hybridgroup/cylon-beaglebone

# Beaglebone Servo

First, let's import Cylon:

    var Cylon = require('cylon');

Now that we have Cylon imported, we can start defining our robot

    Cylon.robot({

Let's define the connections and devices:

      connections: {
        beaglebone: { adaptor: 'beaglebone' }
      },

      devices: {
        servo: {
          driver: 'servo',
          pin: 'P9_14',
          freq: 50,
          // pulseWidth in MicroSeconds as per servo spec sheet
          // e.g. http://www.servodatabase.com/servo/towerpro/sg90
          pulseWidth: { min: 500, max: 2400 },
          limits: { bottom: 20, top: 160 }
        }
      },

Now that Cylon knows about the necessary hardware we're going to be using, we'll
tell it what work we want to do

      work: function(my) {
        // Be carefull with your servo angles or you might DAMAGE the servo!
        // Cylon uses a 50hz/s (20ms period) frequency and a Duty Cycle
        // of 0.500 microseconds to 2400 microseconds to control the servo
        // angle movement by default, you can change that as seen in the
        // above declaration.
        //
        // This means pulseWidth (e.g. Servo SG90):
        // 1. min = 500 micro seconds
        // 2. max = 2400 micro seconds
        // (It is usually safe to start with a 90 degree angle, 1.5ms duty
        // cycle in most servos)
        //
        // Please review your servo datasheet to make sure of correct
        // angle range and the Freq/MS Duty cycle it requires.
        // If more servo support is needed leave us a comment, raise an
        // issue or help us add more support.

        var angle = 30,
            increment = 40;

        every((1).seconds(), function() {
          angle += increment;

          my.servo.angle(angle);

          console.log("Current Angle: " + my.servo.currentAngle());

          if ((angle === 30) || (angle === 150)) { increment = -increment; }
        });
      }

Now that our robot knows what work to do, and the work it will be doing that
hardware with, we can start it:

    }).start();