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36 lines
1.1 KiB
Python
36 lines
1.1 KiB
Python
5 years ago
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import pca9685
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import math
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class Servos:
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def __init__(self, i2c, address=0x40, freq=50, min_us=600, max_us=2400,
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degrees=180):
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self.period = 1000000 / freq
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self.min_duty = self._us2duty(min_us)
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self.max_duty = self._us2duty(max_us)
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self.degrees = degrees
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self.freq = freq
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self.pca9685 = pca9685.PCA9685(i2c, address)
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self.pca9685.freq(freq)
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def _us2duty(self, value):
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return int(4095 * value / self.period)
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def position(self, index, degrees=None, radians=None, us=None, duty=None):
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span = self.max_duty - self.min_duty
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if degrees is not None:
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duty = self.min_duty + span * degrees / self.degrees
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elif radians is not None:
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duty = self.min_duty + span * radians / math.radians(self.degrees)
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elif us is not None:
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duty = self._us2duty(us)
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elif duty is not None:
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pass
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else:
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return self.pca9685.duty(index)
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duty = min(self.max_duty, max(self.min_duty, int(duty)))
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self.pca9685.duty(index, duty)
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def release(self, index):
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self.pca9685.duty(index, 0)
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