pwms.py

#!/usr/bin/python3

# import sys
from Servo import *
from time import sleep

# create instance of ServoCtrl on i2c bus 2 at address 64 using 60hz pwm frequency.
# change 64 to 0x7f for servo cape
servos = ServoCtrl(2, 0x7f, 50)


# add a servo to controller, using channel 15. servo max rotation is 180 degrees.
servos.addServos([Servo(name = 'servo1', channel = 0, max_angle = 180),
                    Servo(name = 'servo2', channel = 1, max_angle = 180),
                    Servo(name = 'servo3', channel = 2, max_angle = 180),
                    Servo(name = 'servo4', channel = 3, max_angle = 180),
                    Servo(name = 'servo5', channel = 4, max_angle = 180),
                    Servo(name = 'servo6', channel = 5, max_angle = 180)
                   ])


# add some servos using JSON notation
servos.addServosJSON([{'name':'servo9', 'channel':8, 'max_angle':180},
                      {'name':'servo10', 'channel':9, 'max_angle':180},
                      {'name':'servo11', 'channel':10, 'max_angle':180},
                      {'name':'servo12', 'channel':11, 'max_angle':180},
                      {'name':'servo13', 'channel':12, 'max_angle':180},
                      {'name':'servo14', 'channel':13, 'max_angle':180}
                    ])

servos.enablePWMs(True)

print(servos.servos)

for i in range(0, 30, 2):
    # move servo15 to 0 degrees and servo2 to 90 degrees.
    servos.moveServos([ServoPos(name = "servo1", angle = 0),
                        ServoPos(name = "servo2", angle = 0),
                        ServoPos(name = "servo3", angle = 0),
                        ServoPos(name = "servo4", angle = 0),
                        ServoPos(name = "servo5", angle = 0),
                        ServoPos(name = "servo6", angle = 0)
                     ])
    sleep(0.25)

    # move both servos to 50%
    servos.moveServosJSON([{'name':"servo9", 'percent':50},
                           {'name':"servo10", 'percent':50},
                           {'name':"servo11", 'percent':50},
                           {'name':"servo12", 'percent':50},
                           {'name':"servo13", 'percent':50},
                           {'name':"servo14", 'percent':50}
                        ])
    sleep(0.25)

    #move servo15 to max rotation and servo2 to 0

    # create a list and then append moves to it.
    #servolist = []
    #servolist.append(ServoPos(name = "servo1", angle = servos.get_servo_max_angle("servo1")))
    #servolist.append(ServoPos(name = "servo2", angle = 0) )

    #servos.moveServos(servolist)
    #sleep(1)


# use JSON to move servos
#for l in range(0, 2):
    servos.moveServosJSON([{'name':"servo9", 'angle':80},
                             {'name':"servo10", 'angle':80},
                             {'name':"servo11", 'angle':80},
                             {'name':"servo12", 'angle':80},
                             {'name':"servo13", 'angle':80},
                             {'name':"servo14", 'angle':80}
                         ])
    sleep(0.25)

    # move both servos to 90%
    servos.moveServos([ServoPos(name = "servo1", percent = 90),
                             ServoPos(name = "servo2", percent = 90),
                             ServoPos(name = "servo3", percent = 90),
                             ServoPos(name = "servo4", percent = 90),
                             ServoPos(name = "servo5", percent = 90),
                             ServoPos(name = "servo6", percent = 90)
                         ])
    sleep(0.25)

    # move servo15 to max rotation and servo2 to 0
#    servos.moveServosJSON([{'name':"servo1", 'angle':servos.get_servo_max_angle("servo1")},
#                             {'name':"servo2", 'angle':0}
#                        ])
#    sleep(1)

servos.enablePWMs(False)