51 lines
1.6 KiB
Python
51 lines
1.6 KiB
Python
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(9,1500)
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def setServoPwm(self,channel,angle,error=10):
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angle=int(angle)
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if channel=='0':
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self.PwmServo.setServoPulse(8,2500-int((angle+error)/0.09))
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elif channel=='1':
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self.PwmServo.setServoPulse(9,500+int((angle+error)/0.09))
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elif channel=='2':
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self.PwmServo.setServoPulse(10,500+int((angle+error)/0.09))
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elif channel=='3':
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self.PwmServo.setServoPulse(11,500+int((angle+error)/0.09))
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elif channel=='4':
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self.PwmServo.setServoPulse(12,500+int((angle+error)/0.09))
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elif channel=='5':
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self.PwmServo.setServoPulse(13,500+int((angle+error)/0.09))
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elif channel=='6':
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self.PwmServo.setServoPulse(14,500+int((angle+error)/0.09))
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elif channel=='7':
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self.PwmServo.setServoPulse(15,500+int((angle+error)/0.09))
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# Main program logic follows:
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if __name__ == '__main__':
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print("Now servos will rotate to 90°.")
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print("If they have already been at 90°, nothing will be observed.")
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print("Please keep the program running when installing the servos.")
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print("After that, you can press ctrl-C to end the program.")
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pwm=Servo()
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while True:
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try :
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pwm.setServoPwm('0',90)
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pwm.setServoPwm('1',90)
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except KeyboardInterrupt:
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print ("\nEnd of program")
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break
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