adafruit-mirror/Adafruit_CircuitPython_PIOASM
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disable default stagger; use 2.5ms stagger for servos

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Jeff Epler 2022-04-26 09:48:52 -05:00
parent 6c8a16ecef
commit c18585e1ba
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1 changed files with 9 additions and 2 deletions
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11
examples/pioasm_pulsegroup.py
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@ -102,7 +102,7 @@ class PulseGroup:
pin_count,
period=0.02,
maxval=65535,
stagger=True,
stagger=False,
auto_update=True,
): # pylint: disable=too-many-arguments
"""Create a pulse group with the given characteristics"""
@ -239,12 +239,19 @@ class CyclicSignal:
if __name__ == "__main__":
pulsers = PulseGroup(board.SERVO_1, 18, auto_update=False)
# Set the phase of each servo so that servo 0 starts at offset 0ms, servo 1
# at offset 2.5ms, ...
# For up to 8 servos, this means their duty cycles do not overlap. Otherwise,
# servo 9 is also at offset 0ms, etc.
for j, p in enumerate(pulsers):
p.phase = 8192 * (j % 8)
servos = [servo.Servo(p) for p in pulsers]
sine = np.sin(np.linspace(0, 2 * np.pi, 50, endpoint=False)) * 0.5 + 0.5
print(sine)
signals = [CyclicSignal(sine, i / len(servos)) for i in range(len(servos))]
signals = [CyclicSignal(sine, j / len(servos)) for j in range(len(servos))]
t0 = adafruit_ticks.ticks_ms()
while True: