36 lines
912 B
Python
36 lines
912 B
Python
from compLib.PCA9685 import PCA9685
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SERVO_COUNT = 10
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pwm = PCA9685(0x40, debug=True)
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pwm.setPWMFreq(50)
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MIN_ANGLE = -90.0
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MAX_ANGLE = 90.0
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class Servo:
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"""Control the servo ports on the robot
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"""
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@staticmethod
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def set_position(channel: int, angle: int, offset: float =90):
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"""Set position of servo connected to port
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:param channel: channel between 0 and 7
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:param angle: Angle of servo
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"""
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if channel < 0 or channel >= SERVO_COUNT:
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raise IndexError("Invalid Servo channel specified!")
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angle = max(min(angle, MAX_ANGLE), MIN_ANGLE)
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pwm.setServoPulse(channel + 8, 500+int((angle+offset)/0.09))
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@staticmethod
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def setup_position():
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"""Set position of servos to the position used during the setup process
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"""
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Servo.set_position(0, 0)
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Servo.set_position(1, 0)
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