def set_pw(self, time, midpoint): # in us self.neutral=midpoint if time > self.max: time = self.max elif time < self.min: time = self.min num_pulses = int(time/self.pulse_length) pwt.setPWM(self.channel, 0, num_pulses)
def __init__(self, channel, freq): self.channel = channel self.freq = freq self.max = 2000 self.min = 1000 self.neutral=1500 pwt.setPWMFreq(freq) self.pulse_length = 1000000/(freq*4096)
def calibrate_ROM(self): threshold = 50 x_ = self.neutral #hold min m = [] for ii in range (10): x = pwt.measure_pw_us(channel) # will usually throw away the first point if np.absolute(x - x_) > threshold: ii -= 1 else: m.append(pwt.measure_pw_us(channel)) x_ = x self.min = sum(m)/len(m) #hold max M = [] for ii in range (10): x = pwt.measure_pw_us(channel) # will usually throw away the first point if np.absolute(x - x_) > threshold: ii -= 1 else: M.append(pwt.measure_pw_us(channel)) x_ = x self.max = sum(M)/len(M) c = [] for ii in range (10): x = pwt.measure_pw_us(channel) # will usually throw away the first point if np.absolute(x - x_) > threshold: ii -= 1 else: c.append(pwt.measure_pw_us(channel)) x_ = x self.neutral = sum(c)/len(c)
motor_in = 38
rudder_in = 37
gpio.setmode(gpio.BOARD)
gpio.setup(aileron_in, gpio.IN)
gpio.setup(elevator_in, gpio.IN)
gpio.setup(motor_in, gpio.IN)
gpio.setup(rudder_in, gpio.IN)
print('Inputs initialized')
#=========================
# DEFINE TIMING VARIABLES
#=========================
freq = int(pwt.measure_freq(aileron_in))
stdout.write("\rFrequency (Hz): %d\n" %freq)
pulse_length = 1000000 / (freq * 4096)
print('Timing variables initialized')
#=========================
# INITIALIZE OUTPUTS
#=========================
aileron_out = 0 # Servo driver board on frequency calibrated earlier
elevator_out = 1
motor_out = 2
rudder_out = 3
aileron = ct.Servo(aileron_out, freq)
elevator = ct.Servo(elevator_out, freq)
