Instructions

Ausgabe 30.08.2017 Copyright by Joy-IT 5
3
Robot 02 - Kalibrierung
from __future__ import division
import time
import Adafruit_PCA9685
# Initialisierung mit alternativer Adresse
pwm = Adafruit_PCA9685.PCA9685(address=0x41)
# Einstellen der Minimal- und Maximal-Pulslaengen
servo_min = 150 # Minimale Pulslaenge
servo_max = 600 # Maximale Pulslaenge
# Hilfsfunktion
def set_servo_pulse(channel, pulse):
pulse_length = 1000000
pulse_length /= 50
print('{0}us per period'.format(pulse_length))
pulse_length /= 4096
print('{0}us per bit'.format(pulse_length))
pulse *= 1000
print(pulse_length)
pulse /= pulse_length
print(pulse)
pulse = round(pulse)
print(pulse)
pulse = int(pulse)
print (pulse)
pwm.set_pwm(channel, 0, pulse)
# Frequenz auf 50Hz setzen
pwm.set_pwm_freq(50)
# Bewege Servo 0-4 auf Position 1500
# Bewege Servo 5 auf Position 1600
set_servo_pulse(0,1.5)
time.sleep(1.5)
set_servo_pulse(1,1.5)
time.sleep(1.5)
set_servo_pulse(2,1.5)
time.sleep(1.5)
set_servo_pulse(3,1.5)
time.sleep(1.5)
set_servo_pulse(4,1.5)
time.sleep(1.5)
set_servo_pulse(5,1.6)
time.sleep(1.5)