compAIR/compLIB
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Add servo registers

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This commit is contained in:
Konstantin Lampalzer 2021-09-04 18:44:56 +02:00
parent 91884bd433
commit ce748d8321
1 changed files with 41 additions and 31 deletions
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72
compLib/Spi.py
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@ -43,19 +43,21 @@ class Register(IntEnum):
MOTOR_4_POS_B1 = 24, MOTOR_4_POS_B1 = 24,
MOTOR_4_POS_B0 = 25, MOTOR_4_POS_B0 = 25,
# PWM Control Modes
PWM_1_CTRL = 26,
PWM_2_CTRL = 27,
PWM_3_CTRL = 28,
PWM_4_CTRL = 29,
# Motor pwm speed # Motor pwm speed
MOTOR_1_PWM_H = 26, MOTOR_1_PWM_H = 30,
MOTOR_1_PWM_L = 27, MOTOR_1_PWM_L = 31,
MOTOR_1_CTRL = 28, MOTOR_2_PWM_H = 32,
MOTOR_2_PWM_H = 29, MOTOR_2_PWM_L = 33,
MOTOR_2_PWM_L = 30, MOTOR_3_PWM_H = 34,
MOTOR_2_CTRL = 31, MOTOR_3_PWM_L = 35,
MOTOR_3_PWM_H = 32, MOTOR_4_PWM_H = 36,
MOTOR_3_PWM_L = 33, MOTOR_4_PWM_L = 37,
MOTOR_3_CTRL = 34,
MOTOR_4_PWM_H = 35,
MOTOR_4_PWM_L = 36,
MOTOR_4_CTRL = 37,
# Servo goal position # Servo goal position
SERVO_1_PWM_H = 38, SERVO_1_PWM_H = 38,
@ -66,29 +68,37 @@ class Register(IntEnum):
SERVO_3_PWM_L = 43, SERVO_3_PWM_L = 43,
SERVO_4_PWM_H = 44, SERVO_4_PWM_H = 44,
SERVO_4_PWM_L = 45, SERVO_4_PWM_L = 45,
SERVO_5_PWM_H = 46,
SERVO_5_PWM_L = 47,
SERVO_6_PWM_H = 48,
SERVO_6_PWM_L = 49,
SERVO_7_PWM_H = 50,
SERVO_7_PWM_L = 51,
SERVO_8_PWM_H = 52,
SERVO_8_PWM_L = 53,
# IR Sensor value # IR Sensor value
IR_1_H = 46, IR_1_H = 54,
IR_1_L = 47, IR_1_L = 55,
IR_2_H = 48, IR_2_H = 56,
IR_2_L = 49, IR_2_L = 57,
IR_3_H = 50, IR_3_H = 58,
IR_3_L = 51, IR_3_L = 59,
IR_4_H = 52, IR_4_H = 60,
IR_4_L = 53, IR_4_L = 61,
IR_5_H = 54, IR_5_H = 62,
IR_5_L = 55, IR_5_L = 63,
IR_1_LED = 56, IR_1_LED = 64,
IR_2_LED = 57, IR_2_LED = 65,
IR_3_LED = 58, IR_3_LED = 66,
IR_4_LED = 59, IR_4_LED = 67,
IR_5_LED = 60, IR_5_LED = 68,
# Display registers # Display registers
DISPLAY_LINE_1_C0 = 63, DISPLAY_LINE_1_C0 = 69,
DISPLAY_LINE_2_C0 = 79, DISPLAY_LINE_2_C0 = 85,
DISPLAY_LINE_3_C0 = 95, DISPLAY_LINE_3_C0 = 101,
DISPLAY_LINE_4_C0 = 111 DISPLAY_LINE_4_C0 = 117
class Spi(object): class Spi(object):