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old_stuff/testwalk.py

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+# Simple demo of of the PCA9685 PWM servo/LED controller library.
+# This will move channel 0 from min to max position repeatedly.
+# Author: Tony DiCola
+# License: Public Domain
+from __future__ import division
+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 lengths
+servo_min = 150  # Min pulse length out of 4096
+servo_max = 400  # 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:
+    pwm.set_pwm(6,0,150)
+    for x in  range(150,400):
+        print  (x)
+        pwm.set_pwm(6, 0, x)
+        math = round(0.026*pow((x-275),2))
+        print (math)
+        pwm.set_pwm(0, 0, math)
+