h3n3/darkwater_python_escape
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Updating library

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This commit is contained in:
shrkey
2016-04-02 18:17:14 +01:00
parent d91924505b
commit 6f4f1c4a3e
1 changed files with 44 additions and 7 deletions
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51
dwescape/dwescapeHAT.py
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@@ -3,17 +3,23 @@
import RPi.GPIO as GPIO import RPi.GPIO as GPIO
from Adafruit_PWM_Servo_Driver import PWM from Adafruit_PWM_Servo_Driver import PWM
import time import time
import math
class dw_PWM: class dw_PWM:
def __init__(self, controller, num, freq): def __init__(self, controller, num, freq):
_SERVO_MIN_MS = 1.250 #ms
_SERVO_MAX_MS = 1.750 #ms
self.speed = 0 self.speed = 0
self.MC = controller self.MC = controller
self.cnum = num self.cnum = num
self.pin = 0 self.pin = 0
self.freq = freq 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): if (num == 0):
self.pin = 9 self.pin = 9
@@ -57,6 +63,12 @@ class dw_PWM:
if(value == 0): if(value == 0):
self.off() 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): def run(self, command, speed = 0):
if not self.MC: if not self.MC:
return return
@@ -64,7 +76,7 @@ class dw_PWM:
class dw_PWMCONTROL: 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._i2caddr = addr # default addr on HAT
self._frequency = freq # default @60Hz PWM freq self._frequency = freq # default @60Hz PWM freq
# self.steppers = [ Adafruit_StepperMotor(self, 1), Adafruit_StepperMotor(self, 2) ] # self.steppers = [ Adafruit_StepperMotor(self, 1), Adafruit_StepperMotor(self, 2) ]
@@ -85,6 +97,16 @@ class dw_PWMCONTROL:
if (value == 1): if (value == 1):
self._pwm.setPWM(pin, 4096, 0) 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): def getESC(self, num):
if (num < 1) or (num > 6): if (num < 1) or (num > 6):
raise NameError('ESC must be between 1 and 6 inclusive') 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') raise NameError('Servo must be between 1 and 6 inclusive')
return self.servo[num-1] 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): def allOff(self):
for y in range(6): this.setAllPin( 0 );
self.esc[y].off()
for y in range(6):
self.servo[y].off()