Create hexapod.py

master
Zhengyu Peng 3 years ago
parent 2f8a666d59
commit 96617a3e29

@ -0,0 +1,56 @@
#!/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()
Loading…
Cancel
Save