Add support for Arduino Motor Shield V2

Author: pascalmartin

Adafruit_MotorShield/Adafruit_DCMotor.py

@@ -0,0 +1,35 @@
+#!/usr/bin/python
+
+import time
+
+class Adafruit_DCMotor :
+	
+	FORWARD = 1
+	BACKWARD = 2
+	BRAKE = 3
+	RELEASE = 4
+	
+	LOW = 0
+	HIGH = 1
+	
+	def __init__(self, debug=False):
+		self.debug = debug
+		self.MC = None
+		self.motornum = None
+		self.PWMpin = 0
+		self.IN1pin = 0
+		self.IN2pin = 0
+		
+	def setSpeed(self, speed):
+		self.MC.setPWM(self.PWMpin, speed*16);
+		
+	def run(self, cmd):
+		if cmd == self.FORWARD:
+			self.MC.setPin(self.IN2pin, self.LOW)  # take low first to avoid 'break'
+			self.MC.setPin(self.IN1pin, self.HIGH)
+		elif cmd == self.BACKWARD:
+			self.MC.setPin(self.IN1pin, self.LOW)  # take low first to avoid 'break'
+			self.MC.setPin(self.IN2pin, self.HIGH)
+		elif cmd == self.RELEASE:
+			self.MC.setPin(self.IN1pin, self.LOW)
+			self.MC.setPin(self.IN2pin, self.LOW)

Adafruit_MotorShield/Adafruit_I2C.py

@@ -0,0 +1 @@
+../Adafruit_I2C/Adafruit_I2C.py

Adafruit_MotorShield/Adafruit_MotorShield.py

@@ -0,0 +1,100 @@
+#!/usr/bin/python
+
+from Adafruit_StepperMotor import Adafruit_StepperMotor
+from Adafruit_DCMotor import Adafruit_DCMotor
+from Adafruit_PWM_Servo_Driver import PWM
+
+class Adafruit_MotorShield :
+	
+	LOW = 0
+	HIGHT = 1
+		
+	def __init__(self, address=0x60, debug=False):
+		self.address = address
+		self.pwm = PWM(address, debug)
+		self.steppers = [Adafruit_StepperMotor(debug), Adafruit_StepperMotor(debug)]
+		self.dcmotors = [Adafruit_DCMotor(debug), Adafruit_DCMotor(debug), Adafruit_DCMotor(debug), Adafruit_DCMotor(debug)]
+	
+	def begin(self, freq=1600):
+		self.pwm.begin()
+		self.freq = freq
+		self.pwm.setPWMFreq(freq);  # This is the maximum PWM frequency
+		for i in range(0, 16):
+			self.pwm.setPWM(i, 0, 0);
+
+	def setPWM(self, pin, value):
+		if value > 4095:
+			self.pwm.setPWM(pin, 4096, 0)
+		else:
+			self.pwm.setPWM(pin, 0, value);
+		
+	def setPin(self, pin, value):
+		if value == self.LOW:
+			self.pwm.setPWM(pin, 0, 0)
+		else:
+			self.pwm.setPWM(pin, 4096, 0)
+	
+	def getMotor(self, num):
+		if num > 4:
+			return
+		
+		num -= 1
+		if (self.dcmotors[num].motornum is None):
+			# not init'd yet!
+			self.dcmotors[num].motornum = num;
+			self.dcmotors[num].MC = self;
+			if (num == 0):
+				pwm = 8
+				in2 = 9
+				in1 = 10
+			elif (num == 1):
+				pwm = 13
+				in2 = 12
+				in1 = 11
+			elif (num == 2):
+				pwm = 2
+				in2 = 3
+				in1 = 4
+			elif (num == 3):
+				pwm = 7
+				in2 = 6
+				in1 = 5
+			self.dcmotors[num].PWMpin = pwm;
+			self.dcmotors[num].IN1pin = in1;
+			self.dcmotors[num].IN2pin = in2;
+		
+		return self.dcmotors[num];
+			
+	def getStepper(self, steps, num):
+		if num > 2:
+			return
+		
+		num -= 1
+		if self.steppers[num].steppernum is None:
+			# not init'd yet!
+			self.steppers[num].steppernum = num;
+			self.steppers[num].revsteps = steps;
+			self.steppers[num].MC = self
+
+			if num == 0:
+				pwma = 8
+				ain2 = 9
+				ain1 = 10
+				pwmb = 13
+				bin2 = 12
+				bin1 = 11
+			elif num == 1:
+				pwma = 2
+				ain2 = 3
+				ain1 = 4
+				pwmb = 7
+				bin2 = 6
+				bin1 = 5		
+			self.steppers[num].PWMApin = pwma
+			self.steppers[num].PWMBpin = pwmb
+			self.steppers[num].AIN1pin = ain1
+			self.steppers[num].AIN2pin = ain2
+			self.steppers[num].BIN1pin = bin1
+			self.steppers[num].BIN2pin = bin2
+		
+		return self.steppers[num]

Adafruit_MotorShield/Adafruit_PWM_Servo_Driver.py

@@ -0,0 +1,81 @@
+#!/usr/bin/python
+
+import time
+import math
+from Adafruit_I2C import Adafruit_I2C
+
+# ============================================================================
+# Adafruit PCA9685 16-Channel PWM Servo Driver
+# ============================================================================
+
+class PWM :
+  # Registers/etc.
+  __MODE1              = 0x00
+  __SUBADR1            = 0x02
+  __SUBADR2            = 0x03
+  __SUBADR3            = 0x04
+  __PRESCALE           = 0xFE
+  __LED0_ON_L          = 0x06
+  __LED0_ON_H          = 0x07
+  __LED0_OFF_L         = 0x08
+  __LED0_OFF_H         = 0x09
+  __ALL_LED_ON_L       = 0xFA
+  __ALL_LED_ON_H       = 0xFB
+  __ALL_LED_OFF_L      = 0xFC
+  __ALL_LED_OFF_H      = 0xFD
+
+  # Bits
+  __RESTART            = 0x80
+  __SLEEP              = 0x10
+  __ALLCALL            = 0x01
+  __INVRT              = 0x10
+  __OUTDRV             = 0x04
+
+  #general_call_i2c = Adafruit_I2C(0x00)
+
+  def __init__(self, address=0x40, debug=False):
+    self.i2c = Adafruit_I2C(address)
+    self.i2c.debug = debug
+    self.address = address
+    self.debug = debug
+  
+  def begin(self):
+    self.reset()
+    
+  def reset(self):
+	self.i2c.write8(self.__MODE1, 0x0)       
+	
+  def setPWMFreq(self, freq):
+    "Sets the PWM frequency"
+    prescaleval = 25000000.0    # 25MHz
+    prescaleval /= 4096.0       # 12-bit
+    prescaleval /= float(freq)
+    prescaleval -= 1.0
+    if (self.debug):
+      print "Setting PWM frequency to %d Hz" % freq
+      print "Estimated pre-scale: %d" % prescaleval
+    prescale = math.floor(prescaleval + 0.5)
+    if (self.debug):
+      print "Final pre-scale: %d" % prescale
+
+    oldmode = self.i2c.readU8(self.__MODE1);
+    newmode = (oldmode & 0x7F) | 0x10             # sleep
+    self.i2c.write8(self.__MODE1, newmode)        # go to sleep
+    self.i2c.write8(self.__PRESCALE, int(math.floor(prescale)))
+    self.i2c.write8(self.__MODE1, oldmode)
+    time.sleep(0.005)
+    self.i2c.write8(self.__MODE1, oldmode | 0x80)
+
+  def setPWM(self, channel, on, off):
+    "Sets a single PWM channel"
+    self.i2c.write8(self.__LED0_ON_L+4*channel, on & 0xFF)
+    self.i2c.write8(self.__LED0_ON_H+4*channel, on >> 8)
+    self.i2c.write8(self.__LED0_OFF_L+4*channel, off & 0xFF)
+    self.i2c.write8(self.__LED0_OFF_H+4*channel, off >> 8)
+
+  def setAllPWM(self, on, off):
+    "Sets a all PWM channels"
+    self.i2c.write8(self.__ALL_LED_ON_L, on & 0xFF)
+    self.i2c.write8(self.__ALL_LED_ON_H, on >> 8)
+    self.i2c.write8(self.__ALL_LED_OFF_L, off & 0xFF)
+    self.i2c.write8(self.__ALL_LED_OFF_H, off >> 8)