, must be between 0 and the left limit

Returns:

An error if the angle is not within the left limit

func (*DefaultHandler) SafeSetAngleToRight added in v0.0.10 

func (h *DefaultHandler) SafeSetAngleToRight(angle uint16) tinygoerrors.ErrorCode

SafeSetAngleToRight sets the servo motor to the right by a specified angle without exceeding limits

Parameters:

angle: The angle value to move the servo to the right, must be between 0 and the right limit

Returns:

An error if the angle is not within the right limit

func (*DefaultHandler) SafeSetDirectionToLeft added in v0.0.10 

func (h *DefaultHandler) SafeSetDirectionToLeft(angle uint16) tinygoerrors.ErrorCode

SafeSetDirectionToLeft sets the direction to left without exceeding limits

Parameters:

angle: The angle value to move the servo to the right, must be between 0 and the right limit

Returns:

An error if the angle is not within the right limit

func (*DefaultHandler) SafeSetDirectionToRight added in v0.0.10 

func (h *DefaultHandler) SafeSetDirectionToRight(angle uint16) tinygoerrors.ErrorCode

SafeSetDirectionToRight sets the direction to right without exceeding limits

Parameters:

angle: The angle value to move the servo to the left, must be between 0 and the left limit

Returns:

An error if the angle is not within the left limit

func (*DefaultHandler) SetAngle 

func (h *DefaultHandler) SetAngle(angle uint16) tinygoerrors.ErrorCode

SetAngle sets the angle of the servo motor

Parameters:

angle: The angle to set the servo motor to, must be between 0 and the actuation range

func (*DefaultHandler) SetAngleRelativeToCenter 

func (h *DefaultHandler) SetAngleRelativeToCenter(relativeAngle int16) tinygoerrors.ErrorCode

SetAngleRelativeToCenter sets the angle of the servo motor relative to the center position

Parameters:

relativeAngle: The relative angle value between -90 and 90 degrees

Returns:

An error if the relative angle is not within the left and right limits

func (*DefaultHandler) SetAngleToCenter 

func (h *DefaultHandler) SetAngleToCenter() tinygoerrors.ErrorCode

SetAngleToCenter centers the servo motor to the middle position

Returns:

An error if the servo motor could not be centered

func (*DefaultHandler) SetAngleToLeft 

func (h *DefaultHandler) SetAngleToLeft(angle uint16) tinygoerrors.ErrorCode

SetAngleToLeft sets the servo motor to the left by a specified angle

Parameters:

angle: The angle value to move the servo to the left, must be between 0 and the left limit

Returns:

An error if the angle is not within the left limit

func (*DefaultHandler) SetAngleToRight 

func (h *DefaultHandler) SetAngleToRight(angle uint16) tinygoerrors.ErrorCode

SetAngleToRight sets the servo motor to the right by a specified angle

Parameters:

angle: The angle value to move the servo to the right, must be between 0 and the right limit

Returns:

An error if the angle is not within the right limit

func (*DefaultHandler) SetDirectionToCenter 

func (h *DefaultHandler) SetDirectionToCenter() tinygoerrors.ErrorCode

SetDirectionToCenter sets the direction to center

func (*DefaultHandler) SetDirectionToLeft 

func (h *DefaultHandler) SetDirectionToLeft(angle uint16) tinygoerrors.ErrorCode

SetDirectionToLeft sets the direction to left

Parameters:

angle: The angle value to move the servo to the right, must be between 0 and the right limit

Returns:

An error if the angle is not within the right limit

func (*DefaultHandler) SetDirectionToRight 

func (h *DefaultHandler) SetDirectionToRight(angle uint16) tinygoerrors.ErrorCode

SetDirectionToRight sets the direction to right

Parameters:

angle: The angle value to move the servo to the left, must be between 0 and the left limit

Returns:

An error if the angle is not within the left limit

type Handler 

type Handler interface {
	SetAngle(angle uint16) tinygoerrors.ErrorCode
	GetAngle() uint16
	SetAngleRelativeToCenter(relativeAngle int16) tinygoerrors.ErrorCode
	IsAngleCentered() bool
	SetAngleToCenter() tinygoerrors.ErrorCode
	SetAngleToRight(angle uint16) tinygoerrors.ErrorCode
	SafeSetAngleToRight(angle uint16) tinygoerrors.ErrorCode
	SetAngleToLeft(angle uint16) tinygoerrors.ErrorCode
	SafeSetAngleToLeft(angle uint16) tinygoerrors.ErrorCode
	SetDirectionToCenter() tinygoerrors.ErrorCode
	SetDirectionToRight(angle uint16) tinygoerrors.ErrorCode
	SafeSetDirectionToRight(angle uint16) tinygoerrors.ErrorCode
	SetDirectionToLeft(angle uint16) tinygoerrors.ErrorCode
	SafeSetDirectionToLeft(angle uint16) tinygoerrors.ErrorCode
}

Handler is the interface to handle servo operations

Source Files

View all Source files

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