fixed initial mode

README.md

@@ -33,10 +33,9 @@ func main() {
         log.Fatal(err)
     }
 
-    pca0 := pca9685.PCANew(i2c, nil)
-    err = pca0.Init()
-    if err != nil {
-    log.Fatal(err)
+    pca0 := pca9685.New(i2c, nil)
+    if err := pca0.Init(); err != nil {
+        log.Fatal(err)
     }
 
     // Sets frequency for channel 0
@@ -45,16 +44,14 @@ func main() {
 
     // Angle in degrees. Must be in the range `0` to `Range`
     // Rotates from 0 to 130 degrees
-    servo1 := ServoNew(pca0, 0, nil)
+    servo1 := pca0.ServoNew(0, nil)
     for i := 0; i < 130; i++ {
         servo1.Angle(i)
         time.Sleep(10 * time.Millisecond)
     }
 
     // Fraction as pulse width expressed between 0.0 `MinPulse` and 1.0 `MaxPulse`
     servo1.Fraction(0.5)
-
-    pca0.DeInit()
 }
 ```
 

pca9685.go

@@ -60,8 +60,8 @@ type Options struct {
 	ClockSpeed float32
 }
 
-// PCANew creates a new driver with specified i2c interface
-func PCANew(i2c *i2c.I2C, optn *Options) *PCA9685 {
+// New creates a new driver with specified i2c interface
+func New(i2c *i2c.I2C, optn *Options) *PCA9685 {
 	adr := i2c.GetAddr()
 	pca := &PCA9685{
 		Conn: i2c,
@@ -82,6 +82,7 @@ func (pca *PCA9685) Init() (err error) {
 	if pca.Conn.GetAddr() == 0 {
 		return fmt.Errorf(`device %v is not initiated`, pca.Optn.Name)
 	}
+	pca.Conn.WriteRegU8(Mode1, 0x00|0xA1) // Mode 1, autoincrement on)
 	return pca.SetFreq(pca.Optn.Frequency)
 }
 
@@ -106,16 +107,16 @@ func (pca *PCA9685) SetFreq(freq float32) (err error) {
 		return err
 	}
 	time.Sleep(5 * time.Millisecond)
-	return pca.Conn.WriteRegU8(Mode1, oldMode|0xA1) // Mode 1, autoincrement on)
+	return
 }
 
 // GetFreq returns frequency value
 func (pca *PCA9685) GetFreq() float32 {
 	return pca.Optn.Frequency
 }
 
-// DeInit reset the chip
-func (pca *PCA9685) DeInit() (err error) {
+// Reset reset the chip
+func (pca *PCA9685) Reset() (err error) {
 	return pca.Conn.WriteRegU8(Mode1, 0x00)
 }
 

servo.go

@@ -41,8 +41,8 @@ const (
 
 // Servo structure
 type Servo struct {
-	PWM     *PCA9685
-	Channel uint8
+	PCA     *PCA9685
+	Channel int
 	Options *ServOptions
 }
 
@@ -53,10 +53,10 @@ type ServOptions struct {
 	MaxPulse float32
 }
 
-// ServNew creates a new servo driver
-func ServoNew(p *PCA9685, chn uint8, o *ServOptions) *Servo {
+// ServoNew creates a new servo driver
+func (pca *PCA9685) ServoNew(chn int, o *ServOptions) *Servo {
 	s := &Servo{
-		PWM:     p,
+		PCA:     pca,
 		Channel: chn,
 		Options: &ServOptions{
 			Range:    ServoRangeDef,
@@ -86,12 +86,17 @@ func (s *Servo) Fraction(f float32) (err error) {
 		return fmt.Errorf("Must be 0.0 to 1.0")
 	}
 
-	freq := s.PWM.GetFreq()
+	freq := s.PCA.GetFreq()
 
 	minDuty := s.Options.MinPulse * freq / 1000000 * 0xFFFF
 	maxDuty := s.Options.MaxPulse * freq / 1000000 * 0xFFFF
 	dutyRange := maxDuty - minDuty
 	dutyCycle := (int(minDuty+f*dutyRange) + 1) >> 4
 
-	return s.PWM.SetChannel(int(s.Channel), 0, dutyCycle)
+	return s.PCA.SetChannel(s.Channel, 0, dutyCycle)
+}
+
+// Reset servo
+func (s *Servo) Reset() (err error) {
+	return s.PCA.SetChannel(s.Channel, 0, 0)
 }