def __init__(self, addr=0x60, freq=1600):
self._i2caddr = addr # default addr on HAT
self._frequency = freq # default @1600Hz PWM freq
self.motors = [Raspi_DCMotor(self, m) for m in range(4)]
self.steppers = [
Raspi_StepperMotor(self, 1),
Raspi_StepperMotor(self, 2)
]
self._pwm = PWM(addr, debug=False)
self._pwm.setPWMFreq(self._frequency)
def __init__(self, addr=0x6f, deflect_90_in_ms=0.9):
self._pwm = PWM(addr)
pwm_freqeuncy = 60 # this sets the timebase for the motorhat
self._pwm.setPWMFreq(pwm_freqeuncy)
#Frequency is 1/period, but working in ms, we can use 1000
period_in_ms = 1000.0 / pwm_freqeuncy
#the chip has 4096 steps in each period.
pulse_steps = 4096.0
# mid point of the servo pulse length in milliseconds
servo_mid_point_ms = 1.6
# steps for every milisecond
steps_per_ms = pulse_steps / period_in_ms
# steps for a degree
self.steps_per_degree = (deflect_90_in_ms * steps_per_ms) / 90.0
# Mid point of the Servo in steps
self.servo_mid_point_steps = servo_mid_point_ms * steps_per_ms
def __init__(self, addr=0x6f, deflect_90_in_ms = 1.15):
"""addr: The i2c address of the PWM chip.
deflect_90_in_ms: set this to calibrate the servo motors. It is what a deflection of 90 degrees is in turns of a pulse length in milliseconds.
"""
# deflect_90_in_ms - set this to calibrate the servo motors.
self._pwm = PWM(addr)
pwm_frequency = 60
self._pwm.setPWMFreq(pwm_frequency)
period_in_ms = 1000 / pwm_frequency
pulse_steps = 4096.0
servo_mid_point_ms = 1.5
# Steps for every millisecond
steps_per_ms = pulse_steps / period_in_ms
self.steps_per_degree = (deflect_90_in_ms * steps_per_ms) / 90.0
# Mid point of the servo in steps
self.servo_mid_point_steps = servo_mid_point_ms * steps_per_ms
def __init__(self, addr=0x6f, deflect_90_in_ms = 0.5):
"""addr: The i2c address of the PWM chip.
deflect_90_in_ms: set this to calibrate the servo motors.
it is what a deflection of 90 degrees is
in terms of a pulse length in milliseconds."""
self._pwm = PWM(addr)
# This sets the timebase for it all
pwm_frequency = 100
self._pwm.setPWMFreq(pwm_frequency)
# Mid-point of the servo pulse length in milliseconds.
servo_mid_point_ms = 1.5
# Frequency is 1/period, but working ms, we can use 1000
period_in_ms = 1000 / pwm_frequency
# The chip has 4096 steps in each period.
pulse_steps = 4096
# Steps for every millisecond.
steps_per_ms = pulse_steps / period_in_ms
# Steps for a degree
self.steps_per_degree = (deflect_90_in_ms * steps_per_ms) / 90
# Mid-point of the servo in steps
self.servo_mid_point_steps = servo_mid_point_ms * steps_per_ms
# Map for channels
self.channels = [0, 1, 14, 15]
from Raspi_MotorHAT.Raspi_PWM_Servo_Driver import PWM
import atexit
pwm = PWM(0x6f)
pwm_frequency = 60
pwm.setPWMFreq(pwm_frequency)
#Frequency is 1/period, but working ms, we can use 1000
period_in_ms = 1000 / pwm_frequency
# The chip has 4096 steps in each period
pulse_steps = 4096.0
# Mid point of the servo pulse length in milliseconds
servo_mid_point_ms = 1.5
# What a deflection of 90 degrees is in pulse length in milliseconds
deflect_90_in_ms = 1.15
# Steps for every millisecond
steps_per_ms = pulse_steps / period_in_ms
# Steps for a degree
steps_per_degree = (deflect_90_in_ms * steps_per_ms) / 90.0
# Mid point of the servo in steps
servo_mid_point_steps = servo_mid_point_ms * steps_per_ms
def convert_degrees_to_pwm(position):
return int(servo_mid_point_steps + (position * steps_per_degree))
#!/usr/bin/python
from __future__ import print_function, absolute_import
from Raspi_MotorHAT.Raspi_PWM_Servo_Driver import PWM
import time
# ===========================================================================
# Example Code
# ===========================================================================
# Initialise the PWM device using the default address
# bmp = PWM(0x40, debug=True)
pwm = PWM(0x6F)
servoMin = 150 # Min pulse length out of 4096
servoMax = 600 # Max pulse length out of 4096
def setServoPulse(channel, pulse):
pulseLength = 1000000 # 1,000,000 us per second
pulseLength //= 60 # 60 Hz
print("%d us per period" % pulseLength)
pulseLength //= 4096 # 12 bits of resolution
print("%d us per bit" % pulseLength)
pulse *= 1000
pulse //= pulseLength
pwm.setPWM(channel, 0, pulse)
pwm.setPWMFreq(60) # Set frequency to 60 Hz
while (True):
# Change speed of continuous servo on channel O