freenove_car/Code/Server/servo.py

import time
from PCA9685 import PCA9685
class Servo:
    def __init__(self):
        self.PwmServo = PCA9685(0x40, debug=True)
        self.PwmServo.setPWMFreq(50)
        self.PwmServo.setServoPulse(8,1500)
        self.PwmServo.setServoPulse(9,1500)
    def setServoPwm(self,channel,angle,error=10):
        angle=int(angle)
        if channel=='0':
            self.PwmServo.setServoPulse(8,2500-int((angle+error)/0.09))
        elif channel=='1':
            self.PwmServo.setServoPulse(9,500+int((angle+error)/0.09))
        elif channel=='2':
            self.PwmServo.setServoPulse(10,500+int((angle+error)/0.09))
        elif channel=='3':
            self.PwmServo.setServoPulse(11,500+int((angle+error)/0.09))
        elif channel=='4':
            self.PwmServo.setServoPulse(12,500+int((angle+error)/0.09))
        elif channel=='5':
            self.PwmServo.setServoPulse(13,500+int((angle+error)/0.09))
        elif channel=='6':
            self.PwmServo.setServoPulse(14,500+int((angle+error)/0.09))
        elif channel=='7':
            self.PwmServo.setServoPulse(15,500+int((angle+error)/0.09))

# Main program logic follows:
if __name__ == '__main__':
    print("Now servos will rotate to 90°.") 
    print("If they have already been at 90°, nothing will be observed.")
    print("Please keep the program running when installing the servos.")
    print("After that, you can press ctrl-C to end the program.")
    pwm=Servo()
    while True:
        try :
            pwm.setServoPwm('0',90)
            pwm.setServoPwm('1',90)
        except KeyboardInterrupt:
            print ("\nEnd of program")
            break