diff --git a/python/genindex.html b/python/genindex.html
index 884d41ce8..cd3932e56 100644
--- a/python/genindex.html
+++ b/python/genindex.html
@@ -267,6 +267,8 @@ <h2 id="S">S</h2>
       <li><a href="index.html#bluerobotics_navigator.set_led_toggle">set_led_toggle() (in module bluerobotics_navigator)</a>
 </li>
       <li><a href="index.html#bluerobotics_navigator.set_neopixel">set_neopixel() (in module bluerobotics_navigator)</a>
+</li>
+      <li><a href="index.html#bluerobotics_navigator.set_pwm_channel_duty_cycle">set_pwm_channel_duty_cycle() (in module bluerobotics_navigator)</a>
 </li>
   </ul></td>
   <td style="width: 33%; vertical-align: top;"><ul>
diff --git a/python/index.html b/python/index.html
index f0fd132d1..e438f12a6 100644
--- a/python/index.html
+++ b/python/index.html
@@ -109,6 +109,7 @@
 <li><a class="reference internal" href="#bluerobotics_navigator.set_led_all"><code class="docutils literal notranslate"><span class="pre">set_led_all()</span></code></a></li>
 <li><a class="reference internal" href="#bluerobotics_navigator.set_led_toggle"><code class="docutils literal notranslate"><span class="pre">set_led_toggle()</span></code></a></li>
 <li><a class="reference internal" href="#bluerobotics_navigator.set_neopixel"><code class="docutils literal notranslate"><span class="pre">set_neopixel()</span></code></a></li>
+<li><a class="reference internal" href="#bluerobotics_navigator.set_pwm_channel_duty_cycle"><code class="docutils literal notranslate"><span class="pre">set_pwm_channel_duty_cycle()</span></code></a></li>
 <li><a class="reference internal" href="#bluerobotics_navigator.set_pwm_channel_value"><code class="docutils literal notranslate"><span class="pre">set_pwm_channel_value()</span></code></a></li>
 <li><a class="reference internal" href="#bluerobotics_navigator.set_pwm_channels_value"><code class="docutils literal notranslate"><span class="pre">set_pwm_channels_value()</span></code></a></li>
 <li><a class="reference internal" href="#bluerobotics_navigator.set_pwm_channels_values"><code class="docutils literal notranslate"><span class="pre">set_pwm_channels_values()</span></code></a></li>
@@ -685,6 +686,44 @@ <h1>BlueRobotics’s Navigator Library<a class="headerlink" href="#bluerobotics-
 </div>
 </dd></dl>
 
+<dl class="py function">
+<dt class="sig sig-object py" id="bluerobotics_navigator.set_pwm_channel_duty_cycle">
+<span class="sig-prename descclassname"><span class="pre">bluerobotics_navigator.</span></span><span class="sig-name descname"><span class="pre">set_pwm_channel_duty_cycle</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">channel</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">duty_cycle</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#bluerobotics_navigator.set_pwm_channel_duty_cycle" title="Link to this definition"></a></dt>
+<dd><p>Sets the duty cycle (the proportion of ON time) for the selected PWM channel.</p>
+<p>Similar to <a class="reference internal" href="#bluerobotics_navigator.set_pwm_channel_value" title="bluerobotics_navigator.set_pwm_channel_value"><code class="xref py py-func docutils literal notranslate"><span class="pre">set_pwm_channel_value()</span></code></a>, this function calculate the OFF counter
+value to match desired PWM channel’s duty_cyle.</p>
+<p class="rubric">Notes</p>
+<p>A duty cycle of 1.0 or 0.0 acts like a relay.</p>
+<p>Details of counters on IC, check <a class="reference internal" href="#bluerobotics_navigator.set_pwm_channel_value" title="bluerobotics_navigator.set_pwm_channel_value"><code class="xref py py-func docutils literal notranslate"><span class="pre">set_pwm_channel_value()</span></code></a>.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>channel</strong> (<a class="reference internal" href="#bluerobotics_navigator.PwmChannel" title="bluerobotics_navigator.PwmChannel"><code class="xref py py-class docutils literal notranslate"><span class="pre">PwmChannel</span></code></a>) – The channel to be selected for PWM.</p></li>
+<li><p><strong>duty_cycle</strong> (<em>f32</em>) – Duty cycle count value (0.0 : 1.0).</p></li>
+</ul>
+</dd>
+</dl>
+<p class="rubric">Examples</p>
+<div class="doctest highlight-default notranslate"><div class="highlight"><pre><span></span><span class="gp">&gt;&gt;&gt; </span><span class="kn">import</span> <span class="nn">bluerobotics_navigator</span> <span class="k">as</span> <span class="nn">navigator</span>
+</pre></div>
+</div>
+<div class="doctest highlight-default notranslate"><div class="highlight"><pre><span></span><span class="gp">&gt;&gt;&gt; </span><span class="kn">from</span> <span class="nn">bluerobotics_navigator</span> <span class="kn">import</span> <span class="n">PwmChannel</span>
+</pre></div>
+</div>
+<div class="doctest highlight-default notranslate"><div class="highlight"><pre><span></span><span class="gp">&gt;&gt;&gt; </span><span class="n">navigator</span><span class="o">.</span><span class="n">init</span><span class="p">()</span>
+</pre></div>
+</div>
+<div class="doctest highlight-default notranslate"><div class="highlight"><pre><span></span><span class="gp">&gt;&gt;&gt; </span><span class="n">navigator</span><span class="o">.</span><span class="n">set_pwm_freq_hz</span><span class="p">(</span><span class="mi">1000</span><span class="p">)</span>
+</pre></div>
+</div>
+<div class="doctest highlight-default notranslate"><div class="highlight"><pre><span></span><span class="gp">&gt;&gt;&gt; </span><span class="n">navigator</span><span class="o">.</span><span class="n">set_pwm_channel_duty_cycle</span><span class="p">(</span><span class="n">PwmChannel</span><span class="o">.</span><span class="n">Ch1</span><span class="p">,</span> <span class="mf">0.5</span><span class="p">)</span>
+</pre></div>
+</div>
+<div class="doctest highlight-default notranslate"><div class="highlight"><pre><span></span><span class="gp">&gt;&gt;&gt; </span><span class="n">navigator</span><span class="o">.</span><span class="n">set_pwm_enable</span><span class="p">(</span><span class="kc">True</span><span class="p">)</span>
+</pre></div>
+</div>
+</dd></dl>
+
 <dl class="py function">
 <dt class="sig sig-object py" id="bluerobotics_navigator.set_pwm_channel_value">
 <span class="sig-prename descclassname"><span class="pre">bluerobotics_navigator.</span></span><span class="sig-name descname"><span class="pre">set_pwm_channel_value</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">channel</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">value</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#bluerobotics_navigator.set_pwm_channel_value" title="Link to this definition"></a></dt>
diff --git a/python/objects.inv b/python/objects.inv
index f9da0ebc7..58a58b21b 100644
Binary files a/python/objects.inv and b/python/objects.inv differ
diff --git a/python/searchindex.js b/python/searchindex.js
index 5210b7fb3..b21121938 100644
--- a/python/searchindex.js
+++ b/python/searchindex.js
@@ -1 +1 @@
-Search.setIndex({"docnames": ["index"], "filenames": ["index.rst"], "titles": ["BlueRobotics\u2019s Navigator Library"], "terms": {"thi": 0, "serv": 0, "entri": 0, "point": 0, "embed": 0, "applic": 0, "us": 0, "python": 0, "blue": 0, "robot": 0, "The": 0, "board": 0, "ha": 0, "raspberri": 0, "pi": 0, "hat": 0, "form": 0, "factor": 0, "which": 0, "allow": 0, "you": 0, "easili": 0, "attach": 0, "4": 0, "Then": 0, "can": 0, "unleash": 0, "power": 0, "develop": 0, "new": 0, "solut": 0, "interact": 0, "your": 0, "rov": 0, "hardwar": 0, "offer": 0, "follow": 0, "capabl": 0, "control": 0, "led": 0, "pwm": 0, "puls": 0, "width": 0, "modul": 0, "16": 0, "channel": 0, "measur": 0, "adc": 0, "analog": 0, "digit": 0, "convert": 0, "magnet": 0, "field": 0, "acceler": 0, "angular": 0, "veloc": 0, "temperatur": 0, "pressur": 0, "current": 0, "support": 0, "armv7": 0, "aarch64": 0, "architectur": 0, "ar": 0, "offici": 0, "default": 0, "blueo": 0, "howev": 0, "despit": 0, "hal": 0, "concept": 0, "port": 0, "ad": 0, "long": 0, "platform": 0, "match": 0, "design": 0, "specif": 0, "For": 0, "more": 0, "inform": 0, "includ": 0, "instal": 0, "instruct": 0, "schemat": 0, "pleas": 0, "check": 0, "setup": 0, "guid": 0, "class": 0, "bluerobotics_navig": 0, "adcdata": 0, "an": 0, "arrai": 0, "read": 0, "from": 0, "differ": 0, "adcchannel": 0, "avail": 0, "ch0": 0, "ch1": 0, "ch2": 0, "ch3": 0, "axisdata": 0, "orient": 0, "direct": 0, "ax": 0, "x": 0, "i": 0, "forward": 0, "y": 0, "right": 0, "z": 0, "down": 0, "pwmchannel": 0, "output": 0, "all": 0, "ch10": 0, "ch11": 0, "ch12": 0, "ch13": 0, "ch14": 0, "ch15": 0, "ch16": 0, "ch4": 0, "ch5": 0, "ch6": 0, "ch7": 0, "ch8": 0, "ch9": 0, "userl": 0, "onboard": 0, "user": 0, "led1": 0, "led2": 0, "led3": 0, "get_l": 0, "select": 0, "get": 0, "state": 0, "paramet": 0, "A": 0, "pin": 0, "return": 0, "true": 0, "ON": 0, "fals": 0, "off": 0, "type": 0, "bool": 0, "exampl": 0, "import": 0, "led1_on": 0, "get_pwm_en": 0, "chip": 0, "pca9685": 0, "oe_pin": 0, "set_pwm_channel_valu": 0, "init": 0, "initi": 0, "set": 0, "read_accel": 0, "valu": 0, "icm20689": 0, "acceleromet": 0, "m": 0, "s\u00b2": 0, "forward_acc": 0, "read_adc": 0, "ads1115": 0, "v": 0, "float32": 0, "adc1_measur": 0, "read_adc_al": 0, "same": 0, "adc_measur": 0, "read_gyro": 0, "gyroscop": 0, "rad": 0, "angular_veloc": 0, "roll_rat": 0, "pitch_rat": 0, "yaw_rat": 0, "read_leak": 0, "leak": 0, "detector": 0, "detect": 0, "No": 0, "leak_detector": 0, "read_mag": 0, "local": 0, "strength": 0, "ak09915": 0, "magnetomet": 0, "\u00b5t": 0, "mag_field": 0, "read_pressur": 0, "bmp280": 0, "kpa": 0, "air_pressur": 0, "read_temp": 0, "c": 0, "air_temperatur": 0, "read_temperatur": 0, "self_test": 0, "run": 0, "some": 0, "test": 0, "sensor": 0, "result": 0, "respond": 0, "expect": 0, "sensors_ok": 0, "set_l": 0, "desir": 0, "set_led_al": 0, "green": 0, "red": 0, "set_led_toggl": 0, "toggl": 0, "set_neopixel": 0, "rgb_arrai": 0, "color": 0, "bright": 0, "connect": 0, "neopixel": 0, "uint8": 0, "2d": 0, "contain": 0, "rgb": 0, "each": 0, "compon": 0, "independ": 0, "0": 0, "255": 0, "100": 0, "duti": 0, "cycl": 0, "proport": 0, "time": 0, "counter": 0, "hard": 0, "code": 0, "turn": 0, "start": 0, "after": 0, "specifi": 0, "count": 0, "where": 0, "full": 0, "defin": 0, "set_pwm_freq_hz": 0, "split": 0, "4096": 0, "segment": 0, "note": 0, "20": 0, "achiev": 0, "819": 0, "To": 0, "durat": 0, "need": 0, "consid": 0, "frequenc": 0, "4095": 0, "pulse_dur": 0, "cycle_period": 0, "As": 0, "50": 0, "hz": 0, "period": 0, "1100": 0, "\u00b5": 0, "5": 0, "requir": 0, "225": 0, "similarli": 0, "1900": 0, "would": 0, "389": 0, "u16": 0, "1000": 0, "2000": 0, "set_pwm_en": 0, "set_pwm_channels_valu": 0, "like": 0, "function": 0, "list": 0, "multipl": 0, "configur": 0, "method": 0, "correspond": 0, "500": 0, "enabl": 0, "disabl": 0, "firmwar": 0, "freq": 0, "conveni": 0, "wrapper": 0, "around": 0, "set_pwm_freq_prescal": 0, "choos": 0, "closest": 0, "possibl": 0, "pre": 0, "scaler": 0, "servo": 0, "motor": 0, "gener": 0, "work": 0, "best": 0, "between": 0, "200": 0, "flicker": 0, "less": 0, "video": 0, "stream": 0, "when": 0, "driven": 0, "camera": 0, "framer": 0, "e": 0, "g": 0, "30fp": 0, "should": 0, "have": 0, "30": 0, "60": 0, "90": 0, "120": 0, "24": 0, "1526": 0, "low_level": 0, "directli": 0, "pre_scal": 0, "easier": 0, "instead": 0, "prescal": 0, "calcul": 0, "updat": 0, "rate": 0, "formula": 0, "prescale_valu": 0, "round": 0, "clock_freq": 0, "desired_freq": 0, "1": 0, "24_576_000": 0, "5760": 0, "mhz": 0, "clock": 0, "chang": 0, "affect": 0, "so": 0, "thei": 0, "re": 0, "afterward": 0, "minimum": 0, "3": 0, "maximum": 0, "prescalar": 0, "119": 0, "29": 0, "intern": 0, "stop": 0, "oscil": 0, "restart": 0, "wa": 0, "alreadi": 0}, "objects": {"": [[0, 0, 0, "-", "bluerobotics_navigator"]], "bluerobotics_navigator": [[0, 1, 1, "", "ADCData"], [0, 1, 1, "", "AdcChannel"], [0, 1, 1, "", "AxisData"], [0, 1, 1, "", "PwmChannel"], [0, 1, 1, "", "UserLed"], [0, 3, 1, "", "get_led"], [0, 3, 1, "", "get_pwm_enable"], [0, 3, 1, "", "init"], [0, 3, 1, "", "read_accel"], [0, 3, 1, "", "read_adc"], [0, 3, 1, "", "read_adc_all"], [0, 3, 1, "", "read_gyro"], [0, 3, 1, "", "read_leak"], [0, 3, 1, "", "read_mag"], [0, 3, 1, "", "read_pressure"], [0, 3, 1, "", "read_temp"], [0, 3, 1, "", "self_test"], [0, 3, 1, "", "set_led"], [0, 3, 1, "", "set_led_all"], [0, 3, 1, "", "set_led_toggle"], [0, 3, 1, "", "set_neopixel"], [0, 3, 1, "", "set_pwm_channel_value"], [0, 3, 1, "", "set_pwm_channels_value"], [0, 3, 1, "", "set_pwm_channels_values"], [0, 3, 1, "", "set_pwm_enable"], [0, 3, 1, "", "set_pwm_freq_hz"], [0, 3, 1, "", "set_pwm_freq_prescale"]], "bluerobotics_navigator.ADCData": [[0, 2, 1, "", "channel"]], "bluerobotics_navigator.AdcChannel": [[0, 2, 1, "", "Ch0"], [0, 2, 1, "", "Ch1"], [0, 2, 1, "", "Ch2"], [0, 2, 1, "", "Ch3"]], "bluerobotics_navigator.AxisData": [[0, 2, 1, "", "x"], [0, 2, 1, "", "y"], [0, 2, 1, "", "z"]], "bluerobotics_navigator.PwmChannel": [[0, 2, 1, "", "All"], [0, 2, 1, "", "Ch1"], [0, 2, 1, "", "Ch10"], [0, 2, 1, "", "Ch11"], [0, 2, 1, "", "Ch12"], [0, 2, 1, "", "Ch13"], [0, 2, 1, "", "Ch14"], [0, 2, 1, "", "Ch15"], [0, 2, 1, "", "Ch16"], [0, 2, 1, "", "Ch2"], [0, 2, 1, "", "Ch3"], [0, 2, 1, "", "Ch4"], [0, 2, 1, "", "Ch5"], [0, 2, 1, "", "Ch6"], [0, 2, 1, "", "Ch7"], [0, 2, 1, "", "Ch8"], [0, 2, 1, "", "Ch9"]], "bluerobotics_navigator.UserLed": [[0, 2, 1, "", "Led1"], [0, 2, 1, "", "Led2"], [0, 2, 1, "", "Led3"]]}, "objtypes": {"0": "py:module", "1": "py:class", "2": "py:attribute", "3": "py:function"}, "objnames": {"0": ["py", "module", "Python module"], "1": ["py", "class", "Python class"], "2": ["py", "attribute", "Python attribute"], "3": ["py", "function", "Python function"]}, "titleterms": {"bluerobot": 0, "": 0, "navig": 0, "librari": 0}, "envversion": {"sphinx.domains.c": 3, "sphinx.domains.changeset": 1, "sphinx.domains.citation": 1, "sphinx.domains.cpp": 9, "sphinx.domains.index": 1, "sphinx.domains.javascript": 3, "sphinx.domains.math": 2, "sphinx.domains.python": 4, "sphinx.domains.rst": 2, "sphinx.domains.std": 2, "sphinx.ext.intersphinx": 1, "sphinx.ext.todo": 2, "sphinx": 60}, "alltitles": {"BlueRobotics\u2019s Navigator Library": [[0, "bluerobotics-s-navigator-library"]]}, "indexentries": {"adcdata (class in bluerobotics_navigator)": [[0, "bluerobotics_navigator.ADCData"]], "adcchannel (class in bluerobotics_navigator)": [[0, "bluerobotics_navigator.AdcChannel"]], "all (bluerobotics_navigator.pwmchannel attribute)": [[0, "bluerobotics_navigator.PwmChannel.All"]], "axisdata (class in bluerobotics_navigator)": [[0, "bluerobotics_navigator.AxisData"]], "ch0 (bluerobotics_navigator.adcchannel attribute)": [[0, "bluerobotics_navigator.AdcChannel.Ch0"]], "ch1 (bluerobotics_navigator.adcchannel attribute)": [[0, "bluerobotics_navigator.AdcChannel.Ch1"]], "ch1 (bluerobotics_navigator.pwmchannel attribute)": [[0, "bluerobotics_navigator.PwmChannel.Ch1"]], "ch10 (bluerobotics_navigator.pwmchannel attribute)": [[0, "bluerobotics_navigator.PwmChannel.Ch10"]], "ch11 (bluerobotics_navigator.pwmchannel attribute)": [[0, "bluerobotics_navigator.PwmChannel.Ch11"]], "ch12 (bluerobotics_navigator.pwmchannel attribute)": [[0, "bluerobotics_navigator.PwmChannel.Ch12"]], "ch13 (bluerobotics_navigator.pwmchannel attribute)": [[0, "bluerobotics_navigator.PwmChannel.Ch13"]], "ch14 (bluerobotics_navigator.pwmchannel attribute)": [[0, "bluerobotics_navigator.PwmChannel.Ch14"]], "ch15 (bluerobotics_navigator.pwmchannel attribute)": [[0, "bluerobotics_navigator.PwmChannel.Ch15"]], "ch16 (bluerobotics_navigator.pwmchannel attribute)": [[0, "bluerobotics_navigator.PwmChannel.Ch16"]], "ch2 (bluerobotics_navigator.adcchannel attribute)": [[0, "bluerobotics_navigator.AdcChannel.Ch2"]], "ch2 (bluerobotics_navigator.pwmchannel attribute)": [[0, "bluerobotics_navigator.PwmChannel.Ch2"]], "ch3 (bluerobotics_navigator.adcchannel attribute)": [[0, "bluerobotics_navigator.AdcChannel.Ch3"]], "ch3 (bluerobotics_navigator.pwmchannel attribute)": [[0, "bluerobotics_navigator.PwmChannel.Ch3"]], "ch4 (bluerobotics_navigator.pwmchannel attribute)": [[0, "bluerobotics_navigator.PwmChannel.Ch4"]], "ch5 (bluerobotics_navigator.pwmchannel attribute)": [[0, "bluerobotics_navigator.PwmChannel.Ch5"]], "ch6 (bluerobotics_navigator.pwmchannel attribute)": [[0, "bluerobotics_navigator.PwmChannel.Ch6"]], "ch7 (bluerobotics_navigator.pwmchannel attribute)": [[0, "bluerobotics_navigator.PwmChannel.Ch7"]], "ch8 (bluerobotics_navigator.pwmchannel attribute)": [[0, "bluerobotics_navigator.PwmChannel.Ch8"]], "ch9 (bluerobotics_navigator.pwmchannel attribute)": [[0, "bluerobotics_navigator.PwmChannel.Ch9"]], "led1 (bluerobotics_navigator.userled attribute)": [[0, "bluerobotics_navigator.UserLed.Led1"]], "led2 (bluerobotics_navigator.userled attribute)": [[0, "bluerobotics_navigator.UserLed.Led2"]], "led3 (bluerobotics_navigator.userled attribute)": [[0, "bluerobotics_navigator.UserLed.Led3"]], "pwmchannel (class in bluerobotics_navigator)": [[0, "bluerobotics_navigator.PwmChannel"]], "userled (class in bluerobotics_navigator)": [[0, "bluerobotics_navigator.UserLed"]], "bluerobotics_navigator": [[0, "module-bluerobotics_navigator"]], "channel (bluerobotics_navigator.adcdata attribute)": [[0, "bluerobotics_navigator.ADCData.channel"]], "get_led() (in module bluerobotics_navigator)": [[0, "bluerobotics_navigator.get_led"]], "get_pwm_enable() (in module bluerobotics_navigator)": [[0, "bluerobotics_navigator.get_pwm_enable"]], "init() (in module bluerobotics_navigator)": [[0, "bluerobotics_navigator.init"]], "module": [[0, "module-bluerobotics_navigator"]], "read_accel() (in module bluerobotics_navigator)": [[0, "bluerobotics_navigator.read_accel"]], "read_adc() (in module bluerobotics_navigator)": [[0, "bluerobotics_navigator.read_adc"]], "read_adc_all() (in module bluerobotics_navigator)": [[0, "bluerobotics_navigator.read_adc_all"]], "read_gyro() (in module bluerobotics_navigator)": [[0, "bluerobotics_navigator.read_gyro"]], "read_leak() (in module bluerobotics_navigator)": [[0, "bluerobotics_navigator.read_leak"]], "read_mag() (in module bluerobotics_navigator)": [[0, "bluerobotics_navigator.read_mag"]], "read_pressure() (in module bluerobotics_navigator)": [[0, "bluerobotics_navigator.read_pressure"]], "read_temp() (in module bluerobotics_navigator)": [[0, "bluerobotics_navigator.read_temp"]], "self_test() (in module bluerobotics_navigator)": [[0, "bluerobotics_navigator.self_test"]], "set_led() (in module bluerobotics_navigator)": [[0, "bluerobotics_navigator.set_led"]], "set_led_all() (in module bluerobotics_navigator)": [[0, "bluerobotics_navigator.set_led_all"]], "set_led_toggle() (in module bluerobotics_navigator)": [[0, "bluerobotics_navigator.set_led_toggle"]], "set_neopixel() (in module bluerobotics_navigator)": [[0, "bluerobotics_navigator.set_neopixel"]], "set_pwm_channel_value() (in module bluerobotics_navigator)": [[0, "bluerobotics_navigator.set_pwm_channel_value"]], "set_pwm_channels_value() (in module bluerobotics_navigator)": [[0, "bluerobotics_navigator.set_pwm_channels_value"]], "set_pwm_channels_values() (in module bluerobotics_navigator)": [[0, "bluerobotics_navigator.set_pwm_channels_values"]], "set_pwm_enable() (in module bluerobotics_navigator)": [[0, "bluerobotics_navigator.set_pwm_enable"]], "set_pwm_freq_hz() (in module bluerobotics_navigator)": [[0, "bluerobotics_navigator.set_pwm_freq_hz"]], "set_pwm_freq_prescale() (in module bluerobotics_navigator)": [[0, "bluerobotics_navigator.set_pwm_freq_prescale"]], "x (bluerobotics_navigator.axisdata attribute)": [[0, "bluerobotics_navigator.AxisData.x"]], "y (bluerobotics_navigator.axisdata attribute)": [[0, "bluerobotics_navigator.AxisData.y"]], "z (bluerobotics_navigator.axisdata attribute)": [[0, "bluerobotics_navigator.AxisData.z"]]}})
\ No newline at end of file
+Search.setIndex({"docnames": ["index"], "filenames": ["index.rst"], "titles": ["BlueRobotics\u2019s Navigator Library"], "terms": {"thi": 0, "serv": 0, "entri": 0, "point": 0, "embed": 0, "applic": 0, "us": 0, "python": 0, "blue": 0, "robot": 0, "The": 0, "board": 0, "ha": 0, "raspberri": 0, "pi": 0, "hat": 0, "form": 0, "factor": 0, "which": 0, "allow": 0, "you": 0, "easili": 0, "attach": 0, "4": 0, "Then": 0, "can": 0, "unleash": 0, "power": 0, "develop": 0, "new": 0, "solut": 0, "interact": 0, "your": 0, "rov": 0, "hardwar": 0, "offer": 0, "follow": 0, "capabl": 0, "control": 0, "led": 0, "pwm": 0, "puls": 0, "width": 0, "modul": 0, "16": 0, "channel": 0, "measur": 0, "adc": 0, "analog": 0, "digit": 0, "convert": 0, "magnet": 0, "field": 0, "acceler": 0, "angular": 0, "veloc": 0, "temperatur": 0, "pressur": 0, "current": 0, "support": 0, "armv7": 0, "aarch64": 0, "architectur": 0, "ar": 0, "offici": 0, "default": 0, "blueo": 0, "howev": 0, "despit": 0, "hal": 0, "concept": 0, "port": 0, "ad": 0, "long": 0, "platform": 0, "match": 0, "design": 0, "specif": 0, "For": 0, "more": 0, "inform": 0, "includ": 0, "instal": 0, "instruct": 0, "schemat": 0, "pleas": 0, "check": 0, "setup": 0, "guid": 0, "class": 0, "bluerobotics_navig": 0, "adcdata": 0, "an": 0, "arrai": 0, "read": 0, "from": 0, "differ": 0, "adcchannel": 0, "avail": 0, "ch0": 0, "ch1": 0, "ch2": 0, "ch3": 0, "axisdata": 0, "orient": 0, "direct": 0, "ax": 0, "x": 0, "i": 0, "forward": 0, "y": 0, "right": 0, "z": 0, "down": 0, "pwmchannel": 0, "output": 0, "all": 0, "ch10": 0, "ch11": 0, "ch12": 0, "ch13": 0, "ch14": 0, "ch15": 0, "ch16": 0, "ch4": 0, "ch5": 0, "ch6": 0, "ch7": 0, "ch8": 0, "ch9": 0, "userl": 0, "onboard": 0, "user": 0, "led1": 0, "led2": 0, "led3": 0, "get_l": 0, "select": 0, "get": 0, "state": 0, "paramet": 0, "A": 0, "pin": 0, "return": 0, "true": 0, "ON": 0, "fals": 0, "off": 0, "type": 0, "bool": 0, "exampl": 0, "import": 0, "led1_on": 0, "get_pwm_en": 0, "chip": 0, "pca9685": 0, "oe_pin": 0, "set_pwm_channel_valu": 0, "init": 0, "initi": 0, "set": 0, "read_accel": 0, "valu": 0, "icm20689": 0, "acceleromet": 0, "m": 0, "s\u00b2": 0, "forward_acc": 0, "read_adc": 0, "ads1115": 0, "v": 0, "float32": 0, "adc1_measur": 0, "read_adc_al": 0, "same": 0, "adc_measur": 0, "read_gyro": 0, "gyroscop": 0, "rad": 0, "angular_veloc": 0, "roll_rat": 0, "pitch_rat": 0, "yaw_rat": 0, "read_leak": 0, "leak": 0, "detector": 0, "detect": 0, "No": 0, "leak_detector": 0, "read_mag": 0, "local": 0, "strength": 0, "ak09915": 0, "magnetomet": 0, "\u00b5t": 0, "mag_field": 0, "read_pressur": 0, "bmp280": 0, "kpa": 0, "air_pressur": 0, "read_temp": 0, "c": 0, "air_temperatur": 0, "read_temperatur": 0, "self_test": 0, "run": 0, "some": 0, "test": 0, "sensor": 0, "result": 0, "respond": 0, "expect": 0, "sensors_ok": 0, "set_l": 0, "desir": 0, "set_led_al": 0, "green": 0, "red": 0, "set_led_toggl": 0, "toggl": 0, "set_neopixel": 0, "rgb_arrai": 0, "color": 0, "bright": 0, "connect": 0, "neopixel": 0, "uint8": 0, "2d": 0, "contain": 0, "rgb": 0, "each": 0, "compon": 0, "independ": 0, "0": 0, "255": 0, "100": 0, "set_pwm_channel_duty_cycl": 0, "duty_cycl": 0, "duti": 0, "cycl": 0, "proport": 0, "time": 0, "similar": 0, "function": 0, "calcul": 0, "counter": 0, "duty_cyl": 0, "note": 0, "1": 0, "act": 0, "like": 0, "relai": 0, "detail": 0, "ic": 0, "f32": 0, "count": 0, "set_pwm_freq_hz": 0, "1000": 0, "5": 0, "set_pwm_en": 0, "hard": 0, "code": 0, "turn": 0, "start": 0, "after": 0, "specifi": 0, "where": 0, "full": 0, "defin": 0, "split": 0, "4096": 0, "segment": 0, "20": 0, "achiev": 0, "819": 0, "To": 0, "durat": 0, "need": 0, "consid": 0, "frequenc": 0, "4095": 0, "pulse_dur": 0, "cycle_period": 0, "As": 0, "50": 0, "hz": 0, "period": 0, "1100": 0, "\u00b5": 0, "requir": 0, "225": 0, "similarli": 0, "1900": 0, "would": 0, "389": 0, "u16": 0, "2000": 0, "set_pwm_channels_valu": 0, "list": 0, "multipl": 0, "configur": 0, "method": 0, "correspond": 0, "500": 0, "enabl": 0, "disabl": 0, "firmwar": 0, "freq": 0, "conveni": 0, "wrapper": 0, "around": 0, "set_pwm_freq_prescal": 0, "choos": 0, "closest": 0, "possibl": 0, "pre": 0, "scaler": 0, "servo": 0, "motor": 0, "gener": 0, "work": 0, "best": 0, "between": 0, "200": 0, "flicker": 0, "less": 0, "video": 0, "stream": 0, "when": 0, "driven": 0, "camera": 0, "framer": 0, "e": 0, "g": 0, "30fp": 0, "should": 0, "have": 0, "30": 0, "60": 0, "90": 0, "120": 0, "24": 0, "1526": 0, "low_level": 0, "directli": 0, "pre_scal": 0, "easier": 0, "instead": 0, "prescal": 0, "updat": 0, "rate": 0, "formula": 0, "prescale_valu": 0, "round": 0, "clock_freq": 0, "desired_freq": 0, "24_576_000": 0, "5760": 0, "mhz": 0, "clock": 0, "chang": 0, "affect": 0, "so": 0, "thei": 0, "re": 0, "afterward": 0, "minimum": 0, "3": 0, "maximum": 0, "prescalar": 0, "119": 0, "29": 0, "intern": 0, "stop": 0, "oscil": 0, "restart": 0, "wa": 0, "alreadi": 0}, "objects": {"": [[0, 0, 0, "-", "bluerobotics_navigator"]], "bluerobotics_navigator": [[0, 1, 1, "", "ADCData"], [0, 1, 1, "", "AdcChannel"], [0, 1, 1, "", "AxisData"], [0, 1, 1, "", "PwmChannel"], [0, 1, 1, "", "UserLed"], [0, 3, 1, "", "get_led"], [0, 3, 1, "", "get_pwm_enable"], [0, 3, 1, "", "init"], [0, 3, 1, "", "read_accel"], [0, 3, 1, "", "read_adc"], [0, 3, 1, "", "read_adc_all"], [0, 3, 1, "", "read_gyro"], [0, 3, 1, "", "read_leak"], [0, 3, 1, "", "read_mag"], [0, 3, 1, "", "read_pressure"], [0, 3, 1, "", "read_temp"], [0, 3, 1, "", "self_test"], [0, 3, 1, "", "set_led"], [0, 3, 1, "", "set_led_all"], [0, 3, 1, "", "set_led_toggle"], [0, 3, 1, "", "set_neopixel"], [0, 3, 1, "", "set_pwm_channel_duty_cycle"], [0, 3, 1, "", "set_pwm_channel_value"], [0, 3, 1, "", "set_pwm_channels_value"], [0, 3, 1, "", "set_pwm_channels_values"], [0, 3, 1, "", "set_pwm_enable"], [0, 3, 1, "", "set_pwm_freq_hz"], [0, 3, 1, "", "set_pwm_freq_prescale"]], "bluerobotics_navigator.ADCData": [[0, 2, 1, "", "channel"]], "bluerobotics_navigator.AdcChannel": [[0, 2, 1, "", "Ch0"], [0, 2, 1, "", "Ch1"], [0, 2, 1, "", "Ch2"], [0, 2, 1, "", "Ch3"]], "bluerobotics_navigator.AxisData": [[0, 2, 1, "", "x"], [0, 2, 1, "", "y"], [0, 2, 1, "", "z"]], "bluerobotics_navigator.PwmChannel": [[0, 2, 1, "", "All"], [0, 2, 1, "", "Ch1"], [0, 2, 1, "", "Ch10"], [0, 2, 1, "", "Ch11"], [0, 2, 1, "", "Ch12"], [0, 2, 1, "", "Ch13"], [0, 2, 1, "", "Ch14"], [0, 2, 1, "", "Ch15"], [0, 2, 1, "", "Ch16"], [0, 2, 1, "", "Ch2"], [0, 2, 1, "", "Ch3"], [0, 2, 1, "", "Ch4"], [0, 2, 1, "", "Ch5"], [0, 2, 1, "", "Ch6"], [0, 2, 1, "", "Ch7"], [0, 2, 1, "", "Ch8"], [0, 2, 1, "", "Ch9"]], "bluerobotics_navigator.UserLed": [[0, 2, 1, "", "Led1"], [0, 2, 1, "", "Led2"], [0, 2, 1, "", "Led3"]]}, "objtypes": {"0": "py:module", "1": "py:class", "2": "py:attribute", "3": "py:function"}, "objnames": {"0": ["py", "module", "Python module"], "1": ["py", "class", "Python class"], "2": ["py", "attribute", "Python attribute"], "3": ["py", "function", "Python function"]}, "titleterms": {"bluerobot": 0, "": 0, "navig": 0, "librari": 0}, "envversion": {"sphinx.domains.c": 3, "sphinx.domains.changeset": 1, "sphinx.domains.citation": 1, "sphinx.domains.cpp": 9, "sphinx.domains.index": 1, "sphinx.domains.javascript": 3, "sphinx.domains.math": 2, "sphinx.domains.python": 4, "sphinx.domains.rst": 2, "sphinx.domains.std": 2, "sphinx.ext.intersphinx": 1, "sphinx.ext.todo": 2, "sphinx": 60}, "alltitles": {"BlueRobotics\u2019s Navigator Library": [[0, "bluerobotics-s-navigator-library"]]}, "indexentries": {"adcdata (class in bluerobotics_navigator)": [[0, "bluerobotics_navigator.ADCData"]], "adcchannel (class in bluerobotics_navigator)": [[0, "bluerobotics_navigator.AdcChannel"]], "all (bluerobotics_navigator.pwmchannel attribute)": [[0, "bluerobotics_navigator.PwmChannel.All"]], "axisdata (class in bluerobotics_navigator)": [[0, "bluerobotics_navigator.AxisData"]], "ch0 (bluerobotics_navigator.adcchannel attribute)": [[0, "bluerobotics_navigator.AdcChannel.Ch0"]], "ch1 (bluerobotics_navigator.adcchannel attribute)": [[0, "bluerobotics_navigator.AdcChannel.Ch1"]], "ch1 (bluerobotics_navigator.pwmchannel attribute)": [[0, "bluerobotics_navigator.PwmChannel.Ch1"]], "ch10 (bluerobotics_navigator.pwmchannel attribute)": [[0, "bluerobotics_navigator.PwmChannel.Ch10"]], "ch11 (bluerobotics_navigator.pwmchannel attribute)": [[0, "bluerobotics_navigator.PwmChannel.Ch11"]], "ch12 (bluerobotics_navigator.pwmchannel attribute)": [[0, "bluerobotics_navigator.PwmChannel.Ch12"]], "ch13 (bluerobotics_navigator.pwmchannel attribute)": [[0, "bluerobotics_navigator.PwmChannel.Ch13"]], "ch14 (bluerobotics_navigator.pwmchannel attribute)": [[0, "bluerobotics_navigator.PwmChannel.Ch14"]], "ch15 (bluerobotics_navigator.pwmchannel attribute)": [[0, "bluerobotics_navigator.PwmChannel.Ch15"]], "ch16 (bluerobotics_navigator.pwmchannel attribute)": [[0, "bluerobotics_navigator.PwmChannel.Ch16"]], "ch2 (bluerobotics_navigator.adcchannel attribute)": [[0, "bluerobotics_navigator.AdcChannel.Ch2"]], "ch2 (bluerobotics_navigator.pwmchannel attribute)": [[0, "bluerobotics_navigator.PwmChannel.Ch2"]], "ch3 (bluerobotics_navigator.adcchannel attribute)": [[0, "bluerobotics_navigator.AdcChannel.Ch3"]], "ch3 (bluerobotics_navigator.pwmchannel attribute)": [[0, "bluerobotics_navigator.PwmChannel.Ch3"]], "ch4 (bluerobotics_navigator.pwmchannel attribute)": [[0, "bluerobotics_navigator.PwmChannel.Ch4"]], "ch5 (bluerobotics_navigator.pwmchannel attribute)": [[0, "bluerobotics_navigator.PwmChannel.Ch5"]], "ch6 (bluerobotics_navigator.pwmchannel attribute)": [[0, "bluerobotics_navigator.PwmChannel.Ch6"]], "ch7 (bluerobotics_navigator.pwmchannel attribute)": [[0, "bluerobotics_navigator.PwmChannel.Ch7"]], "ch8 (bluerobotics_navigator.pwmchannel attribute)": [[0, "bluerobotics_navigator.PwmChannel.Ch8"]], "ch9 (bluerobotics_navigator.pwmchannel attribute)": [[0, "bluerobotics_navigator.PwmChannel.Ch9"]], "led1 (bluerobotics_navigator.userled attribute)": [[0, "bluerobotics_navigator.UserLed.Led1"]], "led2 (bluerobotics_navigator.userled attribute)": [[0, "bluerobotics_navigator.UserLed.Led2"]], "led3 (bluerobotics_navigator.userled attribute)": [[0, "bluerobotics_navigator.UserLed.Led3"]], "pwmchannel (class in bluerobotics_navigator)": [[0, "bluerobotics_navigator.PwmChannel"]], "userled (class in bluerobotics_navigator)": [[0, "bluerobotics_navigator.UserLed"]], "bluerobotics_navigator": [[0, "module-bluerobotics_navigator"]], "channel (bluerobotics_navigator.adcdata attribute)": [[0, "bluerobotics_navigator.ADCData.channel"]], "get_led() (in module bluerobotics_navigator)": [[0, "bluerobotics_navigator.get_led"]], "get_pwm_enable() (in module bluerobotics_navigator)": [[0, "bluerobotics_navigator.get_pwm_enable"]], "init() (in module bluerobotics_navigator)": [[0, "bluerobotics_navigator.init"]], "module": [[0, "module-bluerobotics_navigator"]], "read_accel() (in module bluerobotics_navigator)": [[0, "bluerobotics_navigator.read_accel"]], "read_adc() (in module bluerobotics_navigator)": [[0, "bluerobotics_navigator.read_adc"]], "read_adc_all() (in module bluerobotics_navigator)": [[0, "bluerobotics_navigator.read_adc_all"]], "read_gyro() (in module bluerobotics_navigator)": [[0, "bluerobotics_navigator.read_gyro"]], "read_leak() (in module bluerobotics_navigator)": [[0, "bluerobotics_navigator.read_leak"]], "read_mag() (in module bluerobotics_navigator)": [[0, "bluerobotics_navigator.read_mag"]], "read_pressure() (in module bluerobotics_navigator)": [[0, "bluerobotics_navigator.read_pressure"]], "read_temp() (in module bluerobotics_navigator)": [[0, "bluerobotics_navigator.read_temp"]], "self_test() (in module bluerobotics_navigator)": [[0, "bluerobotics_navigator.self_test"]], "set_led() (in module bluerobotics_navigator)": [[0, "bluerobotics_navigator.set_led"]], "set_led_all() (in module bluerobotics_navigator)": [[0, "bluerobotics_navigator.set_led_all"]], "set_led_toggle() (in module bluerobotics_navigator)": [[0, "bluerobotics_navigator.set_led_toggle"]], "set_neopixel() (in module bluerobotics_navigator)": [[0, "bluerobotics_navigator.set_neopixel"]], "set_pwm_channel_duty_cycle() (in module bluerobotics_navigator)": [[0, "bluerobotics_navigator.set_pwm_channel_duty_cycle"]], "set_pwm_channel_value() (in module bluerobotics_navigator)": [[0, "bluerobotics_navigator.set_pwm_channel_value"]], "set_pwm_channels_value() (in module bluerobotics_navigator)": [[0, "bluerobotics_navigator.set_pwm_channels_value"]], "set_pwm_channels_values() (in module bluerobotics_navigator)": [[0, "bluerobotics_navigator.set_pwm_channels_values"]], "set_pwm_enable() (in module bluerobotics_navigator)": [[0, "bluerobotics_navigator.set_pwm_enable"]], "set_pwm_freq_hz() (in module bluerobotics_navigator)": [[0, "bluerobotics_navigator.set_pwm_freq_hz"]], "set_pwm_freq_prescale() (in module bluerobotics_navigator)": [[0, "bluerobotics_navigator.set_pwm_freq_prescale"]], "x (bluerobotics_navigator.axisdata attribute)": [[0, "bluerobotics_navigator.AxisData.x"]], "y (bluerobotics_navigator.axisdata attribute)": [[0, "bluerobotics_navigator.AxisData.y"]], "z (bluerobotics_navigator.axisdata attribute)": [[0, "bluerobotics_navigator.AxisData.z"]]}})
\ No newline at end of file