h3n3/darkwater_python_escape
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updated for angle test

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shrkey
2016-04-02 18:47:46 +01:00
parent 6f4f1c4a3e
commit d3db049d49
1 changed files with 7 additions and 2 deletions
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9
dwescape/dwescapeHAT.py
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@@ -21,6 +21,9 @@ class dw_PWM:
self.servo_min = math.trunc( ( _SERVO_MIN_MS * 4096 ) / (1000.0 / self.freq ) - 1 ) 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 ) self.servo_max = math.trunc( ( _SERVO_MAX_MS * 4096 ) / (1000.0 / self.freq ) - 1 )
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):
@@ -54,8 +57,10 @@ class dw_PWM:
def off(self): def off(self):
self.MC.setPin(self.pin, 0) self.MC.setPin(self.pin, 0)
def write(self, angle): def setAngle(self, angle):
self.MC.setPin(self.pin, 0) pulse = self.servo_zero + ( (self.servo_zero - self.servo_min ) * angle / 80 )
print "angle=%s pulse=%s" % (angle, pulse)
#self.setPWMmS( pulse )
def setPWM(self, value): def setPWM(self, value):
if(value > 0): if(value > 0):