OC05 Module¶
This is a Module for the OC05 8-channel Servo Driver. The xChip is based off the PCA9685 LED controller manufactured by NXP Semiconductors. The board uses I2C for communication.
Data Sheets:
OC05 class¶
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class
OC05
(self, drvname, addr=0x78, clk=100000)¶ Create an instance of the OC05 class.
Parameters: - drvname – I2C Bus used ‘( I2C0, ... )’
- addr – Slave address, default 0x78
- clk – Clock speed, default 100kHz
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init
(outFreq)¶ Configures the registers of PCA9685 and sets the frequency of modulation. Call before using OC05
Parameters: outFreq – Frequency of servo motor, default 60 for typical analogue servos
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setServoPosition
(channelNum, degrees)¶ Positions a servo on a selected channel by the desired degrees.
Parameters: - channelNum – Number of the channel. Corresponds to channel numbers on OC05 (1-8)
- degrees – Desired rotational distance in degrees
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setPinPulseRange
(pinNum, onStep, offStep)¶ Sets the PWM output on a selected pin.
Parameters: - pinNum – Number of the channel. Corresponds to channel numbers on OC05 (1-8)
- onStep – The point at which to turn the PWM output ON (0-4095)
- offStep – The point at which to turn the PWM output OFF (0-4095)
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setCRServoPosition
(channelNum, speed)¶ Used to set the rotation speed of a continous rotation servo from -100% to 100%.
Parameters: - channelNum – Number of the channel. Corresponds to channel numbers on OC05 (1-8)
- speed – speed [-100-100] The speed (-100-100) to turn the servo at