@@ -36,9 +36,7 @@ type Adaptor struct {
3636 * adaptors.PWMPinsAdaptor
3737 * adaptors.I2cBusAdaptor
3838 * adaptors.SpiBusAdaptor
39- usrLed string
40- pinMap map [string ]int
41- pwmPinTranslate func (string ) (string , int , error )
39+ usrLed string
4240}
4341
4442// NewAdaptor returns a new Beaglebone Black/Green Adaptor
@@ -53,12 +51,10 @@ func NewAdaptor(opts ...interface{}) *Adaptor {
5351 sys := system .NewAccesser (system .WithDigitalPinSysfsAccess ())
5452 pwmPinTranslator := adaptors .NewPWMPinTranslator (sys , bbbPwmPinMap )
5553 a := & Adaptor {
56- name : gobot .DefaultName ("BeagleboneBlack" ),
57- sys : sys ,
58- mutex : & sync.Mutex {},
59- pinMap : bbbPinMap ,
60- pwmPinTranslate : pwmPinTranslator .Translate ,
61- usrLed : "/sys/class/leds/beaglebone:green:" ,
54+ name : gobot .DefaultName ("BeagleboneBlack" ),
55+ sys : sys ,
56+ mutex : & sync.Mutex {},
57+ usrLed : "/sys/class/leds/beaglebone:green:" ,
6258 }
6359
6460 var digitalPinsOpts []adaptors.DigitalPinsOptionApplier
@@ -69,6 +65,8 @@ func NewAdaptor(opts ...interface{}) *Adaptor {
6965 digitalPinsOpts = append (digitalPinsOpts , o )
7066 case adaptors.PwmPinsOptionApplier :
7167 pwmPinsOpts = append (pwmPinsOpts , o )
68+ case func (system.Optioner ):
69+ o (sys )
7270 default :
7371 panic (fmt .Sprintf ("'%s' can not be applied on adaptor '%s'" , opt , a .name ))
7472 }
@@ -83,7 +81,8 @@ func NewAdaptor(opts ...interface{}) *Adaptor {
8381
8482 a .AnalogPinsAdaptor = adaptors .NewAnalogPinsAdaptor (sys , analogPinTranslator .Translate )
8583 a .DigitalPinsAdaptor = adaptors .NewDigitalPinsAdaptor (sys , a .translateAndMuxDigitalPin , digitalPinsOpts ... )
86- a .PWMPinsAdaptor = adaptors .NewPWMPinsAdaptor (sys , a .translateAndMuxPWMPin , pwmPinsOpts ... )
84+ a .PWMPinsAdaptor = adaptors .NewPWMPinsAdaptor (sys , a .getTranslateAndMuxPWMPinFunc (pwmPinTranslator .Translate ),
85+ pwmPinsOpts ... )
8786 a .I2cBusAdaptor = adaptors .NewI2cBusAdaptor (sys , i2cBusNumberValidator .Validate , defaultI2cBusNumber )
8887 a .SpiBusAdaptor = adaptors .NewSpiBusAdaptor (sys , spiBusNumberValidator .Validate , defaultSpiBusNumber ,
8988 defaultSpiChipNumber , defaultSpiMode , defaultSpiBitsNumber , defaultSpiMaxSpeed )
@@ -165,7 +164,7 @@ func (a *Adaptor) DigitalWrite(id string, val byte) error {
165164
166165// translatePin converts digital pin name to pin position
167166func (a * Adaptor ) translateAndMuxDigitalPin (id string ) (string , int , error ) {
168- line , ok := a . pinMap [id ]
167+ line , ok := bbbPinMap [id ]
169168 if ! ok {
170169 return "" , - 1 , fmt .Errorf ("'%s' is not a valid id for a digital pin" , id )
171170 }
@@ -176,17 +175,21 @@ func (a *Adaptor) translateAndMuxDigitalPin(id string) (string, int, error) {
176175 return "" , line , nil
177176}
178177
179- func (a * Adaptor ) translateAndMuxPWMPin (id string ) (string , int , error ) {
180- path , channel , err := a .pwmPinTranslate (id )
181- if err != nil {
182- return path , channel , err
183- }
178+ func (a * Adaptor ) getTranslateAndMuxPWMPinFunc (
179+ pwmPinTranslate func (id string ) (string , int , error ),
180+ ) func (id string ) (string , int , error ) {
181+ return func (id string ) (string , int , error ) {
182+ path , channel , err := pwmPinTranslate (id )
183+ if err != nil {
184+ return path , channel , err
185+ }
184186
185- if err := a .muxPin (id , "pwm" ); err != nil {
186- return "" , - 1 , err
187- }
187+ if err := a .muxPin (id , "pwm" ); err != nil {
188+ return "" , - 1 , err
189+ }
188190
189- return path , channel , nil
191+ return path , channel , nil
192+ }
190193}
191194
192195func (a * Adaptor ) muxPin (pin , cmd string ) error {
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