103 lines
3.5 KiB
Python
103 lines
3.5 KiB
Python
#!/usr/bin/python
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import RPi.GPIO as GPIO
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from Adafruit_PWM_Servo_Driver import PWM
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import time
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class dw_PWM:
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def __init__(self, controller, num, freq):
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self.speed = 0
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self.MC = controller
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self.cnum = num
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self.pin = 0
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self.freq = freq
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self.cycle = 1/freq
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self.tick = self.cycle / 4096
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if (num == 0):
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self.pin = 9
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elif (num == 1):
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self.pin = 8
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elif (num == 2):
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self.pin = 10
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elif (num == 3):
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self.pin = 11
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elif (num == 4):
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self.pin = 12
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elif (num == 5):
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self.pin = 13
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elif (num == 6):
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self.pin = 0
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elif (num == 7):
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self.pin = 1
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elif (num == 8):
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self.pin = 2
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elif (num == 9):
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self.pin = 3
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elif (num == 10):
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self.pin = 5
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elif (num == 11):
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self.pin = 4
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else:
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raise NameError('Port must be between 1 and 12 inclusive')
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# switch off
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self.off()
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def off(self):
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self.MC.setPin(self.pin, 0)
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def write(self, angle):
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self.MC.setPin(self.pin, 0)
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def setPWM(self, value):
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if(value > 0):
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self.MC._pwm.setPWM(self.pin, 0, value)
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if(value == 0):
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self.off()
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def run(self, command, speed = 0):
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if not self.MC:
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return
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class dw_PWMCONTROL:
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def __init__(self, addr = 0x61, freq = 60):
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self._i2caddr = addr # default addr on HAT
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self._frequency = freq # default @60Hz PWM freq
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# self.steppers = [ Adafruit_StepperMotor(self, 1), Adafruit_StepperMotor(self, 2) ]
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self._pwm = PWM(addr, debug=False)
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self._pwm.setPWMFreq(self._frequency)
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# Just gonna default to high for now
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self.servo = [ dw_PWM(self, m, freq) for m in range(6) ]
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self.esc = [ dw_PWM(self, m, freq) for m in range(6, 12) ]
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def setPin(self, pin, value):
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if (pin < 0) or (pin > 15):
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raise NameError('PWM pin must be between 0 and 15 inclusive')
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if (value != 0) and (value != 1):
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raise NameError('Pin value must be 0 or 1!')
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if (value == 0):
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self._pwm.setPWM(pin, 0, 4096)
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if (value == 1):
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self._pwm.setPWM(pin, 4096, 0)
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def getESC(self, num):
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if (num < 1) or (num > 6):
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raise NameError('ESC must be between 1 and 6 inclusive')
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return self.esc[num-1]
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def getSERVO(self, num):
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if (num < 1) or (num > 6):
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raise NameError('Servo must be between 1 and 6 inclusive')
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return self.servo[num-1]
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def allOff(self):
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for y in range(6):
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self.esc[y].off()
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for y in range(6):
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self.servo[y].off()
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