Merge pull request #37 from CedarGroveStudios/pwm-freq-get-set

Add PWM frequency getter/setter and init keyword argument

Author: ladyada

adafruit_motorkit.py

@@ -51,7 +51,6 @@
 
 """
 
-
 import board
 from adafruit_pca9685 import PCA9685
 
@@ -67,7 +66,9 @@ class MotorKit:
 
        Alternately, if using with multiple I2C devices, you can specify the I2C bus."""
 
-    def __init__(self, address=0x60, i2c=None, steppers_microsteps=16):
+    def __init__(
+        self, address=0x60, i2c=None, steppers_microsteps=16, pwm_frequency=1600
+    ):
         self._motor1 = None
         self._motor2 = None
         self._motor3 = None
@@ -77,7 +78,7 @@ def __init__(self, address=0x60, i2c=None, steppers_microsteps=16):
         if i2c is None:
             i2c = board.I2C()
         self._pca = PCA9685(i2c, address=address)
-        self._pca.frequency = 1600
+        self._pca.frequency = pwm_frequency
         self._steppers_microsteps = steppers_microsteps
 
     # We can save memory usage (~300 bytes) by deduplicating the construction of the objects for
@@ -296,3 +297,12 @@ def stepper2(self):
                 microsteps=self._steppers_microsteps,
             )
         return self._stepper2
+
+    @property
+    def frequency(self):
+        """The overall PCA9685 PWM frequency in Hertz."""
+        return self._pca.frequency
+
+    @frequency.setter
+    def frequency(self, pwm_frequency=1600):
+        self._pca.frequency = pwm_frequency