初始化提交

boards/default/micropython/build/lib/servo.py

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+"""
+Servo
+
+MicroPython library for the Servo(0~180°)
+=======================================================
+
+#Preliminary composition				20220803
+
+dahanzimin From the Mixly Team
+"""
+from machine import Pin,PWM
+
+class Servo:
+	__species = {}
+	__first_init = True
+	
+	def __new__(cls, pin, *args, **kwargs):
+		if pin not in cls.__species.keys():
+			cls.__first_init = True
+			cls.__species[pin]=object.__new__(cls)
+		return cls.__species[pin]	
+		
+	def __init__(self,pin):
+		if self.__first_init:
+			self.__first_init = False
+			self._pulse=None
+			self.pwm = PWM(Pin(pin), duty=0, freq=50)
+
+	def servo_write(self,pulse):
+		self._pulse=pulse
+		self.pwm.duty_u16(int(1638.375 + 6553.5 * pulse))
+
+	def servo_read(self):
+		return self._pulse
+
+#-------Method usage of class--------
+
+def  servo180_angle(pin,angle=None):
+	if angle is None:
+		return int(Servo(pin).servo_read()*180)
+	else:
+		if not 0<= angle <= 180:
+			raise ValueError("The effective range of the servo(180) angle is 0~180°")
+		Servo(pin).servo_write(angle/180)
+
+
+def  servo360_speed(pin,speed=None):
+	if speed is None:
+		return int(Servo(pin).servo_read()*200-100)
+	else:
+		if not -100<= speed <= 100:
+			raise ValueError("The effective range of the servo(360) speed is -100~100%")
+		Servo(pin).servo_write((speed+100)/200)