hexapod_ng/python/hexapod/hal.py

import board
import busio
import adafruit_pca9685
import adafruit_motor

import hexapod.servo_mapping

class Hal:
    def __init__(self):
        self.i2c = busio.I2C(board.SCL, board.SDA)

        self.pca9685 = {}
        self.pwm = {}

        for s in hexapod.servo_mapping.servo_mapping:
            m = hexapod.servo_mapping.servo_mapping[s]

            address = m['address']
            channel = m['channel']
    

            if address not in self.pca9685:
                self.pca9685[address] = adafruit_pca9685.PCA9685(self.i2c, address=address)
                self.pca9685[address].frequency = 50

                self.pwm[s] = self.pca9685[address].channels[channel]