h3n3/darkwater_python_640
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changed methods

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This commit is contained in:
shrkey
2016-08-15 13:17:02 +01:00
parent f26dc9d572
commit b2f391f9fa
1 changed files with 34 additions and 7 deletions
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41
darkwater_640/darkwater_640.py
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@@ -219,10 +219,10 @@ class dw_Motor:
return
if (command == dw_Controller.FORWARD):
self.MC.setPin(self.PHpin, 0)
self.MC._pwm.setPWM(self.ENpin, 0, speed*16)
self.MC._pwm.set_pwm(self.ENpin, 0, speed*16)
if (command == dw_Controller.BACKWARD):
self.MC.setPin(self.PHpin, 1)
self.MC._pwm.setPWM(self.ENpin, 0, speed*16)
self.MC._pwm.set_pwm(self.ENpin, 0, speed*16)
if (command == dw_Controller.RELEASE):
self.MC.setPin(self.PHpin, 0)
self.MC.setPin(self.ENpin, 0)
@@ -266,7 +266,7 @@ class dw_Servo:
def setPWM(self, value):
if(value > 0):
self.MC._pwm.setPWM(self.pin, 0, int(value) )
self.MC._pwm.set_pwm(self.pin, 0, int(value) )
if(value == 0):
self.off()
@@ -313,9 +313,19 @@ class dw_Controller:
if (value != 0) and (value != 1):
raise NameError('Pin value must be 0 or 1!')
if (value == 0):
self._pwm.setPWM(pin, 0, 4096)
self._pwm.set_pwm(pin, 0, 4096)
if (value == 1):
self._pwm.setPWM(pin, 4096, 0)
self._pwm.set_pwm(pin, 4096, 0)
def setAllPin(self, value):
if (pin < 0) or (pin > 15):
raise NameError('PWM pin must be between 0 and 15 inclusive')
if (value != 0) and (value != 1):
raise NameError('Pin value must be 0 or 1!')
if (value == 0):
self._pwm.set_all_pwm(0, 4096)
if (value == 1):
self._pwm.set_all_pwm(4096, 0)
def getMotor(self, num):
if (num < 1) or (num > 6):
@@ -327,9 +337,26 @@ class dw_Controller:
raise NameError('Servos must be between 1 and 2 inclusive')
return self.servos[num-1]
def setAllPWM(self, value):
if(value > 0):
self._pwm.set_all_pwm(0, value)
if(value == 0):
self.allOff()
def setAllPWMmS(self, value):
if(value > 0):
self._pwm.set_all_pwm(0, value)
if(value == 0):
self.allOff()
def setAllPWMuS(self, value):
if(value > 0):
self._pwm.set_all_pwm(0, value)
if(value == 0):
self.allOff()
def allOff(self):
for y in range(5):
self.motors[y].run(dw_MotorCONTROL.RELEASE, 0)
this.setAllPin( 0 );
def translate(value, leftMin, leftMax, rightMin, rightMax):
# Figure out how 'wide' each range is