def initLeArm(d):
global Servos
global pi
pi = pigpio.pi()
servo1 = PWM_Servo(pi, 5, deviation=d[0], control_speed=True) # 扩展板上的7
servo2 = PWM_Servo(pi, 6, deviation=d[1], control_speed=True) # 8
Servos = (servo1, servo2)
def initLeArm(d):
global Servos
global pi
pi = pigpio.pi()
servo1 = PWM_Servo(pi, 5, deviation=d[0], control_speed=True) # 扩展板上的7
servo2 = PWM_Servo(pi, 6, deviation=d[1], control_speed=True) # 8
Servos = (servo1, servo2)
for i in Servos:
i.setPosition(1500, 500)
time.sleep(0.5)
def initLeArm(d):
global Servos
global pi
pi = pigpio.pi() # 实例化
servo1 = PWM_Servo(pi, 12, deviation=d[0], control_speed=True) #初始化各舵机
servo2 = PWM_Servo(pi, 16, deviation=d[1], control_speed=True)
servo3 = PWM_Servo(pi, 20, deviation=d[2], control_speed=True)
servo4 = PWM_Servo(pi, 21, deviation=d[3], control_speed=True)
servo5 = PWM_Servo(pi, 19, deviation=d[4], control_speed=True)
servo6 = PWM_Servo(pi, 13, deviation=d[5], control_speed=True)
servo7 = PWM_Servo(pi, 5, deviation=0, control_speed=True)
Servos = (servo1, servo2, servo3, servo4, servo5, servo6, servo7)
def initLeArm(d):
global Servos
global pi
pi = pigpio.pi() # 实例化
servo1 = PWM_Servo(pi, 12, deviation=d[0], control_speed=True) #初始化各舵机
servo2 = PWM_Servo(pi, 16, deviation=d[1], control_speed=True)
servo3 = PWM_Servo(pi, 20, deviation=d[2], control_speed=True)
servo4 = PWM_Servo(pi, 21, deviation=d[3], control_speed=True)
servo5 = PWM_Servo(pi, 19, deviation=d[4], control_speed=True)
servo6 = PWM_Servo(pi, 13, deviation=d[5], control_speed=True)
Servos = (servo1, servo2, servo3, servo4, servo5, servo6)
for i in range(0, 6, 1):
Servos[i].setPosition(1500, 1000) # 1-6号舵机转到中位
def initLeArm(d):
global Servos
global pi
pi = pigpio.pi() # 实例化
# host = os.popen("ip route | awk 'NR==1 {print $3}'|xargs echo -n").read() # 获取路由 IP 以连接到宿主机上的 pigpiod 服务
# pi = pigpio.pi(host) # 实例化
servo1 = PWM_Servo(pi, 12, deviation=d[0], control_speed=True) #初始化各舵机
servo2 = PWM_Servo(pi, 16, deviation=d[1], control_speed=True)
servo3 = PWM_Servo(pi, 20, deviation=d[2], control_speed=True)
servo4 = PWM_Servo(pi, 21, deviation=d[3], control_speed=True)
servo5 = PWM_Servo(pi, 19, deviation=d[4], control_speed=True)
servo6 = PWM_Servo(pi, 13, deviation=d[5], control_speed=True)
Servos = (servo1, servo2, servo3, servo4, servo5, servo6)
for i in range(0, 6, 1):
Servos[i].setPosition(1500, 1000) # 1-6号舵机转到中位
def initLeArm(d):
global Servos
global pi
pi = pigpio.pi() # 实例化
servo1 = PWM_Servo(pi,
12,
deviation=d[0],
position=700,
control_speed=True) #初始化各舵机
servo2 = PWM_Servo(pi,
16,
deviation=d[1],
position=1500,
control_speed=True)
servo3 = PWM_Servo(pi,
20,
deviation=d[2],
position=971,
control_speed=True)
servo4 = PWM_Servo(pi,
21,
deviation=d[3],
position=908,
control_speed=True)
servo5 = PWM_Servo(pi,
19,
deviation=d[4],
position=1763,
control_speed=True)
servo6 = PWM_Servo(pi,
13,
deviation=d[5],
position=1500,
control_speed=True)
Servos = (servo1, servo2, servo3, servo4, servo5, servo6)
print('Initialize Positon')
for i in range(0, 6, 1):
Servos[i].setPosition(Servos[i].initPosition, 1000)
def initLeArm(d):
global Servos
global pi
pi = pigpio.pi()
# Initialization
servo1 = PWM_Servo(pi, 12, deviation=d[0], control_speed = True)
servo2 = PWM_Servo(pi, 16, deviation=d[1], control_speed = True)
servo3 = PWM_Servo(pi, 20, deviation=d[2], control_speed = True)
servo4 = PWM_Servo(pi, 21, deviation=d[3], control_speed = True)
servo5 = PWM_Servo(pi, 19, deviation=d[4], control_speed = True)
servo6 = PWM_Servo(pi, 13, deviation=d[5], control_speed = True)
Servos = (servo1, servo2, servo3, servo4, servo5, servo6)
#for i in range(0, 6, 1):
# Servos[i].setPosition(1500, 1000)
Servos[0].setPosition(1500, 1000)
Servos[1].setPosition(1500, 1000)
Servos[2].setPosition(1500, 1000)
Servos[3].setPosition(1500, 1000)
Servos[4].setPosition(2400, 1000)
Servos[5].setPosition(1500, 1000)
#!/usr/bin/env python3 import pigpio import time from LeServo import PWM_Servo pi = pigpio.pi() servo = PWM_Servo(pi, 6) servo.setPosition(1000) time.sleep(5)