From 6f4f1c4a3ec50f88643e5ae9f7f3b34cf828fe32 Mon Sep 17 00:00:00 2001
From: shrkey <barry@shrkey.com>
Date: Sat, 2 Apr 2016 18:17:14 +0100
Subject: [PATCH] Updating library

---
 dwescape/dwescapeHAT.py | 51 +++++++++++++++++++++++++++++++++++------
 1 file changed, 44 insertions(+), 7 deletions(-)

diff --git a/dwescape/dwescapeHAT.py b/dwescape/dwescapeHAT.py
index 117a441..19c3fd3 100644
--- a/dwescape/dwescapeHAT.py
+++ b/dwescape/dwescapeHAT.py
@@ -3,17 +3,23 @@
 import RPi.GPIO as GPIO
 from Adafruit_PWM_Servo_Driver import PWM
 import time
+import math
 
 class dw_PWM:
         def __init__(self, controller, num, freq):
+
+                _SERVO_MIN_MS = 1.250 #ms
+                _SERVO_MAX_MS = 1.750 #ms
+
                 self.speed = 0
                 self.MC = controller
                 self.cnum = num
                 self.pin = 0
 
                 self.freq = freq
-                self.cycle = 1/freq
-                self.tick = self.cycle / 4096
+
+                self.servo_min = math.trunc( ( _SERVO_MIN_MS * 4096 ) / (1000.0 / self.freq ) - 1 )
+                self.servo_max = math.trunc( ( _SERVO_MAX_MS * 4096 ) / (1000.0 / self.freq ) - 1 )
 
                 if (num == 0):
                         self.pin = 9
@@ -57,6 +63,12 @@ class dw_PWM:
                 if(value == 0):
                         self.off()
 
+        def setPWMmS(self, length_ms):
+                self.setPWM( math.round( length_ms * 4096 ) / ( 1000 / self.freq ) )
+
+        def setPWMuS(self, length_us):
+                self.setPWM( math.round( length_ms * 4096 ) / ( 1000000 / self.freq ) )
+
         def run(self, command, speed = 0):
                 if not self.MC:
                         return
@@ -64,7 +76,7 @@ class dw_PWM:
 
 class dw_PWMCONTROL:
 
-        def __init__(self, addr = 0x61, freq = 60):
+        def __init__(self, addr = 0x61, freq = 100):
                 self._i2caddr = addr            # default addr on HAT
                 self._frequency = freq          # default @60Hz PWM freq
                 # self.steppers = [ Adafruit_StepperMotor(self, 1), Adafruit_StepperMotor(self, 2) ]
@@ -85,6 +97,16 @@ class dw_PWMCONTROL:
                 if (value == 1):
                         self._pwm.setPWM(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.setAllPWM(0, 4096)
+                if (value == 1):
+                        self._pwm.setAllPWM(4096, 0)
+
         def getESC(self, num):
                 if (num < 1) or (num > 6):
                         raise NameError('ESC must be between 1 and 6 inclusive')
@@ -95,8 +117,23 @@ class dw_PWMCONTROL:
                         raise NameError('Servo must be between 1 and 6 inclusive')
                 return self.servo[num-1]
 
+        def setAllPWM(self, value):
+                if(value > 0):
+                        self._pwm.setAllPWM(0, value)
+                if(value == 0):
+                        self.allOff()
+
+        def setAllPWMmS(self, value):
+                if(value > 0):
+                        self._pwm.setAllPWM(0, value)
+                if(value == 0):
+                        self.allOff()
+
+        def setAllPWMuS(self, value):
+                if(value > 0):
+                        self._pwm.setAllPWM(0, value)
+                if(value == 0):
+                        self.allOff()
+
         def allOff(self):
-                for y in range(6):
-                        self.esc[y].off()
-                for y in range(6):
-                        self.servo[y].off()
+                this.setAllPin( 0 );