compAIR/compLIB
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Konstantin Lampalzer 2021-09-06 18:51:52 +02:00
parent 60f252c37a
commit 3fe3139961
6 changed files with 168 additions and 61 deletions
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50
compLib/Servo.py
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@ -1,36 +1,36 @@
from compLib.PCA9685 import PCA9685
# from compLib.PCA9685 import PCA9685
SERVO_COUNT = 10
# SERVO_COUNT = 10
pwm = PCA9685(0x40, debug=True)
pwm.setPWMFreq(50)
# pwm = PCA9685(0x40, debug=True)
# pwm.setPWMFreq(50)
MIN_ANGLE = -90.0
MAX_ANGLE = 90.0
# MIN_ANGLE = -90.0
# MAX_ANGLE = 90.0
class Servo:
"""Control the servo ports on the robot
"""
# class Servo:
# """Control the servo ports on the robot
# """
@staticmethod
def set_position(channel: int, angle: int, offset: float =90):
"""Set position of servo connected to port
# @staticmethod
# def set_position(channel: int, angle: int, offset: float =90):
# """Set position of servo connected to port
:param channel: channel between 0 and 7
:param angle: Angle of servo
"""
if channel < 0 or channel >= SERVO_COUNT:
raise IndexError("Invalid Servo channel specified!")
# :param channel: channel between 0 and 7
# :param angle: Angle of servo
# """
# if channel < 0 or channel >= SERVO_COUNT:
# raise IndexError("Invalid Servo channel specified!")
angle = max(min(angle, MAX_ANGLE), MIN_ANGLE)
# angle = max(min(angle, MAX_ANGLE), MIN_ANGLE)
pwm.setServoPulse(channel + 8, 500+int((angle+offset)/0.09))
# pwm.setServoPulse(channel + 8, 500+int((angle+offset)/0.09))
@staticmethod
def setup_position():
"""Set position of servos to the position used during the setup process
"""
# @staticmethod
# def setup_position():
# """Set position of servos to the position used during the setup process
# """
Servo.set_position(0, 0)
Servo.set_position(1, 0)
# Servo.set_position(0, 0)
# Servo.set_position(1, 0)