update set servo angle interface code

set_servo_angle.py

+from __future__ import division                            
+import time  
+  
+# Import the PCA9685 module.  
+import Adafruit_PCA9685                                   
+  
+  
+# Uncomment to enable debug output.  
+#import logging  
+#logging.basicConfig(level=logging.DEBUG)                  
+  
+# Initialise the PCA9685 using the default address (0x40).  
+pwm = Adafruit_PCA9685.PCA9685()                          
+  
+# Alternatively specify a different address and/or bus:  
+#pwm = Adafruit_PCA9685.PCA9685(address=0x41, busnum=2)  
+  
+
+           
+def set_servo_angle(channel, angle):             
+    date=4096*((angle*11)+500)/20000              
+    pwm.set_pwm(channel, 0, int(date))  
+  
+  
+# Set frequency to 50hz, good for servos.  
+pwm.set_pwm_freq(50)

tools/Adafruit_Python_PCA9685/.gitignore

+# Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[cod]
+*$py.class
+
+# C extensions
+*.so
+
+# Distribution / packaging
+.Python
+env/
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+lib/
+lib64/
+parts/
+sdist/
+var/
+*.egg-info/
+.installed.cfg
+*.egg
+
+# PyInstaller
+#  Usually these files are written by a python script from a template
+#  before PyInstaller builds the exe, so as to inject date/other infos into it.
+*.manifest
+*.spec
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
+.coverage
+.coverage.*
+.cache
+nosetests.xml
+coverage.xml
+*,cover
+.hypothesis/
+
+# Translations
+*.mo
+*.pot
+
+# Django stuff:
+*.log
+
+# Sphinx documentation
+docs/_build/
+
+# PyBuilder
+target/
+
+#Ipython Notebook
+.ipynb_checkpoints

tools/Adafruit_Python_PCA9685/Adafruit_PCA9685/PCA9685.py

+# Copyright (c) 2016 Adafruit Industries
+# Author: Tony DiCola
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be included in
+# all copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+# THE SOFTWARE.
+from __future__ import division
+import logging
+import time
+import math
+
+
+# Registers/etc:
+PCA9685_ADDRESS    = 0x41
+MODE1              = 0x00
+MODE2              = 0x01
+SUBADR1            = 0x02
+SUBADR2            = 0x03
+SUBADR3            = 0x04
+PRESCALE           = 0xFE
+LED0_ON_L          = 0x06
+LED0_ON_H          = 0x07
+LED0_OFF_L         = 0x08
+LED0_OFF_H         = 0x09
+ALL_LED_ON_L       = 0xFA
+ALL_LED_ON_H       = 0xFB
+ALL_LED_OFF_L      = 0xFC
+ALL_LED_OFF_H      = 0xFD
+
+# Bits:
+RESTART            = 0x80
+SLEEP              = 0x10
+ALLCALL            = 0x01
+INVRT              = 0x10
+OUTDRV             = 0x04
+
+
+logger = logging.getLogger(__name__)
+
+
+def software_reset(i2c=None, **kwargs):
+    """Sends a software reset (SWRST) command to all servo drivers on the bus."""
+    # Setup I2C interface for device 0x00 to talk to all of them.
+    if i2c is None:
+        import Adafruit_GPIO.I2C as I2C
+        i2c = I2C
+    self._device = i2c.get_i2c_device(0x00, **kwargs)
+    self._device.writeRaw8(0x06)  # SWRST
+
+
+class PCA9685(object):
+    """PCA9685 PWM LED/servo controller."""
+
+    def __init__(self, address=PCA9685_ADDRESS, i2c=None, **kwargs):
+        """Initialize the PCA9685."""
+        # Setup I2C interface for the device.
+        if i2c is None:
+            import Adafruit_GPIO.I2C as I2C
+            i2c = I2C
+        self._device = i2c.get_i2c_device(address, **kwargs)
+        self.set_all_pwm(0, 0)
+        self._device.write8(MODE2, OUTDRV)
+        self._device.write8(MODE1, ALLCALL)
+        time.sleep(0.005)  # wait for oscillator
+        mode1 = self._device.readU8(MODE1)
+        mode1 = mode1 & ~SLEEP  # wake up (reset sleep)
+        self._device.write8(MODE1, mode1)
+        time.sleep(0.005)  # wait for oscillator
+
+    def set_pwm_freq(self, freq_hz):
+        """Set the PWM frequency to the provided value in hertz."""
+        prescaleval = 25000000.0    # 25MHz
+        prescaleval /= 4096.0       # 12-bit
+        prescaleval /= float(freq_hz)
+        prescaleval -= 1.0
+        logger.debug('Setting PWM frequency to {0} Hz'.format(freq_hz))
+        logger.debug('Estimated pre-scale: {0}'.format(prescaleval))
+        prescale = int(math.floor(prescaleval + 0.5))
+        logger.debug('Final pre-scale: {0}'.format(prescale))
+        oldmode = self._device.readU8(MODE1);
+        newmode = (oldmode & 0x7F) | 0x10    # sleep
+        self._device.write8(MODE1, newmode)  # go to sleep
+        self._device.write8(PRESCALE, prescale)
+        self._device.write8(MODE1, oldmode)
+        time.sleep(0.005)
+        self._device.write8(MODE1, oldmode | 0x80)
+
+    def set_pwm(self, channel, on, off):
+        """Sets a single PWM channel."""
+        self._device.write8(LED0_ON_L+4*channel, on & 0xFF)
+        self._device.write8(LED0_ON_H+4*channel, on >> 8)
+        self._device.write8(LED0_OFF_L+4*channel, off & 0xFF)
+        self._device.write8(LED0_OFF_H+4*channel, off >> 8)
+
+    def set_all_pwm(self, on, off):
+        """Sets all PWM channels."""
+        self._device.write8(ALL_LED_ON_L, on & 0xFF)
+        self._device.write8(ALL_LED_ON_H, on >> 8)
+        self._device.write8(ALL_LED_OFF_L, off & 0xFF)
+        self._device.write8(ALL_LED_OFF_H, off >> 8)

tools/Adafruit_Python_PCA9685/Adafruit_PCA9685/__init__.py

+from .PCA9685 import PCA9685, software_reset

tools/Adafruit_Python_PCA9685/ConnectInfo.txt

+IP:192.168.77.191
+SOPORT:8888
+VIPORT:7777

tools/Adafruit_Python_PCA9685/LICENSE

+The MIT License (MIT)
+
+Copyright (c) 2016 Adafruit Industries
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

tools/Adafruit_Python_PCA9685/README.md

+# Adafruit Python PCA9685
+Python code to use the PCA9685 PWM servo/LED controller with a Raspberry Pi or BeagleBone black.
+
+## Installation
+
+To install the library from source (recommended) run the following commands on a Raspberry Pi or other Debian-based OS system:
+
+    sudo apt-get install git build-essential python-dev
+    cd ~
+    git clone https://github.com/adafruit/Adafruit_Python_PCA9685.git
+    cd Adafruit_Python_PCA9685
+    sudo python setup.py install
+
+Alternatively you can install from pip with:
+
+    sudo pip install adafruit-pca9685
+
+Note that the pip install method **won't** install the example code.

tools/Adafruit_Python_PCA9685/examples/simpletest.py

+# Simple demo of of the PCA9685 PWM servo/LED controller library.
+# This will move channel 0 from min to max position repeatedly.
+# Author: Tony DiCola
+# License: Public Domain
+from __future__ import division
+import time
+
+# Import the PCA9685 module.
+import Adafruit_PCA9685
+
+
+# Uncomment to enable debug output.
+#import logging
+#logging.basicConfig(level=logging.DEBUG)
+
+# Initialise the PCA9685 using the default address (0x40).
+pwm = Adafruit_PCA9685.PCA9685()
+
+# Alternatively specify a different address and/or bus:
+#pwm = Adafruit_PCA9685.PCA9685(address=0x41, busnum=2)
+
+# Configure min and max servo pulse lengths
+servo_min = 150  # Min pulse length out of 4096
+servo_max = 600  # Max pulse length out of 4096
+
+# Helper function to make setting a servo pulse width simpler.
+def set_servo_pulse(channel, pulse):
+    pulse_length = 1000000    # 1,000,000 us per second
+    pulse_length //= 60       # 60 Hz
+    print('{0}us per period'.format(pulse_length))
+    pulse_length //= 4096     # 12 bits of resolution
+    print('{0}us per bit'.format(pulse_length))
+    pulse *= 1000
+    pulse //= pulse_length
+    pwm.set_pwm(channel, 0, pulse)
+
+# Set frequency to 60hz, good for servos.
+pwm.set_pwm_freq(60)
+
+print('Moving servo on channel 0, press Ctrl-C to quit...')
+while True:
+    # Move servo on channel O between extremes.
+    pwm.set_pwm(0, 0, servo_min)
+    time.sleep(1)
+    pwm.set_pwm(0, 0, servo_max)
+    time.sleep(1)