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#!/usr/bin/python
from Adafruit_PWM_Servo_Driver import PWM
import time
import random
# ===========================================================================
# Example Code
# ===========================================================================
# Initialise the PWM device using the default address
pwm = PWM(0x40, debug=False)
# Note if you'd like more debug output you can instead run:
#pwm = PWM(0x40, debug=True)
servoMin = 150 # Min pulse length out of 4096
servoMax = 600 # Max pulse length out of 4096
def setServoPulse(channel, pulse):
pulseLength = 1000000 # 1,000,000 us per second
pulseLength /= 60 # 60 Hz
print "%d us per period" % pulseLength
pulseLength /= 4096 # 12 bits of resolution
print "%d us per bit" % pulseLength
pulse *= 1000
pulse /= pulseLength
pwm.setPWM(channel, 0, pulse)
pwm.setPWMFreq(60) # Set frequency to 60 Hz
while (True):
for x in range(0,15) :
# Change speed of continuous servo on channel O
pwm.setPWM(x, x, servoMin)
time.sleep(random.uniform(0.005,0.0001))
pwm.setPWM(x, x, servoMax)
time.sleep(random.uniform(0.005,0.0001))
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