def main():
"""
Main program function
"""
# create an instance of the PWM class on i2c address 0x40
pwm = PWM(0x40)
# Set PWM frequency to 1 Khz and enable the output
pwm.set_pwm_freq(1000)
pwm.output_enable()
while True:
for count in range(1, 4095, 5):
pwm.set_pwm(1, 0, count)
for count in range(4095, 1, -5):
pwm.set_pwm(1, 0, count)
def main():
"""
Main program function
"""
# create an instance of the PWM class on i2c address 0x40
pwm = PWM(0x40)
# Set PWM frequency to 1 Khz and enable the output
pwm.set_pwm_freq(1000)
pwm.output_enable()
while True:
for count in range(1, 4095, 5):
pwm.set_pwm(1, 0, count)
for count in range(4095, 1, -5):
pwm.set_pwm(1, 0, count)
class servoDriver(object):
servoFrequencyValue = 50
PWMFrequencyValue = 200
def __init__(self):
#creating objects for the PWM and Motor
self.pwm = pulseWidthModulation()
self.ServoMotor = motor()
def pulseWidthModulation(self):
#Pulse Width Modulation(PWM) instatiation
self.pwm = PWM(0x40)
#Sets the PWM to a frequency of 200 Hz
self.pwm.set_pwm_freq(self.PWMFrequencyValue)
#Allow the output to be displayed
self.pwm.output_enable()
#Setting the channel for data stream to 1, time period to 1024 out of 4095.
self.pwm.set_pwm(1, 0, 1024)
def motor(self):
#Instantiation of the servo object
self.servo = Servo(0x40)
#setting frequency for the PWM to interact with the PWM object
self.servo.set_frequency(self.frequencyValuse)
#setting the servo to move
self.servo.move(1, 125, 250)
def set_PWM_frequency(self, value):
self.PWMFrequencyValue = value
self.pwm.set_pwm_freq(self.PWMFrequencyValue)
def get_PWM_frequency(self):
return self.PWMFrequencyValue
def set_servo_frequency(self, value):
self.servoFrequencyValue = value
self.servo.set_frequency(self.servoFrequencyValue)
def get_servo_frequency(self):
return self.servoFrequencyValue
#!/usr/bin/env python
import roslib
import rospy
import geometry_msgs.msg
import std_msgs.msg
from sensor_msgs.msg import Joy
from ServoPi import PWM
import time
import math
pwm = PWM(0x40)
pwm.set_pwm_freq(50)
ts = 0.05
low = 205
mid = 307
high = 410
def angle_convert(angle):
pulse_range = (2.0 - 1.0)
pw_per_deg = (pulse_range / 181)
pulse_width = int(((1.0) + (angle * (pw_per_deg))) * low)
#print pulse_width
return pulse_width
def hip_move(tripod, user_angle_hiplist):
angle_1 = angle_convert(user_angle_hiplist[0])
angle_2 = angle_convert(user_angle_hiplist[1])
from IOPi import IOPi
from ADCDACPi import ADCDACPi
from time import sleep
from ServoPi import PWM
pwm = PWM(0x41)
pwm.set_pwm_freq(1000)
##output_enable()
adcdac = ADCDACPi(1)
adcdac.set_adc_refvoltage(3.3)
bus = IOPi(0x20)
bus.set_port_direction(0, 0x00)
bus.set_port_direction(1, 0xF0)
bus.write_port(0, 0)
bus.write_port(1, 0)
sleep(1)
bus.write_pin(9, 1)
sleep(1)
bus.set_pin_pullup(16, 1)
bus.set_pin_pullup(15, 1)
bus.set_pin_pullup(14, 1)
bus.invert_pin(16, 1)
bus.invert_pin(15, 1)
bus.invert_pin(14, 0)
count = 0
dc = 0
while True:
if bus.read_pin(14) == 1: