コード例 #1
0
from pidev.Cyprus_Commands import Cyprus_Commands_RPi as ccrpi

ccrpi.open_spi()

from pidev import stepper

##led = stepper(port = 1, speed = 50)

##for i in range(1, 255):
##    print("lup")
ccrpi.write_pwm(1, ccrpi.COMPARE_MODE, ccrpi.LESS_THAN)
ccrpi.write_pwm(1, ccrpi.PERIOD, .001)
ccrpi.write_pwm(1, ccrpi.COMPARE, .001)

ccrpi.write_pwm(2, ccrpi.COMPARE_MODE, ccrpi.LESS_THAN)
ccrpi.write_pwm(2, ccrpi.PERIOD, .001)
ccrpi.write_pwm(2, ccrpi.COMPARE, .001)
##    ccrpi.set_servo_speed(1, -0.5)
コード例 #2
0
motor_2 = stepper(port=0, speed=10, micro_steps=128)
motor_2.home(0)
print("homed motor 2")
sleep(.5)
home_pos_2 = 24.123
motor_2.go_to_position(home_pos_2)
increment = .035
current_pos_x = home_pos_2
current_pos_y = home_pos_1

ccrpi.open_spi()
print("opened spi")
##ccrpi.write_gpio(0)
####
ccrpi.setup_servo()
ccrpi.write_pwm(6, 1, .5)

clamp = lambda n, min_n, max_n: max(min(max_n, n), min_n)

try:
    while True:
        pygame.event.pump()
        joy_val_x = joystick.get_axis(HORIZONTAL_AXIS)
        joy_val_y = joystick.get_axis(VERTICAL_AXIS)
        current_pos_y = current_pos_y + joy_val_y * increment
        current_pos_x = current_pos_x + joy_val_x * increment
        current_pos_y = clamp(current_pos_y, home_pos_1 - 13, home_pos_1 + 13)
        current_pos_x = clamp(current_pos_x, home_pos_2 - 15.77,
                              home_pos_2 + 15.77)
        motor_1.start_go_to_position(current_pos_y)
        motor_2.start_go_to_position(current_pos_x)