def __init__(self, addr=0x60, freq=1600):
self._i2caddr = addr # default addr on HAT
self._frequency = freq # default @1600Hz PWM freq
self.motors = [DCMotor(self, m) for m in range(4)]
self.steppers = [StepperMotor(self, 1), StepperMotor(self, 2)]
self._pwm = PWM(addr, debug=False)
self._pwm.setPWMFreq(self._frequency)
class Motor:
FORWARD = 1
BACKWARD = 2
BRAKE = 3
RELEASE = 4
SINGLE = 1
DOUBLE = 2
INTERLEAVE = 3
MICROSTEP = 4
def __init__(self, addr=0x60, freq=1600):
self._i2caddr = addr # default addr on HAT
self._frequency = freq # default @1600Hz PWM freq
self.motors = [DCMotor(self, m) for m in range(4)]
self.steppers = [StepperMotor(self, 1), StepperMotor(self, 2)]
self._pwm = PWM(addr, debug=False)
self._pwm.setPWMFreq(self._frequency)
def setPin(self, pin, value):
if (pin < 0) or (pin > 15):
raise NameError('PWM pin must be between 0 and 15 inclusive')
if (value != 0) and (value != 1):
raise NameError('Pin value must be 0 or 1!')
if (value == 0):
self._pwm.setPWM(pin, 0, 4096)
if (value == 1):
self._pwm.setPWM(pin, 4096, 0)
def getStepper(self, steps, num):
if (num < 1) or (num > 2):
raise NameError('Motor Stepper must be between 1 and 2 inclusive')
return self.steppers[num - 1]
def getMotor(self, num):
if (num < 1) or (num > 4):
raise NameError('Motor Motor must be between 1 and 4 inclusive')
return self.motors[num - 1]
def __init__(self):
self.pwm = PWM(0x60, debug=False)
self.pwm.setPWMFreq(Servo.FREQ)
class Servo:
FREQ = 50
def __init__(self):
self.pwm = PWM(0x60, debug=False)
self.pwm.setPWMFreq(Servo.FREQ)
def left(self):
self.pwm.setPWM(14, 0, 450)
time.sleep(0.5)
self.pwm.setPWM(14, 0, 0)
def right(self):
self.pwm.setPWM(14, 0, 110)
time.sleep(0.5)
self.pwm.setPWM(14, 0, 0)
def zero(self):
self.pwm.setPWM(14, 0, 250)
time.sleep(0.5)
self.pwm.setPWM(14, 0, 0)
def __init__(self):
self.pwm = PWM(0x60, debug=False)
