Servoの制御

PWMサーボの制御

初期化

# coding: utf-8
import Fabo_PCA9685
import time
import pkg_resources
import smbus

# init
BUSNUM=1
SERVO_HZ=60
INITIAL_VALUE=300
bus = smbus.SMBus(BUSNUM)
PCA9685 = Fabo_PCA9685.PCA9685(bus,INITIAL_VALUE,address=0x40)
PCA9685.set_hz(SERVO_HZ)

値を設定

while True:
    # Move servo on channel O between extremes.
    PCA9685.set_channel_value(0,150)
    time.sleep(1)
    PCA9685.set_channel_value(0,300)
    time.sleep(1)

ハンドルの制御

初期化

# coding: utf-8
import Fabo_PCA9685
import time
import pkg_resources
import smbus

# Param
CENTER = 200
RIGHT=150
LEFT = 250

# init
BUSNUM=1
SERVO_HZ=60
INITIAL_VALUE=300
bus = smbus.SMBus(BUSNUM)
PCA9685 = Fabo_PCA9685.PCA9685(bus,INITIAL_VALUE,address=0x40)
while True:
    # Move servo on channel O between extremes.
    PCA9685.set_channel_value(0,RIGHT)
    time.sleep(1)
    PCA9685.set_channel_value(0,CENTER)
    time.sleep(1)
    PCA9685.set_channel_value(0,LEFT)
    time.sleep(1)