def __init__(self, cfg):
# PWM settings
FREQ = 60.0 # Set frequency to 60 Hz
self.pwm = PWM(0x40, debug=False)
self.pwm.setPWMFreq(FREQ)
pulseLength = 1000000 # 1,000,000 us per second
pulseLength /= FREQ # 60 Hz
pulseLength /= 4096 # 12 bits of resolution
self.pulseFactor = 1000 / pulseLength # millisecond multiplier
# Tested Servo range
self.pulsecenter = float(cfg['turret']['pulsecenter'])
self.pulserange = float(cfg['turret']['pulserange'])
class ServoDriver :
def __init__(self, cfg):
# PWM settings
FREQ = 60.0 # Set frequency to 60 Hz
self.pwm = PWM(0x40, debug=False)
self.pwm.setPWMFreq(FREQ)
pulseLength = 1000000 # 1,000,000 us per second
pulseLength /= FREQ # 60 Hz
pulseLength /= 4096 # 12 bits of resolution
self.pulseFactor = 1000 / pulseLength # millisecond multiplier
# Tested Servo range
self.pulsecenter = float(cfg['turret']['pulsecenter'])
self.pulserange = float(cfg['turret']['pulserange'])
def move(self, servo, position):
if -1 < position < 1: #movement range -1...0...1
pulse = self.pulsecenter + (position*self.pulserange) # w/in range from middle
pulse *= self.pulseFactor # ~120-600 at 60hz
self.pwm.setPWM(servo, 0, int(pulse))
class ServoDriver:
def __init__(self, cfg):
# PWM settings
FREQ = 60.0 # Set frequency to 60 Hz
self.pwm = PWM(0x40, debug=False)
self.pwm.setPWMFreq(FREQ)
pulseLength = 1000000 # 1,000,000 us per second
pulseLength /= FREQ # 60 Hz
pulseLength /= 4096 # 12 bits of resolution
self.pulseFactor = 1000 / pulseLength # millisecond multiplier
# Tested Servo range
self.pulsecenter = float(cfg['turret']['pulsecenter'])
self.pulserange = float(cfg['turret']['pulserange'])
def move(self, servo, position):
if -1 < position < 1: #movement range -1...0...1
pulse = self.pulsecenter + (position * self.pulserange
) # w/in range from middle
pulse *= self.pulseFactor # ~120-600 at 60hz
self.pwm.setPWM(servo, 0, int(pulse))
def __init__(self, cfg):
# PWM settings
FREQ = 60.0 # Set frequency to 60 Hz
self.pwm = PWM(0x40, debug=False)
self.pwm.setPWMFreq(FREQ)
pulseLength = 1000000 # 1,000,000 us per second
pulseLength /= FREQ # 60 Hz
pulseLength /= 4096 # 12 bits of resolution
self.pulseFactor = 1000 / pulseLength # millisecond multiplier
# Tested Servo range
self.pulsecenter = float(cfg['turret']['pulsecenter'])
self.pulserange = float(cfg['turret']['pulserange'])