drivers.py 文件源码

def __init__(self, channel, invert=False):
        from navio import adafruit_pwm_servo_driver as pwm
        from navio import util
        import RPi.GPIO as GPIO
        util.check_apm()

        #Navio+ requires the GPIO line 27 to be set to low 
        #before the PCA9685 is accesed 
        GPIO.setwarnings(False)
        GPIO.setmode(GPIO.BCM)
        GPIO.setup(27, GPIO.OUT)
        GPIO.output(27,GPIO.LOW)

        #GPIO.cleanup()
        self.frequency = 60
        self.channel = channel
        self.invert = invert
        self.pwm = pwm.PWM()
        self.pwm.setPWMFreq(self.frequency)