class Servo:
def __init__(self, pin, min_us=750, max_us=2250, actuation_range=180):
self.min_us = min_us
self.max_us = max_us
self.actuation_range = actuation_range
self.servoPin = MPythonPin(pin, PinMode.PWM)
def write_us(self, us):
if us < self.min_us or us > self.max_us:
raise ValueError("us out of range")
duty = round(us / 20000 * 1023)
self.servoPin.write_analog(duty, 50)
def write_angle(self, angle):
if angle < 0 or angle > self.actuation_range:
raise ValueError("Angle out of range")
us_range = self.max_us - self.min_us
us = self.min_us + round(angle * us_range / self.actuation_range)
self.write_us(us)
class MicroBitPin:
IN = 1
OUT = 2
PWM = 3
ANALOG = 4
def __init__(self, id):
self.id = id
self.current_mode = None
self.mpython_pin = None
def __change_pin_mode(self, pinmode):
if self.current_mode is not pinmode:
self.mpython_pin = MPythonPin(self.id, mode=pinmode)
if pinmode == MicroBitPin.ANALOG:
self.mpython_pin.adc.width(ADC.WIDTH_10BIT)
self.current_mode = pinmode
def read_digital(self):
self.__change_pin_mode(MicroBitPin.IN)
return self.mpython_pin.read_digital()
def write_digital(self, value):
self.__change_pin_mode(MicroBitPin.OUT)
self.mpython_pin.write_digital(value)
def read_analog(self):
self.__change_pin_mode(MicroBitPin.ANALOG)
return self.mpython_pin.read_analog()
def write_analog(self, value):
self.__change_pin_mode(MicroBitPin.PWM)
self.mpython_pin.write_analog(value)
def set_analog_period(period):
#TODO
pass
def set_analog_period_microseconds(period):
#TODO
pass
