Examples with Servo com.robo4j.hw.rpi.i2c.pwm.Servo used on opensource projects

Example 1 with Servo

use of com.robo4j.hw.rpi.i2c.pwm.Servo in project robo4j by Robo4J.

the class PWMPCA9685DeviceTest method main.

public static void main(String[] args) throws IOException, InterruptedException {
    System.out.println("Creating device...");
    PWMPCA9685Device device = new PWMPCA9685Device();
    device.setPWMFrequency(SERVO_FREQUENCY);
    Servo servo0 = new Servo(device.getChannel(0));
    Servo servo1 = new Servo(device.getChannel(1));
    PWMChannel motor0 = device.getChannel(2);
    PWMChannel motor1 = device.getChannel(3);
    System.out.println("Setting start conditions...");
    servo0.setInput(0);
    servo1.setInput(0);
    motor0.setPWM(0, MOTOR_MIN);
    motor1.setPWM(0, MOTOR_MIN);
    System.out.println("Press enter to run loop!");
    System.in.read();
    System.out.println("Running perpetual loop...");
    while (true) {
        servo0.setInput(-1);
        servo1.setInput(-1);
        motor0.setPWM(0, MOTOR_MEDIUM);
        motor1.setPWM(0, MOTOR_MEDIUM);
        Thread.sleep(500);
        servo0.setInput(1);
        ;
        servo1.setInput(1);
        ;
        motor0.setPWM(0, MOTOR_MAX);
        motor1.setPWM(0, MOTOR_MAX);
        Thread.sleep(500);
        servo0.setInput(0);
        servo1.setInput(0);
        motor0.setPWM(0, MOTOR_MIN);
        motor1.setPWM(0, MOTOR_MIN);
        Thread.sleep(1000);
    }
}

Example 2 with Servo

use of com.robo4j.hw.rpi.i2c.pwm.Servo in project robo4j by Robo4J.

the class PCA9685ServoUnit method onInitialization.

/**
	 *
	 * @param configuration
	 *            - unit configuration
	 * @throws ConfigurationException
	 */
@Override
protected void onInitialization(Configuration configuration) throws ConfigurationException {
    super.onInitialization(configuration);
    Object pwmDevice = I2CRegistry.getI2CDeviceByEndPoint(new I2CEndPoint(getBus(), getAddress()));
    PWMPCA9685Device pcaDevice = null;
    try {
        if (pwmDevice == null) {
            pcaDevice = new PWMPCA9685Device(getBus(), getAddress());
            I2CRegistry.registerI2CDevice(pcaDevice, new I2CEndPoint(getBus(), getAddress()));
            pcaDevice.setPWMFrequency(50);
        } else {
            pcaDevice = (PWMPCA9685Device) pwmDevice;
        }
    } catch (IOException e) {
        throw new ConfigurationException("Could not initialize hardware", e);
    }
    channel = configuration.getInteger(CONFIGURATION_KEY_CHANNEL, -1);
    if (channel == -1) {
        throw ConfigurationException.createMissingConfigNameException(CONFIGURATION_KEY_CHANNEL);
    }
    servo = new Servo(pcaDevice.getChannel(channel));
    servo.setTrim(configuration.getFloat(CONFIGURATION_KEY_TRIM, 0f));
    servo.setInverted(configuration.getBoolean(CONFIGURATION_KEY_INVERTED, false));
    servo.setDualRate(configuration.getFloat(CONFIGURATION_KEY_DUAL_RATE, 1.0f));
    servo.setExpo(configuration.getFloat(CONFIGURATION_KEY_EXPO, 0.0f));
}