class Buzzer(object):
'''
Makes a buzzer playing notes
'''
def __init__(self, port, stopDelay=0):
'''
Constructor
@param port: PWM port where the buzzer is connected to
@param stopDelay: Delay in seconds to separate notes
'''
self._stopDelay = stopDelay
self._pwm = Pwm(port)
def playNote(self, freq, time):
'''
Plays a frequency sound during a time
@param freq: Frequency of the played sound. If this value is 0 a silence will be performed.
@param time: Time the sound will be played
'''
if freq > 0.0:
self._pwm.setFreq(freq)
self._pwm.setDutyPerc(50)
self._pwm.start()
sleep(time - self._stopDelay)
self._pwm.stop()
sleep(self._stopDelay)
else:
sleep(time)
def cleanup(self):
'''
Frees all using resources
'''
self._pwm.cleanup()
class Servo(object):
'''
Servo driver class
'''
PERIOD = 20000000
MIN_DUTY = 1000000
NEUTRAL_DUTY = 1500000
MAX_DUTY = 2000000
def __init__(self, port):
'''
Constructor.
Inits servo to neutral value, but a different value can be set after construtor call.
@param port: PWM port the server is connected to
'''
self._pwm = Pwm(port)
self._pwm.setPeriod(Servo.PERIOD)
self._pwm.setDuty(Servo.NEUTRAL_DUTY)
def start(self):
'''
Starts the servo
'''
self._pwm.start()
def stop(self):
'''
Stops using servo
'''
self._pwm.stop()
def cleanup(self):
'''
Frees used resources
'''
self._pwm.cleanup()
def setValue(self, perc):
'''
Set a custom value
@param perc: Percentage value between 0 and 100
'''
if 0 <= perc <= 100:
duty = Servo.MIN_DUTY + (Servo.MAX_DUTY - Servo.MIN_DUTY) * perc / 100.0
self._pwm.setDuty(duty)
def setNeutral(self):
'''
Set value to neutral
'''
self._pwm.setDuty(Servo.NEUTRAL_DUTY)
def setMin(self):
'''
Set value to minimum
'''
self._pwm.setDuty(Servo.MIN_DUTY)
def setMax(self):
'''
Set value to maximum
'''
self._pwm.setDuty(Servo.MAX_DUTY)
