h3n3/darkwater_python_escape
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Updated class

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This commit is contained in:
shrkey
2016-08-15 20:53:47 +01:00
parent be274990aa
commit c761cb6f76
2 changed files with 38 additions and 67 deletions
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10
darkwater_escape/PCA9685.py
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@@ -83,7 +83,7 @@ class PCA9685(object):
self._device.write8(MODE1, mode1) self._device.write8(MODE1, mode1)
time.sleep(0.005) # wait for oscillator time.sleep(0.005) # wait for oscillator
def set_pwm_freq(self, freq_hz): def set_pwm_freq(self, freq_hz, correctionFactor=1.0):
"""Set the PWM frequency to the provided value in hertz.""" """Set the PWM frequency to the provided value in hertz."""
prescaleval = 25000000.0 # 25MHz prescaleval = 25000000.0 # 25MHz
prescaleval /= 4096.0 # 12-bit prescaleval /= 4096.0 # 12-bit
@@ -91,7 +91,7 @@ class PCA9685(object):
prescaleval -= 1.0 prescaleval -= 1.0
logger.debug('Setting PWM frequency to {0} Hz'.format(freq_hz)) logger.debug('Setting PWM frequency to {0} Hz'.format(freq_hz))
logger.debug('Estimated pre-scale: {0}'.format(prescaleval)) logger.debug('Estimated pre-scale: {0}'.format(prescaleval))
prescale = int(math.floor(prescaleval + 0.5)) prescale = round(prescaleval * correctionFactor + 0.5)
logger.debug('Final pre-scale: {0}'.format(prescale)) logger.debug('Final pre-scale: {0}'.format(prescale))
oldmode = self._device.readU8(MODE1); oldmode = self._device.readU8(MODE1);
newmode = (oldmode & 0x7F) | 0x10 # sleep newmode = (oldmode & 0x7F) | 0x10 # sleep
@@ -101,7 +101,7 @@ class PCA9685(object):
time.sleep(0.005) time.sleep(0.005)
self._device.write8(MODE1, oldmode | 0x80) self._device.write8(MODE1, oldmode | 0x80)
def set_pwm_freq_min(self, freq_hz, correctionFactor=1.0): def set_pwm_freq_min(self, freq_hz, correctionFactor=1.0):
"Sets the PWM frequency" "Sets the PWM frequency"
prescaleval = 25000000.0 # 25MHz prescaleval = 25000000.0 # 25MHz
prescaleval /= 4096.0 # 12-bit prescaleval /= 4096.0 # 12-bit
@@ -122,7 +122,7 @@ class PCA9685(object):
time.sleep(0.005) time.sleep(0.005)
self.i2c.write8(self.__MODE1, oldmode | 0x80) self.i2c.write8(self.__MODE1, oldmode | 0x80)
def set_pwm_freq_max(self, freq_hz, correctionFactor=1.0): def set_pwm_freq_max(self, freq_hz, correctionFactor=1.0):
"Sets the PWM frequency" "Sets the PWM frequency"
prescaleval = 25000000.0 # 25MHz prescaleval = 25000000.0 # 25MHz
prescaleval /= 4096.0 # 12-bit prescaleval /= 4096.0 # 12-bit
@@ -143,7 +143,7 @@ class PCA9685(object):
time.sleep(0.005) time.sleep(0.005)
self.i2c.write8(self.__MODE1, oldmode | 0x80) self.i2c.write8(self.__MODE1, oldmode | 0x80)
def get_pwm_freq(self): def get_pwm_freq(self):
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):

95
darkwater_escape/darkwater_escape.py
View File

@@ -23,31 +23,18 @@ class dw_Motor:
self.servo_zero = math.trunc( ( self.servo_min + self.servo_max ) / 2 ) # halfway = 0 degrees self.servo_zero = math.trunc( ( self.servo_min + self.servo_max ) / 2 ) # halfway = 0 degrees
if (num == 0): if (num == 0):
self.pin = 9 self.pin = 9
elif (num == 1): elif (num == 1):
self.pin = 8 self.pin = 8
elif (num == 2): elif (num == 2):
self.pin = 10 self.pin = 10
elif (num == 3): elif (num == 3):
self.pin = 11 self.pin = 11
elif (num == 4): elif (num == 4):
self.pin = 12 self.pin = 12
elif (num == 5): elif (num == 5):
self.pin = 13 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: else:
raise NameError('Motors must be between 1 and 12 inclusive') raise NameError('Motors must be between 1 and 12 inclusive')
@@ -64,40 +51,28 @@ class dw_Motor:
def setPWM(self, value): def setPWM(self, value):
if(value > 0): 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): if(value == 0):
self.off() self.off()
def setPWMmS(self, length_ms): def setPWMmS(self, length_ms):
self.setPWM( round( length_ms * 4096 ) / ( 1000 / self.freq ) ) self.setPWM( math.trunc( ( length_ms * 4096 ) / ( 1000.0 / self.freq ) ) - 1 )
def setPWMuS(self, length_us): def setPWMuS(self, length_us):
self.setPWM( round( length_us * 4096 ) / ( 1000000 / self.freq ) ) self.setPWM( math.trunc( ( length_us * 4096 ) / ( 1000000.0 / self.freq ) ) -1 )
def setMotorSpeed(self, value): def setMotorSpeed(self, value):
# Check for PWM values # Check for PWM values
if(value > 1000) and (value < 2000): if(value > 1000) and (value < 2000):
self.setPWMmS(value) self.setPWMuS(value)
# Translate for motor values # Translate for motor values
if(value > 0) and (value <= 255): if(value > 0) and (value <= 255):
self.setPWMmS( round(translate(value, 0, 255, 1500, 2000))) self.setPWMuS( round(translate(value, 0, 255, 1500, 2000)))
if(value == 0): if(value == 0):
self.setPWMmS(1500) self.setPWMuS(1500)
if(value < 0) and (value >= -255): if(value < 0) and (value >= -255):
self.setPWMmS(round(translate(abs(value), 0, 255, 1500, 1000))) self.setPWMuS(round(translate(abs(value), 0, 255, 1500, 1000)))
def run(self, command, speed = 0):
if not self.MC:
return
if (command == dw_Controller.FORWARD):
self.MC.setPin(self.PHpin, 0)
self.MC._pwm.set_pwm(self.ENpin, 0, speed*16)
if (command == dw_Controller.BACKWARD):
self.MC.setPin(self.PHpin, 1)
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)
class dw_Servo: class dw_Servo:
def __init__(self, controller, num, freq): def __init__(self, controller, num, freq):
@@ -119,28 +94,16 @@ class dw_Servo:
if (num == 0): 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 self.pin = 0
elif (num == 7): elif (num == 1):
self.pin = 1 self.pin = 1
elif (num == 8): elif (num == 2):
self.pin = 2 self.pin = 2
elif (num == 9): elif (num == 3):
self.pin = 3 self.pin = 3
elif (num == 10): elif (num == 4):
self.pin = 5 self.pin = 5
elif (num == 11): elif (num == 5):
self.pin = 4 self.pin = 4
else: else:
raise NameError('Port must be between 1 and 12 inclusive') raise NameError('Port must be between 1 and 12 inclusive')
@@ -158,19 +121,27 @@ class dw_Servo:
def setPWM(self, value): def setPWM(self, value):
if(value > 0): 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): if(value == 0):
self.off() self.off()
def setPWMmS(self, length_ms): def setPWMmS(self, length_ms):
self.setPWM( round( length_ms * 4096 ) / ( 1000 / self.freq ) ) self.setPWM( math.trunc( ( length_ms * 4096 ) / ( 1000.0 / self.freq ) ) - 1 )
def setPWMuS(self, length_us): def setPWMuS(self, length_us):
self.setPWM( round( length_us * 4096 ) / ( 1000000 / self.freq ) ) self.setPWM( math.trunc( ( length_us * 4096 ) / ( 1000000.0 / self.freq ) ) -1 )
def run(self, command, speed = 0): def setMotorSpeed(self, value):
if not self.MC: # Check for PWM values
return if(value > 1000) and (value < 2000):
self.setPWMuS(value)
# Translate for motor values
if(value > 0) and (value <= 255):
self.setPWMuS( round(translate(value, 0, 255, 1500, 2000)))
if(value == 0):
self.setPWMuS(1500)
if(value < 0) and (value >= -255):
self.setPWMuS(round(translate(abs(value), 0, 255, 1500, 1000)))
class dw_Controller: class dw_Controller:
@@ -183,8 +154,8 @@ class dw_Controller:
self._pwm.set_pwm_freq(self._frequency, correctionFactor) self._pwm.set_pwm_freq(self._frequency, correctionFactor)
# Just gonna default to high for now # Just gonna default to high for now
self.servo = [ dw_PWM(self, m, freq) for m in range(6) ] self.motors = [ dw_Motor(self, m, freq) for m in range(6) ]
self.esc = [ dw_PWM(self, m, freq) for m in range(6, 12) ] self.servos = [ dw_Servo(self, m, freq) for m in range(6) ]
def setPin(self, pin, value): def setPin(self, pin, value):
if (pin < 0) or (pin > 15): if (pin < 0) or (pin > 15):