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Merge pull request #3 from darkwaterfoundation/dev

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This commit is contained in:
shrkey
2016-09-25 23:45:36 +01:00
committed by GitHub
parent e23067e7fc 27932106c1
commit 9114eba70f
2 changed files with 11 additions and 13 deletions
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16
darkwater_640/PCA9685.py
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@@ -108,11 +108,11 @@ class PCA9685(object):
prescaleval /= float(freq_hz) prescaleval /= float(freq_hz)
prescaleval -= 1.0 prescaleval -= 1.0
if (self.debug): if (self.debug):
print "Setting PWM frequency to %d Hz" % freq_hz print("Setting PWM frequency to %d Hz" % freq_hz)
print "Estimated pre-scale: %d" % prescaleval print("Estimated pre-scale: %d" % prescaleval)
prescale = math.floor(prescaleval * correctionFactor + 0.5) prescale = math.floor(prescaleval * correctionFactor + 0.5)
if (self.debug): if (self.debug):
print "Final pre-scale: %d" % prescale print("Final pre-scale: %d" % prescale)
oldmode = self.i2c.readU8(self.__MODE1); oldmode = self.i2c.readU8(self.__MODE1);
newmode = (oldmode & 0x7F) | 0x10 # sleep newmode = (oldmode & 0x7F) | 0x10 # sleep
@@ -129,11 +129,11 @@ class PCA9685(object):
prescaleval /= float(freq_hz) prescaleval /= float(freq_hz)
prescaleval -= 1.0 prescaleval -= 1.0
if (self.debug): if (self.debug):
print "Setting PWM frequency to %d Hz" % freq_hz print("Setting PWM frequency to %d Hz" % freq_hz)
print "Estimated pre-scale: %d" % prescaleval print("Estimated pre-scale: %d" % prescaleval)
prescale = math.ceil(prescaleval * correctionFactor + 0.5) prescale = math.ceil(prescaleval * correctionFactor + 0.5)
if (self.debug): if (self.debug):
print "Final pre-scale: %d" % prescale print("Final pre-scale: %d" % prescale)
oldmode = self.i2c.readU8(self.__MODE1); oldmode = self.i2c.readU8(self.__MODE1);
newmode = (oldmode & 0x7F) | 0x10 # sleep newmode = (oldmode & 0x7F) | 0x10 # sleep
@@ -147,8 +147,8 @@ class PCA9685(object):
prescale = self.i2c.readU8(self.__PRESCALE) prescale = self.i2c.readU8(self.__PRESCALE)
calcfreq = 25000000.0 / 4096.0 / ( float(prescale) + 1 ) calcfreq = 25000000.0 / 4096.0 / ( float(prescale) + 1 )
if (self.debug): if (self.debug):
print "Got pre-scale: %d" % prescale print("Got pre-scale: %d" % prescale)
print "Calculated Frequency: %d" % calcfreq print("Calculated Frequency: %d" % calcfreq)
return calcfreq return calcfreq

8
darkwater_640/darkwater_640.py
View File

@@ -1,7 +1,7 @@
#!/usr/bin/python #!/usr/bin/python
import RPi.GPIO as GPIO import RPi.GPIO as GPIO
from PCA9685 import PCA9685 from .PCA9685 import PCA9685
import time import time
import math import math
@@ -71,7 +71,7 @@ class dw_Stepper:
def off(self): def off(self):
self.run(dw_Controller.STOP, 0) self.run(dw_Controller.STOP, 0)
def setSpeed(self, rpm): def setMotorSpeed(self, rpm):
self.sec_per_step = 60.0 / (self.revsteps * rpm) self.sec_per_step = 60.0 / (self.revsteps * rpm)
self.steppingcounter = 0 self.steppingcounter = 0
@@ -173,8 +173,6 @@ class dw_Stepper:
s_per_s /= self.MICROSTEPS s_per_s /= self.MICROSTEPS
steps *= self.MICROSTEPS steps *= self.MICROSTEPS
print s_per_s, " sec per step"
for s in range(steps): for s in range(steps):
lateststep = self.oneStep(direction, stepstyle) lateststep = self.oneStep(direction, stepstyle)
time.sleep(s_per_s) time.sleep(s_per_s)
@@ -303,7 +301,7 @@ class dw_Servo:
def setAngle(self, angle): def setAngle(self, angle):
pulse = self.servo_zero + ( (self.servo_zero - self.servo_min ) * angle / 80 ) pulse = self.servo_zero + ( (self.servo_zero - self.servo_min ) * angle / 80 )
print "angle=%s pulse=%s" % (angle, pulse) #print "angle=%s pulse=%s" % (angle, pulse)
#self.setPWMmS( pulse ) #self.setPWMmS( pulse )
def setPWM(self, value): def setPWM(self, value):