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Removing servo class in favor of motor.servo #34

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Merged
merged 1 commit into from
Aug 18, 2018
Merged

Removing servo class in favor of motor.servo #34

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53 changes: 0 additions & 53 deletions simpleio.py
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Original file line number Diff line number Diff line change
Expand Up @@ -173,59 +173,6 @@ def shift_out(data_pin, clock, value, msb_first=True):
clock.value = True
clock.value = False

class Servo:
"""
Easy control for hobby (3-wire) servos

:param ~microcontroller.Pin pin: PWM pin where the servo is located.
:param int min_pulse: Pulse width (milliseconds) corresponding to 0 degrees.
:param int max_pulse: Pulse width (milliseconds) corresponding to 180 degrees.

Example for Metro M0 Express:

.. code-block:: python

import simpleio
import time
from board import *

pwm = simpleio.Servo(D9)

while True:
pwm.angle = 0
print("Angle: ", pwm.angle)
time.sleep(2)
pwm.angle = pwm.microseconds_to_angle(2500)
print("Angle: ", pwm.angle)
time.sleep(2)
"""
def __init__(self, pin, min_pulse=0.5, max_pulse=2.5):
self.pwm = pulseio.PWMOut(pin, frequency=50)
self.min_pulse = min_pulse
self.max_pulse = max_pulse
self._angle = None

@property
def angle(self):
"""Get and set the servo angle in degrees"""
return self._angle

@angle.setter
def angle(self, degrees):
"""Writes a value in degrees to the servo"""
self._angle = max(min(180, degrees), 0)
pulse_width = self.min_pulse + (self._angle / 180) * (self.max_pulse - self.min_pulse)
duty_percent = pulse_width / 20.0
self.pwm.duty_cycle = int(duty_percent * 65535)

def microseconds_to_angle(self, us): #pylint: disable-msg=no-self-use, invalid-name
"""Converts microseconds to a degree value"""
return map_range(us, self.min_pulse * 1000, self.max_pulse * 1000, 0, 180)

def deinit(self):
"""Detaches servo object from pin, frees pin"""
self.pwm.deinit()

class DigitalOut:
"""
Simple digital output that is valid until reload.
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