43 lines
944 B
Python
43 lines
944 B
Python
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import time
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from PCA9685 import PCA9685
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class Servo:
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def __init__(self):
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self.PwmServo = PCA9685(0x40, debug=True)
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self.PwmServo.setPWMFreq(50)
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self.PwmServo.setServoPulse(8,1500)
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self.PwmServo.setServoPulse(9,850)
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def setServoPwm(self,channel1,channel2,angle1,angle2,error=10):
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if channel1==1:
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self.PwmServo.setServoPulse(8,2500-int((angle1+error)/0.09))
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else:
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pass
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if channel2==1:
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self.PwmServo.setServoPulse(9,500+int((angle2+error)/0.09))
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else:
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pass
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pwm=Servo()
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def loop():
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for i in range(180):
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pwm.setServoPwm(1,0,i,0)
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time.sleep(0.01)
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for i in range(180,0,-1):
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pwm.setServoPwm(1,0,i,0)
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time.sleep(0.01)
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def destroy():
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pwm.setServoPwm(1,1,90,20)
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# Main program logic follows:
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if __name__ == '__main__':
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pwm.setServoPwm(1,1,90,20)
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