You cannot select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
57 lines
1.3 KiB
Python
57 lines
1.3 KiB
Python
3 years ago
|
#!/usr/bin/env python
|
||
|
|
# -*- coding: utf-8 -*-
|
||
|
|
|
||
|
|
# Libraries
|
||
|
|
# https://circuitpython.readthedocs.io/projects/servokit/en/latest/
|
||
|
|
from adafruit_servokit import ServoKit
|
||
|
|
|
||
|
|
import time
|
||
|
|
|
||
|
|
# Constants
|
||
|
|
nbPCAServo = 16
|
||
|
|
|
||
|
|
|
||
|
|
# Objects
|
||
|
|
pca1 = ServoKit(channels=16, address=0x40, frequency=120)
|
||
|
|
pca2 = ServoKit(channels=16, address=0x41, frequency=120)
|
||
|
|
|
||
|
|
# function init
|
||
|
|
|
||
|
|
|
||
|
|
def init():
|
||
|
|
print('Init')
|
||
|
|
|
||
|
|
# for i in range(nbPCAServo):
|
||
|
|
# pca1.servo[i].set_pulse_width_range(MIN_IMP[i] , MAX_IMP[i])
|
||
|
|
# pca2.servo[i].set_pulse_width_range(MIN_IMP[i] , MAX_IMP[i])
|
||
|
|
|
||
|
|
# function main
|
||
|
|
|
||
|
|
|
||
|
|
def main():
|
||
|
|
|
||
|
|
pcaScenario()
|
||
|
|
|
||
|
|
|
||
|
|
# function pcaScenario
|
||
|
|
def pcaScenario():
|
||
|
|
"""Scenario to test servo"""
|
||
|
|
for i in range(nbPCAServo):
|
||
|
|
pca1.servo[i].angle = 90
|
||
|
|
pca2.servo[i].angle = 90
|
||
|
|
# for j in range(MIN_ANG[i], MAX_ANG[i], 1):
|
||
|
|
# print("Send angle {} to Servo {}".format(j, i))
|
||
|
|
# pca.servo[i].angle = j
|
||
|
|
# time.sleep(0.01)
|
||
|
|
# for j in range(MAX_ANG[i], MIN_ANG[i], -1):
|
||
|
|
# print("Send angle {} to Servo {}".format(j, i))
|
||
|
|
# pca.servo[i].angle = j
|
||
|
|
# time.sleep(0.01)
|
||
|
|
# pca.servo[i].angle = None # disable channel
|
||
|
|
time.sleep(0.5)
|
||
|
|
|
||
|
|
|
||
|
|
if __name__ == '__main__':
|
||
|
|
init()
|
||
|
|
main()
|