42 lines
1.2 KiB
Python
42 lines
1.2 KiB
Python
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__':
|
|
pwm=Servo()
|
|
pwm.setServoPwm('0',90)
|
|
pwm.setServoPwm('1',90)
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|