#!/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
#!/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()