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add PWM frequency getter/setter and init keyword arg #34

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add PWM frequency getter/setter and init keyword arg #34

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13 changes: 11 additions & 2 deletions adafruit_motorkit.py
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Original file line number Diff line number Diff line change
Expand Up @@ -67,7 +67,7 @@ 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
Expand All @@ -77,7 +77,7 @@ 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
Expand Down Expand Up @@ -296,3 +296,12 @@ 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