class Adafruit_MotorShield:
LOW = 0
HIGHT = 1
def __init__(self, address=0x60, debug=False):
self.address = address
self.pwm = PWM(address, debug)
self.steppers = [
Adafruit_StepperMotor(debug),
Adafruit_StepperMotor(debug)
]
self.dcmotors = [
Adafruit_DCMotor(debug),
Adafruit_DCMotor(debug),
Adafruit_DCMotor(debug),
Adafruit_DCMotor(debug)
]
def begin(self, freq=1600):
self.pwm.begin()
self.freq = freq
self.pwm.setPWMFreq(freq)
# This is the maximum PWM frequency
for i in range(0, 16):
self.pwm.setPWM(i, 0, 0)
def setPWM(self, pin, value):
if value > 4095:
self.pwm.setPWM(pin, 4096, 0)
else:
self.pwm.setPWM(pin, 0, value)
def setPin(self, pin, value):
if value == self.LOW:
self.pwm.setPWM(pin, 0, 0)
else:
self.pwm.setPWM(pin, 4096, 0)
def getMotor(self, num):
if num > 4:
return
num -= 1
if (self.dcmotors[num].motornum is None):
# not init'd yet!
self.dcmotors[num].motornum = num
self.dcmotors[num].MC = self
if (num == 0):
pwm = 8
in2 = 9
in1 = 10
elif (num == 1):
pwm = 13
in2 = 12
in1 = 11
elif (num == 2):
pwm = 2
in2 = 3
in1 = 4
elif (num == 3):
pwm = 7
in2 = 6
in1 = 5
self.dcmotors[num].PWMpin = pwm
self.dcmotors[num].IN1pin = in1
self.dcmotors[num].IN2pin = in2
return self.dcmotors[num]
def getStepper(self, steps, num):
if num > 2:
return
num -= 1
if self.steppers[num].steppernum is None:
# not init'd yet!
self.steppers[num].steppernum = num
self.steppers[num].revsteps = steps
self.steppers[num].MC = self
if num == 0:
pwma = 8
ain2 = 9
ain1 = 10
pwmb = 13
bin2 = 12
bin1 = 11
elif num == 1:
pwma = 2
ain2 = 3
ain1 = 4
pwmb = 7
bin2 = 6
bin1 = 5
self.steppers[num].PWMApin = pwma
self.steppers[num].PWMBpin = pwmb
self.steppers[num].AIN1pin = ain1
self.steppers[num].AIN2pin = ain2
self.steppers[num].BIN1pin = bin1
self.steppers[num].BIN2pin = bin2
return self.steppers[num]
class Adafruit_MotorShield : LOW = 0 HIGHT = 1 def __init__(self, address=0x60, debug=False): self.address = address self.pwm = PWM(address, debug) self.steppers = [Adafruit_StepperMotor(debug), Adafruit_StepperMotor(debug)] self.dcmotors = [Adafruit_DCMotor(debug), Adafruit_DCMotor(debug), Adafruit_DCMotor(debug), Adafruit_DCMotor(debug)] def begin(self, freq=1600): self.pwm.begin() self.freq = freq self.pwm.setPWMFreq(freq); # This is the maximum PWM frequency for i in range(0, 16): self.pwm.setPWM(i, 0, 0); def setPWM(self, pin, value): if value > 4095: self.pwm.setPWM(pin, 4096, 0) else: self.pwm.setPWM(pin, 0, value); def setPin(self, pin, value): if value == self.LOW: self.pwm.setPWM(pin, 0, 0) else: self.pwm.setPWM(pin, 4096, 0) def getMotor(self, num): if num > 4: return num -= 1 if (self.dcmotors[num].motornum is None): # not init'd yet! self.dcmotors[num].motornum = num; self.dcmotors[num].MC = self; if (num == 0): pwm = 8 in2 = 9 in1 = 10 elif (num == 1): pwm = 13 in2 = 12 in1 = 11 elif (num == 2): pwm = 2 in2 = 3 in1 = 4 elif (num == 3): pwm = 7 in2 = 6 in1 = 5 self.dcmotors[num].PWMpin = pwm; self.dcmotors[num].IN1pin = in1; self.dcmotors[num].IN2pin = in2; return self.dcmotors[num]; def getStepper(self, steps, num): if num > 2: return num -= 1 if self.steppers[num].steppernum is None: # not init'd yet! self.steppers[num].steppernum = num; self.steppers[num].revsteps = steps; self.steppers[num].MC = self if num == 0: pwma = 8 ain2 = 9 ain1 = 10 pwmb = 13 bin2 = 12 bin1 = 11 elif num == 1: pwma = 2 ain2 = 3 ain1 = 4 pwmb = 7 bin2 = 6 bin1 = 5 self.steppers[num].PWMApin = pwma self.steppers[num].PWMBpin = pwmb self.steppers[num].AIN1pin = ain1 self.steppers[num].AIN2pin = ain2 self.steppers[num].BIN1pin = bin1 self.steppers[num].BIN2pin = bin2 return self.steppers[num]
