Initial Commit

.gitignore

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+build/
+_build/
+*.o
+*.so
+*.a
+*.py[cod]
+*.egg-info
+dist/
+__pycache__
+.DS_Store
+*.deb
+*.dsc
+*.build
+*.changes
+*.orig.*
+packaging/*tar.xz
+library/debian/

README.md

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+#PanTilt HAT

library/LICENSE.txt

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+The MIT License (MIT)
+
+Copyright (c) 2016 Pimoroni Ltd
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.

library/MANIFEST.in

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+include CHANGELOG.txt
+include LICENSE.txt
+include README.txt
+include setup.py
+include pantilthat/*.py

library/pantilthat/__init__.py

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+from sys import exit, version_info
+
+try:
+    from smbus import SMBus
+except ImportError:
+    if version_info[0] < 3:
+        exit("This library requires python-smbus\nInstall with: sudo apt-get install python-smbus")
+    elif version_info[0] == 3:
+        exit("This library requires python3-smbus\nInstall with: sudo apt-get install python3-smbus")
+
+class LightMode:
+    WS2812 = 1
+    PWM = 0
+
+class PanTilt:
+    """PanTilt HAT Driver
+
+    Communicates with PanTilt HAT over i2c 
+    to control pan, tilt and light functions
+
+    """
+    REG_CONFIG = 0x00
+    REG_SERVO1 = 0x01
+    REG_SERVO2 = 0x03
+    REG_WS2812 = 0x05
+    REG_UPDATE = 0x4E
+    UPDATE_WAIT = 0.03
+    NUM_LEDS = 24
+
+    def __init__(self,
+        enable_servo1 = True,
+        enable_servo2 = True,
+        enable_lights = True,
+        light_mode = LightMode.WS2812,
+        servo1_min = 510,
+        servo1_max = 2300,
+        servo2_min = 510,
+        servo2_max = 2300,
+        address = 0x15):
+
+        self._enable_servo1 = enable_servo1
+        self._enable_servo2 = enable_servo2
+        self._enable_lights = enable_lights
+        self._light_on = 0
+
+        self._servo_min = [servo1_min, servo2_min]
+        self._servo_max = [servo1_max, servo2_max]
+
+        self._light_mode = light_mode
+
+        self.clear()
+
+        self._i2c_address = address
+        self._i2c = SMBus(1)
+        self._set_config()
+
+    def _set_config(self):
+        """Generate config value for PanTilt HAT and write to device."""
+
+        config = 0
+        config |= self._enable_servo1
+        config |= self._enable_servo2 << 1
+        config |= self._enable_lights << 2
+        config |= self._light_mode    << 3
+        config |= self._light_on      << 4
+
+        self._i2c_write_byte(self.REG_CONFIG, config)
+
+    def _check_int_range(self, value, value_min, value_max):
+        """Check the type and bounds check an expected int value."""
+
+        if type(value) is not int:
+            raise TypeError("Value should be an integer")
+        if value < value_min or value > value_max:
+            raise ValueError("Value {value} should be between {min} and {max}".format(
+                value=value, 
+                min=value_min, 
+                max=value_max))
+
+    def _servo_degrees_to_us(self, angle, us_min, us_max):
+        """Converts degrees into a servo pulse time in microseconds
+
+        :param angle: Angle in degrees from -90 to 90
+
+        """
+
+        self._check_int_range(angle, -90, 90)
+
+        angle += 90
+        servo_range = us_max - us_min
+        us = (servo_range / 180.0) * angle
+        return us_min + int(us)
+
+    def _servo_range(self, servo_index):
+        """Get the min and max range values for a servo"""
+
+        return (self._servo_min[servo_index], self._servo_max[servo_index])
+
+    def _i2c_write_block(self, reg, data):
+        if type(data) is list:
+            self._i2c.write_i2c_block_data(self._i2c_address, reg, data)
+        else:
+            raise ValueError("Value must be a list")
+
+    def _i2c_write_word(self, reg, data):
+        if type(data) is int:
+            self._i2c.write_word_data(self._i2c_address, reg, data)
+
+    def _i2c_write_byte(self, reg, data):
+        if type(data) is int:
+            self._i2c.write_byte_data(self._i2c_address, reg, data)
+
+    def _i2c_read_byte(self, reg):
+        return self._i2c.read_byte_data(self._i2c_address, reg)
+
+    def clear(self):
+        """Clear the buffer."""
+
+        self._pixels = [0] * self.NUM_LEDS * 3
+        self._pixels += [1]
+
+    def light_mode(self, mode):
+        """Set the light mode for attached lights.
+
+        PanTiltHAT can drive either WS2812 pixels, 
+        or provide a PWM dimming signal for regular LEDs.
+
+        """
+
+        self._light_mode = mode
+        self._set_config()
+
+    def brightness(self, brightness):
+        """Set the brightness of the connected LED ring.
+
+        :param brightness: Brightness from 0 to 255
+
+        """
+
+        self._check_int_range(brightness, 0, 255)
+
+        # The brightness value is taken from the first register of the WS2812 chain
+        self._i2c_write_byte(self.REG_WS2812, brightness)
+
+    def set_all(self, red, green, blue):
+        """Set all pixels in the buffer.
+
+        :param red: Amount of red, from 0 to 255
+        :param green: Amount of green, from 0 to 255
+        :param blue: Amount of blue, from 0 to 255
+
+        """
+
+        for index in range(24):
+            self.set_pixel(index, red, green, blue)
+
+    def set_pixel(self, index, red, green, blue):
+        """Set a single pixel in the buffer.
+
+        :param index: Index of pixel from 0 to 23
+        :param red: Amount of red, from 0 to 255
+        :param green: Amount of green, from 0 to 255
+        :param blue: Amount of blue, from 0 to 255
+
+        """
+
+        self._check_int_range(index, 0, 23)
+
+        for c in [red, green, blue]:
+            self._check_int_range(c, 0, 255)
+
+        index *= 3
+        self._pixels[index]   = red
+        self._pixels[index+1] = green
+        self._pixels[index+2] = blue
+
+    def show(self):
+        """Display the buffer on the connected WS2812 strip."""
+
+        self._i2c_write_block(self.REG_WS2812,      self._pixels[:32])
+        self._i2c_write_block(self.REG_WS2812 + 32, self._pixels[32:64])
+        self._i2c_write_block(self.REG_WS2812 + 64, self._pixels[64:])
+        self._i2c_write_byte(self.REG_UPDATE, 1)
+
+    def servos_on(self, state):
+        """Turn the servos on or off.
+
+        :param state: Servo power: True = on, False = off
+
+        """
+
+        if state in [True,False]:
+            self._servo_power = state
+            self._set_config()
+            return
+
+        raise ValueError("State must be True/False")
+
+    def servo_pulse_min(self, index, value):
+        """Set the minimum high pulse for a servo in microseconds.
+
+        :param value: Value in microseconds
+
+        """
+
+        if index not in [1,2]:
+            raise ValueError("Servo index must be 1 or 2")
+
+        self._servo_min[index-1] = value
+
+    def servo_pulse_max(self, index, value):
+        """Set the maximum high pulse for a servo in microseconds.
+
+        :param value: Value in microseconds
+
+        """
+
+        if index not in [1,2]:
+            raise ValueError("Servo index must be 1 or 2")
+
+        self._servo_max[index-1] = value
+
+    def servo_one(self, angle):
+        """Set position of servo 1 in degrees.
+
+        :param angle: Angle in degrees from -90 to 90
+
+        """
+
+        us_min, us_max = self._servo_range(0)
+        us = self._servo_degrees_to_us(angle, us_min, us_max)
+        self._i2c_write_word(self.REG_SERVO1, us)
+
+    def servo_two(self, angle):
+        """Set position of servo 2 in degrees.
+
+        :param angle: Angle in degrees from -90 to 90
+
+        """
+
+        us_min, us_max = self._servo_range(1)
+        us = self._servo_degrees_to_us(angle, us_min, us_max)
+        self._i2c_write_word(self.REG_SERVO2, us)
+
+    pan = servo_one
+    tilt = servo_two
+

library/setup.py

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+#!/usr/bin/env python
+
+"""
+Copyright (c) 2016 Pimoroni
+
+Permission is hereby granted, free of charge, to any person obtaining a copy of
+this software and associated documentation files (the "Software"), to deal in
+the Software without restriction, including without limitation the rights to
+use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies
+of the Software, and to permit persons to whom the Software is furnished to do
+so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+"""
+
+try:
+    from setuptools import setup
+except ImportError:
+    from distutils.core import setup
+
+classifiers = ['Development Status :: 5 - Production/Stable',
+               'Operating System :: POSIX :: Linux',
+               'License :: OSI Approved :: MIT License',
+               'Intended Audience :: Developers',
+               'Programming Language :: Python :: 2.6',
+               'Programming Language :: Python :: 2.7',
+               'Programming Language :: Python :: 3',
+               'Topic :: Software Development',
+               'Topic :: System :: Hardware']
+
+setup(
+    name            = 'pantilthat',
+    version         = '0.0.1',
+    author          = 'Philip Howard',
+    author_email    = 'phil@pimoroni.com',
+    description     = """Python library for driving Pimoroni PanTiltHAT!""",
+    long_description= open('README.txt').read() + open('CHANGELOG.txt').read(),
+    license         = 'MIT',
+    keywords        = 'Raspberry Pi',
+    url             = 'http://www.pimoroni.com',
+    classifiers     = classifiers,
+    py_modules      = ['pantilthat'],
+    install_requires= []
+)