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Added PWM control function. #14

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Added PWM control function. #14

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13 changes: 13 additions & 0 deletions maestro.py
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Original file line number Diff line number Diff line change
Expand Up @@ -114,6 +114,19 @@ def setAccel(self, chan, accel):
msb = (accel >> 7) & 0x7f #shift 7 and take next 7 bits for msb
cmd = chr(0x09) + chr(chan) + chr(lsb) + chr(msb)
self.sendCmd(cmd)

# Set PWM channel value
# Valid input PWM signals are 0-127
# This functionality only works for some models of the micro maestro controller
# the 12 channel unit has 1 PWM enabled channel. The 6 channel controller has none.
def setPWM(self, chan, pwm):
OnTimelsb = pwm & 0x7f #7 bits for least significant byte
OnTimemsb = (pwm >> 7) & 0x7f #shift 7 and take next 7 bits for msb
period = 1020 # this is just one option from the list of recommended possibilities in the documentation
Periodlsb = period & 0x7f #7 bits for least significant byte
Periodmsb = (period >> 7) & 0x7f #shift 7 and take next 7 bits for msb
cmd = chr(0x0A) + chr(chan) + chr(OnTimelsb) + chr(OnTimemsb) + chr(Periodlsb) + chr(Periodmsb)
self.sendCmd(cmd)

# Get the current position of the device on the specified channel
# The result is returned in a measure of quarter-microseconds, which mirrors
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