2021-09-26

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 lengthsservo_min = 150 # Min pulse length out of 4096servo_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)© 2021 GitHub, Inc.