working on servo testing and values

Author: explosivose

coderbot.py

@@ -11,7 +11,7 @@
 PIN_SERVO_3 = 9
 PIN_SERVO_4 = 10
 
-PWM_FREQUENCY = 50 #Hz
+PWM_FREQUENCY = 500 #Hz
 PWM_RANGE = 100 #0-100
 
 def coderbot_callback(gpio, level, tick):
@@ -112,15 +112,15 @@ def _servo_motor(self, speed_left=100, speed_right=100, elapse=-1):
 
   def _servo_motor_control(self, pin, speed):
     self._is_moving = True
-    speed = ((speed + 100) * 50 / 200) + 52
-
+    #speed = ((speed + 100) * 50 / 200) + 52
+    speed = 50 + speed/2
+    print "duty cycle: ", speed
     self.pi.set_PWM_range(pin, PWM_RANGE)
     self.pi.set_PWM_frequency(pin, PWM_FREQUENCY)
     self.pi.set_PWM_dutycycle(pin, speed)
 
   def _servo_control(self, pin, angle):
     duty = ((angle + 90) * 100 / 180) + 25
-
     self.pi.set_PWM_range(pin, PWM_RANGE)
     self.pi.set_PWM_frequency(pin, PWM_FREQUENCY)
     self.pi.set_PWM_dutycycle(pin, duty)
@@ -130,6 +130,7 @@ def stop(self):
       self.pi.write(pin, 0)
     self._is_moving = False
 
+
   def is_moving(self):
     return self._is_moving
 

pigpio_test.py

@@ -4,22 +4,24 @@
 import pigpio
 
 
-PIN_SERVO = 4
+PIN = 4   # RIGHT=4 LEFT=25 ARM=9
 
-PWM_FREQ = 50
+PWM_FREQ = 500
 PWM_RANGE = 100
 
 pi = pigpio.pi('localhost')
 
-pi.set_PWM_frequency(PIN_SERVO,PWM_FREQ)
-pi.set_PWM_range(PIN_SERVO,PWM_RANGE)
+pi.set_PWM_frequency(PIN,PWM_FREQ)
+pi.set_PWM_range(PIN,PWM_RANGE)
 
-pi.set_PWM_dutycycle(PIN_SERVO,0)
-time.sleep(1)
-pi.set_PWM_dutycycle(PIN_SERVO,25)
-time.sleep(1)
-pi.set_PWM_dutycycle(PIN_SERVO,60)
-time.sleep(1)
-pi.set_PWM_dutycycle(PIN_SERVO,100)
+# duty cycle values for range 100, frequency 400
+# 0-
+
+for x in range (50,100):
+    pi.set_PWM_dutycycle(PIN,x)
+    time.sleep(0.2)
+    print x
+
+pi.set_PWM_dutycycle(PIN,0)