Initial test code

dwescape/dwescapeHAT.py

@@ -0,0 +1,102 @@
+#!/usr/bin/python
+
+import RPi.GPIO as GPIO
+from Adafruit_PWM_Servo_Driver import PWM
+import time
+
+class dw_PWM:
+        def __init__(self, controller, num, freq):
+                self.speed = 0
+                self.MC = controller
+                self.cnum = num
+                self.pin = 0
+
+                self.freq = freq
+                self.cycle = 1/freq
+                self.tick = self.cycle / 4096
+
+                if (num == 0):
+                        self.pin = 9
+                elif (num == 1):
+                         self.pin = 8
+                elif (num == 2):
+                         self.pin = 10
+                elif (num == 3):
+                         self.pin = 11
+                elif (num == 4):
+                         self.pin = 12
+                elif (num == 5):
+                         self.pin = 13
+                elif (num == 6):
+                         self.pin = 0
+                elif (num == 7):
+                         self.pin = 1
+                elif (num == 8):
+                         self.pin = 2
+                elif (num == 9):
+                         self.pin = 3
+                elif (num == 10):
+                         self.pin = 5
+                elif (num == 11):
+                         self.pin = 4
+                else:
+                        raise NameError('Port must be between 1 and 12 inclusive')
+
+                # switch off
+                self.off()
+
+        def off():
+                self.MC.setPin(self.pin, 0)
+
+        def write(self, angle):
+                self.MC.setPin(self.pin, 0)
+
+        def setPWM(self, value):
+                if(value > 0):
+                        self.MC._pwm.setPWM(self.pin, 0, value)
+                if(value == 0):
+                        self.off()
+
+        def run(self, command, speed = 0):
+                if not self.MC:
+                        return
+
+
+class dw_PWMCONTROL:
+
+        def __init__(self, addr = 0x61, freq = 60):
+                self._i2caddr = addr            # default addr on HAT
+                self._frequency = freq          # default @60Hz PWM freq
+                # self.steppers = [ Adafruit_StepperMotor(self, 1), Adafruit_StepperMotor(self, 2) ]
+                self._pwm =  PWM(addr, debug=False)
+                self._pwm.setPWMFreq(self._frequency)
+                # Just gonna default to high for now
+
+                self.esc = [ dw_PWM(self, m, freq) for m in range(6) ]
+                self.servo = [ dw_PWM(self, m, freq) for m in range(6, 12) ]
+
+        def setPin(self, pin, 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.setPWM(pin, 0, 4096)
+                if (value == 1):
+                        self._pwm.setPWM(pin, 4096, 0)
+
+        def getESC(self, num):
+                if (num < 1) or (num > 6):
+                        raise NameError('ESC must be between 1 and 6 inclusive')
+                return self.esc[num-1]
+
+        def getSERVO(self, num):
+                if (num < 1) or (num > 6):
+                        raise NameError('Servo must be between 1 and 6 inclusive')
+                return self.servo[num-1]
+
+        def allOff(self):
+                for y in range(6):
+                        self.esc[y].off()
+                for y in range(6, 12):
+                        self.servo[y].off()