/
gawServoHandler.py
executable file
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/
gawServoHandler.py
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#!/usr/bin/python
# ------------------------------------------------------------------------
# Program : gawServoHandler.py
# Author : Gerard Wassink
# Date : 16 september 2015
#
# Function : Handle servo control for the:
# Adafruit 16 channel servo HAT stack
#
# Offers :
# setServo(address, channel, position)
#
# Prerequisites :
# Adafruit_PWM_Servo_Driver.py
# Adafruit_I2C.py
# time
# logging
#
# ------------------------------------------------------------------------
# GNU LICENSE CONDITIONS
# ------------------------------------------------------------------------
# This program is free software; you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation; either version 2 of the License, or
# (at your option) any later version.
#
# This program is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License along
# with this program; if not, write to the Free Software Foundation, Inc.,
# 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
#
# ------------------------------------------------------------------------
# Usage of this library is at the user's own risk, author will not be held
# responsible for any damage to your hardware. Especially the positioning
# of servo's has to be done with the greatest possible care.
#
# ------------------------------------------------------------------------
# Copyright (C) 2015 Gerard Wassink
# ------------------------------------------------------------------------
from Adafruit_PWM_Servo_Driver import PWM
import time
import logging
# --------------------------------------------------------------------------------
# Class for Handling servo's through the Adafruit servo HAT boards
# --------------------------------------------------------------------------------
class servoHandler:
def __init__(self):
self.frequency = 50
self.lastAddress = -1
def setServo(self, address, channel, pos):
if address != self.lastAddress:
self.pwm = PWM(address) # set board address
# self.pwm = PWM(address, debug=True) # set board address
self.pwm.setPWMFreq(self.frequency) # just to be sure, set frequency
self.pwm.setPWM(channel, 0, pos) # Set the servo position
time.sleep(0.3) # wait for a bit to allow for positioning