Examples with PCA9685Servo com.robo4j.hw.rpi.i2c.pwm.PCA9685Servo used on opensource projects

Example 1 with PCA9685Servo

use of com.robo4j.hw.rpi.i2c.pwm.PCA9685Servo in project robo4j by Robo4J.

the class PCA9685Example method main.

public static void main(String[] args) throws IOException, InterruptedException {
    System.out.println("Creating device...");
    PWMPCA9685Device device = new PWMPCA9685Device();
    device.setPWMFrequency(SERVO_FREQUENCY);
    Servo servo0 = new PCA9685Servo(device.getChannel(0));
    Servo servo1 = new PCA9685Servo(device.getChannel(1));
    PWMChannel motor0 = device.getChannel(2);
    PWMChannel motor1 = device.getChannel(3);
    System.out.println("Setting start conditions...");
    servo0.setInput(0);
    servo1.setInput(0);
    motor0.setPWM(0, MOTOR_MIN);
    motor1.setPWM(0, MOTOR_MIN);
    System.out.println("Press <Enter> to run loop!");
    System.in.read();
    System.out.println("Running perpetual loop...");
    while (true) {
        servo0.setInput(-1);
        servo1.setInput(-1);
        motor0.setPWM(0, MOTOR_MEDIUM);
        motor1.setPWM(0, MOTOR_MEDIUM);
        Thread.sleep(500);
        servo0.setInput(1);
        ;
        servo1.setInput(1);
        ;
        motor0.setPWM(0, MOTOR_MAX);
        motor1.setPWM(0, MOTOR_MAX);
        Thread.sleep(500);
        servo0.setInput(0);
        servo1.setInput(0);
        motor0.setPWM(0, MOTOR_MIN);
        motor1.setPWM(0, MOTOR_MIN);
        Thread.sleep(1000);
    }
}

Example 2 with PCA9685Servo

use of com.robo4j.hw.rpi.i2c.pwm.PCA9685Servo in project robo4j by Robo4J.

the class PCA9685TruckPlatformExample method testMotor.

public static void testMotor(float throttle, float steering, float leg, float shift, int duration) throws IOException, InterruptedException {
    System.out.println(String.format("Running for %d ms with throttle %f, steering %f, leg %f, shift %f", duration, throttle, steering, leg, shift));
    PWMPCA9685Device device = new PWMPCA9685Device();
    device.setPWMFrequency(SERVO_FREQUENCY);
    Servo throttleEngine = new PCA9685Servo(device.getChannel(SERVO_THROTTLE));
    Servo steeringEngine = new PCA9685Servo(device.getChannel(SERVO_STEERING));
    Servo legEngine = new PCA9685Servo(device.getChannel(SERVO_LEG));
    Servo shiftEngine = new PCA9685Servo(device.getChannel(SERVO_SHIFT));
    VehiclePlatform vehicle = new VehiclePlatform(0, throttleEngine, steeringEngine, legEngine, shiftEngine);
    vehicle.setThrottle(throttle);
    vehicle.setSteering(steering);
    vehicle.setLeg(leg);
    vehicle.setShift(shift);
    Thread.sleep(duration);
    vehicle.setThrottle(0);
    vehicle.setSteering(0);
    vehicle.setLeg(0);
    vehicle.setShift(0);
}

Example 3 with PCA9685Servo

use of com.robo4j.hw.rpi.i2c.pwm.PCA9685Servo in project robo4j by Robo4J.

the class RoboClawRCTankTest method testEngine.

public static void testEngine(float speed, float direction, int duration) throws IOException, InterruptedException {
    System.out.println(String.format("Running for %d ms with speed %f and direction %f.", duration, speed, direction));
    PWMPCA9685Device device = new PWMPCA9685Device();
    device.setPWMFrequency(SERVO_FREQUENCY);
    Servo leftEngine = new PCA9685Servo(device.getChannel(6));
    Servo rightEngine = new PCA9685Servo(device.getChannel(7));
    RoboClawRCTank tank = new RoboClawRCTank(leftEngine, rightEngine);
    tank.setDirection(direction);
    tank.setSpeed(speed);
    Thread.sleep(duration);
    tank.setSpeed(0);
}

Example 4 with PCA9685Servo

use of com.robo4j.hw.rpi.i2c.pwm.PCA9685Servo in project robo4j by Robo4J.

the class PCA9685ServoUnit method onInitialization.

/**
 * @param configuration
 *            unit configuration
 * @throws ConfigurationException
 *             exception
 */
@Override
protected void onInitialization(Configuration configuration) throws ConfigurationException {
    super.onInitialization(configuration);
    PWMPCA9685Device pcaDevice = I2CRegistry.createAndRegisterIfAbsent(getBus(), getAddress(), () -> PWMPCA9685Device.createDevice(getBus(), getAddress()));
    channel = configuration.getInteger(CONFIGURATION_KEY_CHANNEL, -1);
    if (channel == -1) {
        throw ConfigurationException.createMissingConfigNameException(CONFIGURATION_KEY_CHANNEL);
    }
    servo = new PCA9685Servo(pcaDevice.getChannel(channel));
    servo.setTrim(configuration.getFloat(CONFIGURATION_KEY_TRIM, 0f));
    servo.setInverted(configuration.getBoolean(CONFIGURATION_KEY_INVERTED, false));
    servo.setDualRate(configuration.getFloat(CONFIGURATION_KEY_DUAL_RATE, 1.0f));
    servo.setExpo(configuration.getFloat(CONFIGURATION_KEY_EXPO, 0.0f));
    shutdownValue = configuration.getFloat(CONFIGURATION_KEY_SHUTDOWN_VALUE, null);
}

Example 5 with PCA9685Servo

use of com.robo4j.hw.rpi.i2c.pwm.PCA9685Servo in project robo4j by Robo4J.

the class RoboClawRCTankUnit method onInitialization.

@Override
protected void onInitialization(Configuration configuration) throws ConfigurationException {
    super.onInitialization(configuration);
    PWMPCA9685Device pcaDevice = I2CRegistry.createAndRegisterIfAbsent(getBus(), getAddress(), () -> PWMPCA9685Device.createDevice(getBus(), getAddress()));
    int leftChannel = configuration.getInteger(CONFIGURATION_KEY_LEFT_CHANNEL, -1);
    if (leftChannel == -1) {
        throw ConfigurationException.createMissingConfigNameException(CONFIGURATION_KEY_LEFT_CHANNEL);
    }
    int rightChannel = configuration.getInteger(CONFIGURATION_KEY_RIGHT_CHANNEL, -1);
    if (rightChannel == -1) {
        throw ConfigurationException.createMissingConfigNameException(CONFIGURATION_KEY_RIGHT_CHANNEL);
    }
    boolean leftInvert = configuration.getBoolean(CONFIGURATION_KEY_LEFT_INVERTED, false);
    boolean rightInvert = configuration.getBoolean(CONFIGURATION_KEY_RIGHT_INVERTED, false);
    PCA9685Servo leftServo = new PCA9685Servo(pcaDevice.getChannel(leftChannel));
    leftServo.setInverted(leftInvert);
    PCA9685Servo rightServo = new PCA9685Servo(pcaDevice.getChannel(rightChannel));
    rightServo.setInverted(rightInvert);
    try {
        tank = new RoboClawRCTank(leftServo, rightServo);
    } catch (IOException e) {
        throw new ConfigurationException("Could not initiate device!", e);
    }
}