def main():
setup()
if len(sys.argv) >= 2:
if sys.argv[1] == "servo-install":
if len(sys.argv) >= 3:
print ("servo-install takes no value")
usage()
print("Servo now is set to 90 degree.")
servo0 = Servo.Servo(0, bus_number=1)
servo1 = Servo.Servo(1, bus_number=1)
servo2 = Servo.Servo(2, bus_number=1)
servo0.write(90)
servo1.write(90)
servo2.write(90)
elif sys.argv[1] == "front-wheel-test":
if len(sys.argv) >= 3:
try:
chn = int(sys.argv[2])
except:
print ("chn must be integer")
usage()
if 0 <= chn <= 15 :
front_wheels.test(chn)
else:
print ('chn must be in 0~15, not "%s"' % chn)
usage()
front_wheels.test()
elif sys.argv[1] == "rear-wheel-test":
back_wheels.test()
else:
print ('Command error, "%s" is not in list' % sys.argv[1])
usage()
else:
usage()
def servo_install():
import time
delay = 1.0 / 180
if len(sys.argv) >= 3:
print "servo-install takes no value"
usage()
print("Servo now is set to 90 degree.")
servo0 = Servo.Servo(0, bus_number=1)
servo1 = Servo.Servo(1, bus_number=1)
servo2 = Servo.Servo(2, bus_number=1)
for i in range(90, -1, -1):
servo0.write(i)
servo1.write(i)
servo2.write(i)
time.sleep(delay)
time.sleep(0.1)
for i in range(0, 181, 1):
servo0.write(i)
servo1.write(i)
servo2.write(i)
time.sleep(delay)
time.sleep(0.1)
for i in range(180, 89, -1):
servo0.write(i)
servo1.write(i)
servo2.write(i)
time.sleep(delay)
time.sleep(0.1)
servo0.write(90)
servo1.write(90)
servo2.write(90)
while True:
time.sleep(1)
def main():
setup()
if len(sys.argv) >= 2:
if sys.argv[1] == "servo-install":
if len(sys.argv) >= 3:
print "servo-install takes no value"
usage()
Servo.install()
elif sys.argv[1] == "front-wheel-test":
if len(sys.argv) >= 3:
try:
chn = int(sys.argv[2])
except:
print "chn must be integer"
usage()
if 0 <= chn <= 15:
front_wheels.test(chn)
else:
print 'chn must be in 0~15, not "%s"' % chn
usage()
front_wheels.test()
elif sys.argv[1] == "rear-wheel-test":
back_wheels.test()
else:
print 'Command error, "%s" is not in list' % sys.argv[1]
usage()
else:
usage()
def __init__(self, s1=0, s2=1, s3=2):
for i in range(0, 4):
myservo.append(Servo.Servo(i)) # channel 1
Servo.Servo(i).setup()
print('myservo%s' % i)
self.s1 = s1 # 底盘
self.s2 = s2 # 中间
self.s3 = s3 # 夹持器
def setupServos(self, steeringPin, motorPin):
steering = Servo.Servo(steeringPin)
motor = Servo.Servo(motorPin)
Servo.Servo(steeringPin).setup()
Servo.Servo(motorPin).setup()
steering.write(self.defaultSteeringAngle)
motor.write(self.defaultMotorAngle)
return steering, motor
def setupServos(self, steeringPin, motorPin):
steering = Servo.Servo(steeringPin)
motor = Servo.Servo(motorPin)
Servo.Servo(steeringPin).setup()
Servo.Servo(motorPin).setup()
# writes (or sets) the default speed and angles to the servos
steering.write(self.defaultSteeringAngle)
motor.write(self.defaultMotorAngle)
return steering, motor
def __init__(self,
debug=False,
db="config",
bus_number=1,
channel=FRONT_WHEEL_CHANNEL):
''' setup channels and basic stuff '''
self.db = filedb.fileDB(db=db)
self._channel = channel
self._straight_angle = 90
self.turning_max = 45
self._turning_offset = int(
self.db.get('turning_offset', default_value=0))
self.wheel = Servo.Servo(self._channel,
bus_number=bus_number,
offset=self.turning_offset)
self.debug = debug
if self._DEBUG:
print(self._DEBUG_INFO, 'Front wheel PWM channel:', self._channel)
print(self._DEBUG_INFO, 'Front wheel offset value:',
self.turning_offset)
self._angle = {
"left": self._min_angle,
"straight": self._straight_angle,
"right": self._max_angle
}
if self._DEBUG:
print(
self._DEBUG_INFO,
'left angle: %s, straight angle: %s, right angle: %s' %
(self._angle["left"], self._angle["straight"],
self._angle["right"]))
def init():
global steer
steer = Servo.Servo(0)
global pan
pan = Servo.Servo(1)
global tilt
tilt = Servo.Servo(2)
Servo.Servo(0).setup()
Servo.Servo(1).setup()
Servo.Servo(2).setup()
setPan(90)
#curses.cbreak()
key.keypad(1)
key.nodelay(1)
# Set default positions
s = [90, 90, 90, 90, 90, 90, 90, 90, 90, 90, 90, 90, 90, 90, 90, 90]
sservo = 0
r = [90, 70, 70, 90, 90, 90, 90, 90, 90, 90, 90, 90, 90, 90, 90, 90]
l = [90, 90, 90, 90, 90, 110, 110, 90, 90, 90, 90, 90, 90, 90, 90, 90]
w = [90, 90, 90, 90, 90, 90, 90, 90, 70, 120, 120, 20, 90, 90, 90, 90]
f = [90, 90, 90, 90, 90, 90, 90, 90, 90, 90, 90, 90, 90, 90, 90, 90]
# Set up servos
myservo = []
for i in range(0, 16):
myservo.append(Servo.Servo(i)) # channel 1
Servo.Servo(i).setup()
while True:
char = key.getch()
if char == ord('q'):
break
elif char == ord('1'):
sservo = 1
elif char == ord('2'):
sservo = 2
elif char == ord('3'):
sservo = 3
elif char == ord('4'):
sservo = 4
elif char == ord('5'):
import time from SunFounder_TB6612 import TB6612 import RPi.GPIO as GPIO import time from SunFounder_PCA9685 import Servo print "********************************************" print "* *" print "* SunFounder TB6612 *" print "* *" print "* Connect MA to BCM17 *" print "* Connect MB to BCM18 *" print "* Connect PWMA to BCM27 *" print "* Connect PWMB to BCM22 *" print "* *" print "********************************************" a = Servo.Servo(4) b = Servo.Servo(5) Servo.Servo(4).setup() Servo.Servo(5).setup() #GPIO.setmode(GPIO.BCM) #GPIO.setup((27, 22), GPIO.OUT) #a = GPIO.PWM(27, 60) #b = GPIO.PWM(22, 60) #a.start(0) #b.start(0)) def a_speed(value): a.write(value) def b_speed(value): b.write(value)
def main(): import time motorapwm = Servo.Servo(4) Servo.Servo(4).setup() print "********************************************" print "* *" print "* SunFounder TB6612 *" print "* *" print "* Connect MA to BCM17 *" print "* Connect MB to BCM18 *" print "* Connect PWMA to BCM27 *" print "* Connect PWMB to BCM22 *" print "* *" print "********************************************" GPIO.setmode(GPIO.BCM) GPIO.setup((27, 22), GPIO.OUT) a = GPIO.PWM(27, 60) b = GPIO.PWM(22, 60) a.start(0) b.start(0) def a_speed(value): a.ChangeDutyCycle(value) def b_speed(value): b.ChangeDutyCycle(value) motorA = TB6612.Motor(17) motorB = TB6612.Motor(18) motorA.debug = True motorB.debug = True motorA.pwm = a_speed motorB.pwm = b_speed delay = 0.05 motorA.forward() for i in range(0, 101): motorapwm.write(i) motorA.speed = i time.sleep(delay) for i in range(100, -1, -1): motorapwm.write(i) motorA.speed = i time.sleep(delay) motorA.backward() for i in range(0, 101): motorapwm.write(i) motorA.speed = i time.sleep(delay) for i in range(100, -1, -1): motorapwm.write(i) motorA.speed = i time.sleep(delay) motorB.forward() for i in range(0, 101): motorB.speed = i time.sleep(delay) for i in range(100, -1, -1): motorB.speed = i time.sleep(delay) motorB.backward() for i in range(0, 101): motorB.speed = i time.sleep(delay) for i in range(100, -1, -1): motorB.speed = i time.sleep(delay)
import time from SunFounder_PCA9685 import Servo motorA = Servo.Servo(4) motorB = Servo.Servo(5) Servo.Servo(4).setup() Servo.Servo(5).setup() motorA.write(0) motorB.write(0)
