41 lines
1.3 KiB
Python
41 lines
1.3 KiB
Python
|
from Adafruit_PCA9685 import PCA9685
|
||
|
|
|
||
|
|
class ServoDriver:
|
||
|
|
def __init__(self):
|
||
|
|
self.driver = PCA9685()
|
||
|
|
self.driver.set_pwm_freq(50)
|
||
|
|
self.servoProfiles = {
|
||
|
|
'default': {'range': 180, 'min': 65, 'max': 530},
|
||
|
|
# telescope 2023-04-08
|
||
|
|
# deployé: 180 deg
|
||
|
|
# rangé: 40 deg
|
||
|
|
'scope': {'range': 180, 'min': 65, 'max': 530},
|
||
|
|
}
|
||
|
|
|
||
|
|
def setAngle(self, slot, angle, profileName = 'default'):
|
||
|
|
profile = None
|
||
|
|
if type(profileName) is dict:
|
||
|
|
profile = profileName
|
||
|
|
if profile == None:
|
||
|
|
if profileName not in self.servoProfiles:
|
||
|
|
profileName = 'default'
|
||
|
|
profile = self.servoProfiles[profileName]
|
||
|
|
if 'range' not in profile:
|
||
|
|
profile['range'] = 180
|
||
|
|
if angle < 0 or angle > profile['range']:
|
||
|
|
print('PWMDriver: Invalid range passed ' + angle + ' but range is ' + profile['range'])
|
||
|
|
if slot > 15 or slot < 0:
|
||
|
|
print('> ERR!!! Invalid slot passed to setAngle!')
|
||
|
|
return
|
||
|
|
pulse = int(self.mappyt(angle, 0, profile['range'], profile['min'], profile['max']))
|
||
|
|
#print('setting slot', slot, 'to angle', angle, 'with profile', profileName, profile, pulse)
|
||
|
|
self.driver.set_pwm(slot, 0, pulse)
|
||
|
|
|
||
|
|
def setPwm(self, slot, off, on):
|
||
|
|
self.driver.set_pwm(slot, off, on)
|
||
|
|
|
||
|
|
def mappyt(self, x, inMin, inMax, outMin, outMax):
|
||
|
|
return (x - inMin) * (outMax - outMin) / (inMax - inMin) + outMin
|
||
|
|
|
||
|
|
|