Controller PWM Sample

This sample demonstrates using PWM outputs on controller port.

This sample generates pulses on control port. Do not run this sample if RC Driver HAT is connected to an RC vehicle equipment.

To run the sample:

1. Download the sample code from https://github.com/Turta-io/RCDriverHAT/blob/master/Samples/Python/Controller_PWM.py

2. Copy the sample code to a folder on the Raspberry Pi.

3. Open terminal, and then go to the folder you copied the sample.

4. Run the sample with the following command:

python3 Controller_PWM.py

Sample Code

Controller_PWM.py

#!/usr/bin/env python3

#This sample demonstrates using PWM outputs on controller port.
#Install RC Driver HAT library with "pip3 install turta-rcdriverhat"

from time import sleep
from turta_rcdriverhat import Turta_RCDriver

#Initialize
rc = Turta_RCDriver.RCDriver()

try:
    #Activate fan at 50% speed
    rc.set_fan(50)

    while True:
        #Option one: Set all the pulses in one shot
        #-128 is 1000us, 0 is 1500us, 128 is 2000us
        #Channels: Steering, Throttle, Aux 3, Aux 4
        print("PWMs are S: 32, T: 64, 3: 96, 4: 128")
        rc.set_pwms([32, 64, 96, 128])

        #Wait
        sleep(5.0)

        #Option two: Set the pulses one by one
        #-128 is 1000us, 0 is 1500us, 128 is 2000us
        print("PWMs are S: -32, T: -64, 3: -96, 4: -128")
        rc.set_pwm(Turta_RCDriver.PWM_OUT.STEERING, -32)
        rc.set_pwm(Turta_RCDriver.PWM_OUT.THROTTLE, -64)
        rc.set_pwm(Turta_RCDriver.PWM_OUT.AUX_3, -96)
        rc.set_pwm(Turta_RCDriver.PWM_OUT.AUX_4, -128)

        #Wait
        sleep(5.0)

        #Demo: Changing pulses
        print("Steering servo ch: 1100 to 1900us")
        for p in range(-100, 100, 2):
            rc.set_pwm(Turta_RCDriver.PWM_OUT.STEERING, p)
            sleep(0.05)

        print("Steering servo ch: 1900 to 1100us")
        for p in range(100, -100, -2):
            rc.set_pwm(Turta_RCDriver.PWM_OUT.STEERING, p)
            sleep(0.05)

        #Wait
        sleep(1.0)

        print("Turn off pulse generation")
        rc.set_pwms_off()

        #Wait
        sleep(5.0)

#Exit on CTRL+C
except KeyboardInterrupt:
    print('Bye.')

Result

When you run the sample, it generates different pulses on control port. The example output should be like this:

PWMs are S: 32, T: 64, 3: 96, 4: 128
PWMs are S: -32, T: -64, 3: -96, 4: -128
Steering servo ch: 1100 to 1900us
Steering servo ch: 1900 to 1100us
Turn off pulse generation

To stop the Python script, just press CTRL + C.