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Apr 14, 2022
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improve doc and add note to use higher i2C bus speed #44

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23 changes: 15 additions & 8 deletions adafruit_motorkit.py
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Original file line number Diff line number Diff line change
Expand Up @@ -16,11 +16,10 @@

**Hardware:**

"* `DC Motor + Stepper FeatherWing <https://www.adafruit.com/product/2927>`_"
"* `Adafruit Motor/Stepper/Servo Shield for Arduino v2 Kit
<https://www.adafruit.com/product/1438>`_"
"* `Adafruit DC & Stepper Motor HAT for Raspberry Pi - Mini Kit
<https://www.adafruit.com/product/2348>`_"
* `DC Motor + Stepper FeatherWing <https://www.adafruit.com/product/2927>`_
* `Adafruit Motor/Stepper/Servo Shield for Arduino v2 Kit <https://www.adafruit.com/product/1438>`_
* `Adafruit DC & Stepper Motor HAT for Raspberry Pi - Mini Kit
<https://www.adafruit.com/product/2348>`_

**Software and Dependencies:**

Expand Down Expand Up @@ -52,10 +51,18 @@
class MotorKit:
"""Class representing an Adafruit DC & Stepper Motor FeatherWing, Shield or Pi Hat kit.

Automatically uses the I2C bus on a Feather, Metro or Raspberry Pi if no I2C bus
is supplied.
:param int address: I2C address of PCA9685 PWM controller. Default address is ``0x60``.
:param busio.I2C i2c: I2C bus object to use. If not specified, use ``board.I2C()``.

Alternately, if using with multiple I2C devices, you can specify the I2C bus."""
.. note::
``board.I2C()`` uses the default I2C bus frequency of 100 kHz. To speed up
motor control, use an I2C bus frequency of 400 KHz, or if available, 1 MHz.
The PCA9685 controller supports both of these higher speeds.
This will noticeably speed up stepper motor operation when many steps are requested.

:param int steppers_microsteps: Number of microsteps per step for stepper motors. Default is 16.
:param float pwm_frequency: defaults to 1600 Hz
"""

def __init__(
self,
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