fusion_hat.pwm module

PWM class to control a single PWM channel

Example

Simple example to control PWM channel 0 at 50Hz with 50% duty cycle.

>>> from fusion_hat.pwm import PWM
>>> pwm = PWM(0)
>>> pwm.freq(50)
>>> pwm.pulse_width_percent(50)

Advanced example to control PWM channel with 50 Hz frequency, 20000us and pulse width 500-2500us for servos.

>>> from fusion_hat.pwm import PWM
>>> pwm = PWM(0)
>>> pwm.freq(50)
>>> pwm.pulse_width(1500) # servo center position
>>> pwm.pulse_width(2500) # servo max position
>>> pwm.pulse_width(500) # servo min position

class fusion_hat.pwm.PWM(channel: int, freq: int = 50, *args, **kwargs)[source]

Bases: _Base

PWM class to control a single PWM channel

Parameters:

channel (int/str) – PWM channel number(0-11/P0-P11)
freq (int, optional) – PWM frequency, default is 50Hz
addr (int, optional) – I2C address, default is 0x17
*args – Additional arguments for fusion_hat._i2c.I2C
**kwargs – Additional keyword arguments for fusion_hat._i2c.I2C

Raises:

ValueError – Invalid channel number

CHANNEL_NUM = 12

PATH = '/sys/class/fusion_hat/fusion_hat/pwm'

enable(enable: bool = True) → None[source]

Enable/disable PWM channel

Parameters:: enable (bool, optional) – enable or disable, default is True

read_period() → int[source]

Get period in ms

Returns:: period in ms
Return type:: int

write_period(period: int) → int[source]

Set period in ms

Parameters:: period (int) – period in ms

read_duty_cycle() → int[source]

Get duty cycle in ms

Returns:: duty cycle in ms
Return type:: int

write_duty_cycle(duty_cycle: int) → int[source]

Set duty cycle in ms

Parameters:: duty_cycle (int) – duty cycle in ms

freq(freq: float | None = None) → float[source]

Set/get frequency, leave blank to get frequency

Parameters:: freq (float, optional) – frequency(0-65535)(Hz), default is 50Hz
Returns:: frequency
Return type:: float

prescaler(prescaler: int | None = None, raw: bool = False) → int[source]: [Deprecated] Set/get prescaler, leave blank to get prescaler

period(period: int | None = None) → int[source]

Set/get period, leave blank to get period

Parameters:

period (int, optional) – period(0-65535), default is 0
raw (bool, optional) – Whether to write period directly, default is False

Returns:

period

Return type:

int

duty_cycle(duty_cycle: int | None = None) → int[source]

Set/get duty cycle, in ms

Parameters:: duty_cycle (int, optional) – duty cycle
Returns:: duty cycle
Return type:: int

pulse_width(pulse_width: int | None = None) → int[source]

Set/get pulse width, in ms

Parameters:: pulse_width (int, optional) – pulse width in ms
Returns:: pulse width
Return type:: int

pulse_width_percent(pulse_width_percent: float | None = None) → float[source]

Set/get pulse width percentage, leave blank to get pulse width percentage

Parameters:: pulse_width_percent (float, optional) – pulse width percentage(0-100), default is 0
Returns:: pulse width percentage
Return type:: float

close() → None[source]: Close PWM channel

__del__() → None[source]: Close PWM channel when object is deleted