Waveshare Motor Driver HAT User Manual page 14

Motor Driver HAT
PYTHON
PROJECT DIRECTORY AND FILES
PCA9685.py is driver code, use I2C interface to output 16-channle PWM signals.
mian.py: Motor driver code
DEMO CODE
1. Instantiate PCA9685 library
pwm = PCA9685(0x40, debug=True)
Parameter 1: slave address of PCA9685, hardware configurable
Parameter 2: enable/disable debug information
pwm.setPWMFreq(50)
Set PWM frequency in range 40~1000
2. Initialize motors
class MotorDriver():
def __init__(self):
self.PWMA = 0
self.AIN1 = 1
self.AIN2 = 2
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