I need help understanding the code in the turn.py file, which is a part of the this project, please look
#!/usr/bin/python3 # File name : car_dir.py # Description : By controlling Servo,the camera can move Up and down,left and right and the Ultrasonic wave can move to left and right. # Website : www.adeept.com # E-mail : firstname.lastname@example.org # Author : William # Date : 2018/10/12 from __future__ import division import time import Adafruit_PCA9685 def replace_num(initial,new_num): #Call this function to replace data in '.txt' file newline="" str_num=str(new_num) with open("set.txt","r") as f: for line in f.readlines(): if(line.find(initial) == 0): line = initial+"%s" %(str_num+"\n") newline += line with open("set.txt","w") as f: f.writelines(newline) def num_import_int(initial): #Call this function to import data from '.txt' file with open("set.txt") as f: for line in f.readlines(): if(line.find(initial) == 0): r=line begin=len(list(initial)) snum=r[begin:] n=int(snum) return n #import the settings for servos vtr_mid_orig = num_import_int('E_C1:') hoz_mid_orig = num_import_int('E_C2:') turn_right_max = num_import_int('turn_right_max:') turn_left_max = num_import_int('turn_left_max:') turn_middle = num_import_int('turn_middle:') pwm = Adafruit_PCA9685.PCA9685() pwm.set_pwm_freq(60) def turn_ang(ang): if ang < turn_right_max: ang = turn_right_max elif ang > turn_left_max: ang = turn_left_max else: pass pwm.set_pwm(2,0,ang) def right(): pwm.set_pwm(2, 0, turn_right_max) def left(): pwm.set_pwm(2, 0, turn_left_max) def middle(): pwm.set_pwm(2, 0, turn_middle) def ultra_turn(hoz_mid): pwm.set_pwm(1, 0, hoz_mid) def camera_turn(vtr_mid): pwm.set_pwm(0, 0, vtr_mid) def ahead(): pwm.set_pwm(1, 0, hoz_mid_orig) pwm.set_pwm(0, 0, vtr_mid_orig)
What is pwm.set_pwm() doing in the methods:
Also, what does pwm.set_freq(60) mean? Please refer this link
You need to look at a wiki to see how hobby servos are controlled. Also look up the meaning of PWM.
Basically they expect a series of pulses at about 50 Hz. That means they expect a series of pulses at about 50 per second.
Each pulse has a length. The length determines the angle the servo is meant to go to.
Generally a pulse of length 1500 µs means go to the centre angle. For each 10 µs increase in pulse length it means go another 1 degree clockwise. For each 10 µs decrease in pulse length it means go another degree counterclockwise. All these figures are approximate and need to be calibrated against each servo.
pwm.set_freq(60) is setting the servo update frequency to 60 times per second. Personally I would use 50.
pwm.set_pwm(channel, 0, angle) is setting the angle of the servo connected to the channel (presumably 0-2 are connected to the pan tilt servos).
I have no idea what the middle 0 parameter is for. Neither do I know how angle is internally converted to a pulse width. You will have to look at the method to see the mapping.