def buzzer_init():
global obj_buzzer
pwmObj = PWM()
pwmObj.open("buzzer")
print("buzzer inited!")
obj_buzzer = buzzer.BUZZER(pwmObj)
# define init freq and duty
data_r = {'freq': 2000, 'duty': 99}
obj_buzzer.setOptionDuty(data_r)
from driver import PWM
print("-------------------pwm test--------------------")
pwm = PWM()
pwm.open("pwm1")
duty = pwm.getDuty()
freq = pwm.getFreq()
print(duty)
print(freq)
pwm.setConfig(3250000, 0.5)
duty = pwm.getDuty()
freq = pwm.getFreq()
print(duty)
print(freq)
pwm.setDuty(0.7)
pwm.setFreq(3260000)
duty = pwm.getDuty()
freq = pwm.getFreq()
print(duty)
print(freq)
pwm.close()
print("-------------------pwm end--------------------")
#!/usr/bin/python # RubpyxRobot Close Fingers Script # By: Ryan Brazeal (and the I2C Club) # Date: Started - Circa 2017 from driver import PWM import os import time # Initialise the PWM device using the default address pwm = PWM(0x40) # Set frequency to 60 Hz pwm.setPWMFreq(60) #Hardware Definition Parameters whiteClamp = 0 whiteTwist = 1 blueClamp = 2 blueTwist = 3 yellowClamp = 4 yellowTwist = 5 redClamp = 6 redTwist = 7 #Calibration Parameters whiteClampClosed = 0 whiteClampOpen = 0 whiteTwistNeutral = 0 whiteTwistCCW = 0 whiteTwistCW = 0
# By: Ryan Brazeal (and the I2C Club)
# Date: Started - Circa 2017
from driver import PWM
import tty
import sys
import os
import termios
if __name__ == "__main__":
orig_settings = termios.tcgetattr(sys.stdin)
tty.setraw(sys.stdin)
# Initialise the PWM device using the default address
pwm = PWM(0x40)
# Set frequency to 60 Hz
pwm.setPWMFreq(60)
#Hardware Definition Parameters
white_clamp = 0
white_twist = 1
blue_clamp = 2
blue_twist = 3
yellow_clamp = 4
yellow_twist = 5
red_clamp = 6
red_twist = 7
#Calibration Parameters
white_clamp_closed = 350
#!/usr/bin/python from driver import PWM # Initialise the PWM device using the default address pwm = PWM(0x40) pwm.setPWMFreq(60) # Set frequency to 60 Hz pwm.softwareReset()
#!/usr/bin/env python
import rospy
import pigpio
from driver import PWM
from pwm_driver.msg import *
rospy.init_node('pwm_driver')
i2c_address = int(rospy.get_param('~i2c_address', '0x41'), 0)
motor_left_channel = rospy.get_param('/pins/launcher_motor_left_channel', 13)
motor_right_channel = rospy.get_param('/pins/launcher_motor_right_channel', 14)
pi = pigpio.pi()
pwm = PWM(pi, address=i2c_address)
pwm.set_frequency(50)
def handle_duty_cycle(msg):
print 'DutyCycle'
print msg
pwm.set_duty_cycle(msg.channel, msg.value)
def handle_pulse_width(msg):
print 'PulseWidth'
print msg
pwm.set_pulse_width(msg.channel, msg.value)
#!/usr/bin/python # RubpyxRobot Open Fingers Script # By: Ryan Brazeal (and the I2C Club) # Date: Started - Circa 2017 from driver import PWM import os # Initialise the PWM device using the default address pwm = PWM(0x40) # Set frequency to 60 Hz pwm.setPWMFreq(60) #Hardware Definition Parameters whiteClamp = 0 whiteTwist = 1 blueClamp = 2 blueTwist = 3 yellowClamp = 4 yellowTwist = 5 redClamp = 6 redTwist = 7 #Calibration Parameters whiteClampClosed = 0 whiteClampOpen = 0 whiteTwistNeutral = 0 whiteTwistCCW = 0 whiteTwistCW = 0 blueClampClosed = 0
from driver import PWM
import pigpio
import time
pi = pigpio.pi()
pwm = PWM(pi, 0x41)
pwm.set_frequency(50)
speed_motors = 750
angle = 55
def set_angle(x):
pente = -10.422
offset = 2159.2
angle = pente * x + offset
pwm.set_pulse_width(11, angle)
def set_speed(x):
pwm.set_pulse_width(13, x)
pwm.set_pulse_width(14, x)
# reset trigger
pwm.set_pulse_width(12, 2300)
time.sleep(1)