kopia lustrzana https://github.com/GuyCarver/MicroPython
89 wiersze
2.3 KiB
Python
89 wiersze
2.3 KiB
Python
# MicroPython PCA9865 16 servo controller driver.
|
|
|
|
import pyb
|
|
from time import sleep_us
|
|
|
|
class pca9865(object):
|
|
|
|
_ADDRESS = 0x40
|
|
_MODE1 = const(0)
|
|
_PRESCALE = const(0xFE)
|
|
_LED0_ON_L = const(0x6)
|
|
# _LED0_ON_H = const(0x7)
|
|
# _LED0_OFF_L = const(0x8)
|
|
# _LED0_OFF_H = const(0x9)
|
|
|
|
# _ALLLED_ON_L = const(0xFA)
|
|
# _ALLLED_ON_H = const(0xFB)
|
|
# _ALLLED_OFF_L = const(0xFC)
|
|
# _ALLLED_OFF_H = const(0xFD)
|
|
|
|
_DEFAULTFREQ = const(60)
|
|
_MINPULSE = const(150)
|
|
_MAXPULSE = const(600)
|
|
_PULSERANGE = const(450)
|
|
|
|
def __init__(self, aLoc) :
|
|
"""aLoc I2C pin location is either 1 for 'X' or 2 for 'Y'."""
|
|
super(pca9865, self).__init__()
|
|
self.i2c = pyb.I2C(aLoc, pyb.I2C.MASTER)
|
|
# print(self.i2c)
|
|
self._buffer = bytearray(4)
|
|
sleep_us(50)
|
|
self.reset()
|
|
|
|
def read( self, aLoc ) :
|
|
return self.i2c.mem_read(1, self._ADDRESS, aLoc)
|
|
|
|
def write( self, aVal, aLoc ) :
|
|
self.i2c.mem_write(aVal, self._ADDRESS, aLoc)
|
|
|
|
def reset( self ):
|
|
self.write(0, _MODE1)
|
|
self.setfreq(_DEFAULTFREQ)
|
|
|
|
def setfreq( self, aFreq ) :
|
|
aFreq *= 0.9 #Correct for overshoot in frequency setting.
|
|
prescalefloat = (6103.51562 / aFreq) - 1 #25000000 / 4096 / freq.
|
|
prescale = int(prescalefloat + 0.5)
|
|
|
|
data = self.read(_MODE1)
|
|
oldmode = data[0]
|
|
newmode = (oldmode & 0x7F) | 0x10
|
|
self.write(newmode, _MODE1)
|
|
self.write(prescale, _PRESCALE)
|
|
self.write(oldmode, _MODE1)
|
|
sleep_us(50)
|
|
self.write(oldmode | 0xA1, _MODE1) #This sets the MODE1 register to turn on auto increment.
|
|
|
|
def setPWM( self, aServo, aOn, aOff ) :
|
|
"""aServo = 0-15.
|
|
aOn = 16 bit on value.
|
|
aOff = 16 bit off value.
|
|
"""
|
|
#Data is on low, on high, off low and off high. That's 4 bytes each servo.
|
|
|
|
loc = _LED0_ON_L + (aServo * 4)
|
|
# print(loc)
|
|
self._buffer[0] = aOn
|
|
self._buffer[1] = aOn >> 8
|
|
self._buffer[2] = aOff
|
|
self._buffer[3] = aOff >> 8
|
|
self.write(self._buffer, loc)
|
|
|
|
def setpin( self, aServo, aVal ) :
|
|
on = 0
|
|
off = min(aVal, 4095)
|
|
if off == 4095 :
|
|
on = 4096
|
|
off = 0
|
|
elif aVal == 0 :
|
|
off = 4096
|
|
|
|
self.setPWM(aServo, on, off)
|
|
|
|
def setangle( self, aServo, aAng ) :
|
|
"""Set the angle 0-100%"""
|
|
val = _MINPULSE + ((_PULSERANGE * aAng) // 100)
|
|
self.setPWM(aServo, 0, val)
|