init

2015-01-23 21:03:22 +00:00
parent 626fa702f7
commit 7d1a7a66f7
8 changed files with 928 additions and 0 deletions
--- a/Adafruit_MotorHAT/Adafruit_PWM_Servo_Driver.py
+++ b/Adafruit_MotorHAT/Adafruit_PWM_Servo_Driver.py
@@ -0,0 +1,92 @@
+#!/usr/bin/python
+
+import time
+import math
+from Adafruit_I2C import Adafruit_I2C
+
+# ============================================================================
+# Adafruit PCA9685 16-Channel PWM Servo Driver
+# ============================================================================
+
+class PWM :
+  # Registers/etc.
+  __MODE1              = 0x00
+  __MODE2              = 0x01
+  __SUBADR1            = 0x02
+  __SUBADR2            = 0x03
+  __SUBADR3            = 0x04
+  __PRESCALE           = 0xFE
+  __LED0_ON_L          = 0x06
+  __LED0_ON_H          = 0x07
+  __LED0_OFF_L         = 0x08
+  __LED0_OFF_H         = 0x09
+  __ALL_LED_ON_L       = 0xFA
+  __ALL_LED_ON_H       = 0xFB
+  __ALL_LED_OFF_L      = 0xFC
+  __ALL_LED_OFF_H      = 0xFD
+
+  # Bits
+  __RESTART            = 0x80
+  __SLEEP              = 0x10
+  __ALLCALL            = 0x01
+  __INVRT              = 0x10
+  __OUTDRV             = 0x04
+
+  general_call_i2c = Adafruit_I2C(0x00)
+
+  @classmethod
+  def softwareReset(cls):
+    "Sends a software reset (SWRST) command to all the servo drivers on the bus"
+    cls.general_call_i2c.writeRaw8(0x06)        # SWRST
+
+  def __init__(self, address=0x40, debug=False):
+    self.i2c = Adafruit_I2C(address)
+    self.i2c.debug = debug
+    self.address = address
+    self.debug = debug
+    if (self.debug):
+      print "Reseting PCA9685 MODE1 (without SLEEP) and MODE2"
+    self.setAllPWM(0, 0)
+    self.i2c.write8(self.__MODE2, self.__OUTDRV)
+    self.i2c.write8(self.__MODE1, self.__ALLCALL)
+    time.sleep(0.005)                                       # wait for oscillator
+    
+    mode1 = self.i2c.readU8(self.__MODE1)
+    mode1 = mode1 & ~self.__SLEEP                 # wake up (reset sleep)
+    self.i2c.write8(self.__MODE1, mode1)
+    time.sleep(0.005)                             # wait for oscillator
+
+  def setPWMFreq(self, freq):
+    "Sets the PWM frequency"
+    prescaleval = 25000000.0    # 25MHz
+    prescaleval /= 4096.0       # 12-bit
+    prescaleval /= float(freq)
+    prescaleval -= 1.0
+    if (self.debug):
+      print "Setting PWM frequency to %d Hz" % freq
+      print "Estimated pre-scale: %d" % prescaleval
+    prescale = math.floor(prescaleval + 0.5)
+    if (self.debug):
+      print "Final pre-scale: %d" % prescale
+
+    oldmode = self.i2c.readU8(self.__MODE1);
+    newmode = (oldmode & 0x7F) | 0x10             # sleep
+    self.i2c.write8(self.__MODE1, newmode)        # go to sleep
+    self.i2c.write8(self.__PRESCALE, int(math.floor(prescale)))
+    self.i2c.write8(self.__MODE1, oldmode)
+    time.sleep(0.005)
+    self.i2c.write8(self.__MODE1, oldmode | 0x80)
+
+  def setPWM(self, channel, on, off):
+    "Sets a single PWM channel"
+    self.i2c.write8(self.__LED0_ON_L+4*channel, on & 0xFF)
+    self.i2c.write8(self.__LED0_ON_H+4*channel, on >> 8)
+    self.i2c.write8(self.__LED0_OFF_L+4*channel, off & 0xFF)
+    self.i2c.write8(self.__LED0_OFF_H+4*channel, off >> 8)
+
+  def setAllPWM(self, on, off):
+    "Sets a all PWM channels"
+    self.i2c.write8(self.__ALL_LED_ON_L, on & 0xFF)
+    self.i2c.write8(self.__ALL_LED_ON_H, on >> 8)
+    self.i2c.write8(self.__ALL_LED_OFF_L, off & 0xFF)
+    self.i2c.write8(self.__ALL_LED_OFF_H, off >> 8)