-
Notifications
You must be signed in to change notification settings - Fork 0
/
Copy pathaHBridge_PCA.py
75 lines (69 loc) · 2.06 KB
/
aHBridge_PCA.py
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
import Adafruit_PCA9685
class aDualHBridge:
def __init__(self, m1_1, m1_2, m2_1, m2_2, f):
self.pwm = Adafruit_PCA9685.PCA9685()
self.pwm.set_pwm_freq(f)
self.in1 = m1_1
self.in2 = m1_2
self.in3 = m2_1
self.in4 = m2_2
self.freq = f
def duty_m1(self, dc):
if dc < -0.95:
cv_on1 = 0
cv_off1 = 4096
cv_on2 = 4096
cv_off2 = 0
elif -0.95 <= dc < -0.05:
cv_on1 = 0
cv_off1 = 4096
cv_on2 = int(2048 * (1 + dc))
cv_off2 = int(2048 * (1 - dc))
elif -0.05 <= dc < 0.05:
cv_on1 = 0
cv_off1 = 4096
cv_on2 = 0
cv_off2 = 4096
elif 0.05 <= dc < 0.95:
cv_on1 = int(2048 * (1 - dc))
cv_off1 = int(2048 * (1 + dc))
cv_on2 = 0
cv_off2 = 4096
else:
cv_on1 = 4096
cv_off1 = 0
cv_on2 = 0
cv_off2 = 4096
self.pwm.set_pwm(self.in1, cv_on1, cv_off1)
self.pwm.set_pwm(self.in2, cv_on2, cv_off2)
def duty_m2(self, dc):
if dc < -0.95:
cv_on3 = 0
cv_off3 = 4096
cv_on4 = 4096
cv_off4 = 0
elif -0.95 <= dc < -0.05:
cv_on3 = 0
cv_off3 = 4096
cv_on4 = int(2048 * (1 + dc))
cv_off4 = int(2048 * (1 - dc))
elif -0.05 <= dc < 0.05:
cv_on3 = 0
cv_off3 = 4096
cv_on4 = 0
cv_off4 = 4096
elif 0.05 <= dc < 0.95:
cv_on3 = int(2048 * (1 - dc))
cv_off3 = int(2048 * (1 + dc))
cv_on4 = 0
cv_off4 = 4096
else:
cv_on3 = 4096
cv_off3 = 0
cv_on4 = 0
cv_off4 = 4096
self.pwm.set_pwm(self.in3, cv_on3, cv_off3)
self.pwm.set_pwm(self.in4, cv_on4, cv_off4)
def freq_all(self, f):
self.freq = f
self.pwm.set_pwm_freq(f)