29 lines
659 B
Python
29 lines
659 B
Python
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from Adafruit_PCA9685 import PCA9685
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class PWMDriver:
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def __init__(self):
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self.driver = PCA9685()
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self.driver.set_pwm_freq(50)
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def set_pwm(self, slot, off, on):
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self.driver.set_pwm(slot, off, on)
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# comme map() dans arduino
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def mappyt(self, x, inMin, inMax, outMin, outMax):
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return (x - inMin) * (outMax - outMin) / (inMax - inMin) + outMin
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def init_esc(self, slot):
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self.set_pwm(slot, 0, 307)
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def set_esc(self, slot, speed):
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self.set_pwm(
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slot,
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0,
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self.convert_speed_to_esc(speed)
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)
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def convert_speed_to_esc(self, speed):
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return round(self.mappyt(speed, 0, 100, 210, 410))
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