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46 lines
1.2 KiB
Python
46 lines
1.2 KiB
Python
import pca9685
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_DC_MOTORS = ((8, 9, 10), (13, 12, 11), (2, 3, 4), (7, 6, 5))
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class DCMotors:
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def __init__(self, i2c, address=0x60, freq=1600):
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self.pca9685 = pca9685.PCA9685(i2c, address)
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self.pca9685.freq(freq)
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def _pin(self, pin, value=None):
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if value is None:
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return bool(self.pca9685.pwm(pin)[0])
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if value:
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self.pca9685.pwm(pin, 4096, 0)
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else:
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self.pca9685.pwm(pin, 0, 0)
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def speed(self, index, value=None):
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pwm, in2, in1 = _DC_MOTORS[index]
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if value is None:
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value = self.pca9685.duty(pwm)
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if self._pin(in2) and not self._pin(in1):
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value = -value
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return value
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if value > 0:
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# Forward
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self._pin(in2, False)
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self._pin(in1, True)
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elif value < 0:
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# Backward
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self._pin(in1, False)
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self._pin(in2, True)
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else:
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# Release
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self._pin(in1, False)
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self._pin(in2, False)
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self.pca9685.duty(pwm, abs(value))
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def brake(self, index):
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pwm, in2, in1 = _DC_MOTORS[index]
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self._pin(in1, True)
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self._pin(in2, True)
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self.pca9685.duty(pwm, 0)
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