§
     ïÞf&	  ã                   óH   — d dl Z d dlZd dlZ G d„ d¦  «        Zedk    rdS dS )é    Nc                   ón   — e Zd ZdZdZdZdZdZdZdZ	dZ
d	Zd
ZdZdZdZdd„Zd„ Zd„ Zd„ Zd„ Zd„ Zd„ ZdS )ÚPCA9685é   é   é   r   éþ   é   é   é   é	   éú   éû   éü   éý   é@   Fc                 óŠ   — t          j        d¦  «        | _        || _        || _        |                      | j        d¦  «         d S )Né   r   )ÚsmbusÚSMBusÚbusÚaddressÚdebugÚwriteÚ_PCA9685__MODE1)Úselfr   r   s      ú2/home/digit/Desktop/robocat/Code/Server/PCA9685.pyÚ__init__zPCA9685.__init__   s;   € ÝŒ{˜1‰~Œ~€D„HØ€D„LØ€D„JØ‡J‚JˆtŒ|˜TÑ"Ô"Ð"Ð"Ð"ó    c                 óH   — | j                              | j        ||¦  «         dS )z7Writes an 8-bit value to the specified register/addressN)r   Úwrite_byte_datar   )r   ÚregÚvalues      r   r   zPCA9685.write"   s$   € à„H×Ò˜Tœ\¨3°Ñ6Ô6Ð6Ð6Ð6r   c                 óF   — | j                              | j        |¦  «        }|S )z)Read an unsigned byte from the I2C device)r   Úread_byte_datar   )r   r!   Úresults      r   ÚreadzPCA9685.read&   s    € àŒX×$Ò$ T¤\°3Ñ7Ô7€FØ€Mr   c                 óø  — d}|dz  }|t          |¦  «        z  }|dz  }t          j        |dz   ¦  «        }|                      | j        ¦  «        }|dz  dz  }|                      | j        |¦  «         |                      | j        t          t          j        |¦  «        ¦  «        ¦  «         |                      | j        |¦  «         t          j	        d¦  «         |                      | j        |dz  ¦  «         d	S )
zSets the PWM frequencyg    „×wAg      °@g      ð?g      à?é   é   g{®Gázt?é€   N)
ÚfloatÚmathÚfloorr&   r   r   Ú_PCA9685__PRESCALEÚintÚtimeÚsleep)r   ÚfreqÚprescalevalÚprescaleÚoldmodeÚnewmodes         r   Ú
setPWMFreqzPCA9685.setPWMFreq+   sæ   € à€KØ�6Ñ€KØ•5˜‘;”;Ñ€KØ�3Ñ€KÝŒz˜+¨Ñ+Ñ,Ô,€Hð �iŠi˜œÑ%Ô%€GØ˜‰~ Ñ%€GØ‡J‚JˆtŒ|˜WÑ%Ô%Ð%Ø‡J‚JˆtŒ¥¥D¤J¨xÑ$8Ô$8Ñ 9Ô 9Ñ:Ô:Ð:Ø‡J‚JˆtŒ|˜WÑ%Ô%Ð%Ý„JˆuÑÔÐØ‡J‚JˆtŒ|˜W t™^Ñ,Ô,Ð,Ð,Ð,r   c                 ó&  — |                       | j        d|z  z   |dz  ¦  «         |                       | j        d|z  z   |dz	  ¦  «         |                       | j        d|z  z   |dz  ¦  «         |                       | j        d|z  z   |dz	  ¦  «         dS )zSets a single PWM channelr   éÿ   r   N)r   Ú_PCA9685__LED0_ON_LÚ_PCA9685__LED0_ON_HÚ_PCA9685__LED0_OFF_LÚ_PCA9685__LED0_OFF_H)r   ÚchannelÚonÚoffs       r   ÚsetPWMzPCA9685.setPWM<   s˜   € à‡J‚JˆtÔ  '¡	Ñ)¨2°©9Ñ5Ô5Ð5Ø‡J‚JˆtÔ  '¡	Ñ)¨2°©7Ñ3Ô3Ð3Ø‡J‚JˆtÔ   7¡Ñ*¨C°$©JÑ7Ô7Ð7Ø‡J‚JˆtÔ   7¡Ñ*¨C°1©HÑ5Ô5Ð5Ð5Ð5r   c                 ó4   — |                       |d|¦  «         d S )Nr   )rA   )r   r>   Údutys      r   ÚsetMotorPwmzPCA9685.setMotorPwmB   s   € Ø‡K‚K�˜˜$ÑÔÐÐÐr   c                 ó^   — |dz  dz  }|                       |dt          |¦  «        ¦  «         dS )z3Sets the Servo Pulse,The PWM frequency must be 50HZi   i N  r   N)rA   r/   )r   r>   Úpulses      r   ÚsetServoPulsezPCA9685.setServoPulseD   s2   € à�$‰J�uÑ€EØ‡K‚K�˜�C ™JœJÑ'Ô'Ð'Ð'Ð'r   N)r   F)Ú__name__Ú
__module__Ú__qualname__Ú_PCA9685__SUBADR1Ú_PCA9685__SUBADR2Ú_PCA9685__SUBADR3r   r.   r:   r;   r<   r=   Ú_PCA9685__ALLLED_ON_LÚ_PCA9685__ALLLED_ON_HÚ_PCA9685__ALLLED_OFF_LÚ_PCA9685__ALLLED_OFF_Hr   r   r&   r7   rA   rD   rG   © r   r   r   r      sÅ   € € € € € ð €)Ø€)Ø€)Ø€'Ø€*Ø€+Ø€+Ø€,Ø€,Ø€-Ø€-Ø€.Ø€.ð#ð #ð #ð #ð7ð 7ð 7ðð ð ð
-ð -ð -ð"6ð 6ð 6ð ð  ð  ð(ð (ð (ð (ð (r   r   Ú__main__)r0   r,   r   r   rH   rR   r   r   ú<module>rT      se   ðð €€€Ø €€€Ø €€€ð<(ð <(ð <(ð <(ð <(ñ <(ô <(ð <(ð| ˆZÒÐØ€Dð Ðr   