stepper_motor_ex.go

package main

import (
	"fmt"

	"gobot.io/x/gobot"
	"gobot.io/x/gobot/drivers/gpio"
	"gobot.io/x/gobot/platforms/dexter/gopigo3"
	"gobot.io/x/gobot/platforms/raspi"
)

func main() {
	r := raspi.NewAdaptor()
	gpg3 := gopigo3.NewDriver(r)
	stepper := gpio.NewStepperDriver(gpg3, [4]string{"7", "11", "13", "15"}, gpio.StepperModes.DualPhaseStepping, 2048)

	work := func() {
		//Move one complete rotation
		stepper.SetSpeed(15)
		//Move forward
		if err := stepper.Move(2048); err != nil {
			fmt.Println(err)
		}

		//Move backward
		if err := stepper.Move(-2048); err != nil {
			fmt.Println(err)
		}
	}

	robot := gobot.NewRobot("stepperBot",
		[]gobot.Connection{r},
		[]gobot.Device{gpg3, stepper},
		work,
	)

	robot.Start()
}