Reference

class adafruit_motor_hat.MotorHat.AdafruitStepperMotor(controller, num, steps=200)

align_step(reverse=False)

Align the current step position with a full step :param reverse:

run in reverse

Returns:None

double_step(steps=1, reverse=False)

Double stepping, 2 coils at once :param steps:

The number of steps to execute

Parameters:reverse (bool) – step in reverse Returns:None

interleaved_step(steps=1, reverse=False)

Interleaved stepping, single stepping and interleaved stepping :param steps:

The number of steps to execute

Parameters:reverse (bool) – step in reverse Returns:None

micro_step(steps=1, reverse=False)

Microstepping :param steps:

The number of steps to execute

Parameters:reverse (bool) – step in reverse Returns:None

set_speed(rpm)

Set the target motor speed in rpm, motor step count is used to calculate the step delay :param rpm:

Target RPM

Returns:None

step(steps=1, reverse=False)

Simple single step :param steps:

The number of steps to execute

Parameters:reverse (Bool) – step in reverse Returns:None

class adafruit_motor_hat.MotorHat.AdafruitDCMotor(controller, num)

class adafruit_motor_hat.MotorHat.AdafruitMotorHAT(addr=96, freq=1600, i2c=None, i2c_bus=None)

get_motor(num)

Get a motor instance :param num:

the stepper to get 1-4

Returns::class:`AdafruitDCMotor’

get_stepper(num)

Get a stepper instance :param num:

the stepper to get 1, or 2

Returns::class:`AdafruitStepperMotor’

set_pin(pin, value)

Set a pin output state :param pin:

pin number

Parameters:value (int) – pin state 0, or 1 Returns:None

class adafruit_motor_hat.Adafruit_PWM_Servo_Driver.PWM(address=64, debug=False, i2c=None, i2c_bus=None)

Adafruit PCA9685 16-Channel PWM Servo Driver

setAllPWM(on, off)

Sets all the pwm outputs to the corresponding outputs

Parameters:

• on – the portion of the PWM period in 1/4096ths of a period (0 corresponds to the start, 4096 corresponds to the end) to wait before the signal turns on
• off – the portion of the PWM period in 1/4096ths of a period (0 corresponds to the start, 4096 corresponds to the end) to wait before the signal turns off

Returns:

None

setPWM(channel, on, off)

Set a single pwm channel

Parameters:

• channel – the channel number from 0-15 inclusive
• on – the portion of the PWM period in 1/4096ths of a period (0 corresponds to the start, 4096 corresponds to the end) to wait before the signal turns on
• off – the portion of the PWM period in 1/4096ths of a period (0 corresponds to the start, 4096 corresponds to the end) to wait before the signal turns off

Returns:

None

setPWMFreq(freq)

Set the PWM frequency in Hz

Parameters:freq (int) – frequency in Hz Returns:None

classmethod softwareReset(i2c=None, i2c_bus=None)

Sends a software reset (SWRST) command to all the servo drivers on the bus

adafruit_motor_hat.Adafruit_PWM_Servo_Driver.get_i2c_device(address, i2c, i2c_bus)

Helper method to get a device at the specified address from the I2C bus. If no i2c bus is specified (i2c param is None) then the default I2C bus for the platform will be used.

Parameters:

• address (hex) – i2c address to get the handle for
• i2c – GPIO i2c class, None to use the Adafruit_GPIO.I2C class
• i2c_bus – i2c bus number, passed to busnum, none to autodetect

Returns:

i2c Address