Exemplos de SMBus.XiaoRGEEK_SetServo em Python

Exemplo n.º 1

Arquivo: servo-x.py Projeto: z687wang/self-driving-rc-car

# -*- coding: utf-8 -*-

import time
import binascii
import RPi.GPIO as GPIO
from smbus import SMBus
XRservo = SMBus(1)
GPIO.setmode(GPIO.BCM)
GPIO.setwarnings(False)

time.sleep(2)
XRservo.XiaoRGEEK_SetServo(0x08, 90)
print('ser1= 90')
time.sleep(0.5)
XRservo.XiaoRGEEK_SetServo(0x01, 30)
print('ser1= 30°并存储')
time.sleep(0.1)
XRservo.XiaoRGEEK_SaveServo()
time.sleep(0.5)
XRservo.XiaoRGEEK_SetServo(0x01, 90)
print('ser1= 90°')
time.sleep(0.5)
XRservo.XiaoRGEEK_SetServo(0x01, 150)
print('ser1= 150°')
time.sleep(1.5)
XRservo.XiaoRGEEK_ReSetServo()
print('恢复存储的角度30°')
'''
整个程序功能为：
	舵机转动到90°
	舵机转动到30°，并存储，

Exemplo n.º 2

Arquivo: xrservo.py Projeto: ericyangs/beebot

from smbus import SMBus
XRservo = SMBus(1)
GPIO.setmode(GPIO.BCM)  ##信号引脚模式定义，使用.BCM模式
GPIO.setwarnings(False)
'''
XRservo中，有3个标准函数可直接使用
1、设置舵机角度
	XRservo.XiaoRGEEK_SetServo(0x01,angle)
	注释：此函数为设置1号舵机角度为angle
2、舵机角度记忆，存储当前所有舵机角度值。
	XRservo.XiaoRGEEK_SaveServo()
3、恢复所有舵机至已存储的角度
	XRservo.XiaoRGEEK_ReSetServo()
'''
time.sleep(2)
XRservo.XiaoRGEEK_SetServo(0x01, 90)  ##设置1舵机角度90°
print 'ser1= 90° '
time.sleep(0.5)
XRservo.XiaoRGEEK_SetServo(0x01, 30)  ##设置1舵机角度30°
print 'ser1= 30°并存储 '
time.sleep(0.1)
XRservo.XiaoRGEEK_SaveServo()  ##存储当前角度（30°）
time.sleep(0.5)
XRservo.XiaoRGEEK_SetServo(0x01, 90)  ##设置1舵机角度90°
print 'ser1= 90° '
time.sleep(0.5)
XRservo.XiaoRGEEK_SetServo(0x01, 150)  ##设置1舵机角度150°
print 'ser1= 150° '
time.sleep(1.5)
XRservo.XiaoRGEEK_ReSetServo()  ##恢复舵机存储的角度（30°）
print '恢复存储的角度30° '

Exemplo n.º 3

Arquivo: xrWava_Avoiddance.py Projeto: ericyangs/beebot

IN2 = 16  #//电机接口2
IN3 = 21  #//电机接口3
IN4 = 26  #//电机接口4

#########电机初始化为LOW##########
GPIO.setup(ENA, GPIO.OUT, initial=GPIO.LOW)
GPIO.setup(IN1, GPIO.OUT, initial=GPIO.LOW)
GPIO.setup(IN2, GPIO.OUT, initial=GPIO.LOW)
GPIO.setup(ENB, GPIO.OUT, initial=GPIO.LOW)
GPIO.setup(IN3, GPIO.OUT, initial=GPIO.LOW)
GPIO.setup(IN4, GPIO.OUT, initial=GPIO.LOW)

##########超声波模块管脚类型设置#########
GPIO.setup(TRIG, GPIO.OUT, initial=GPIO.LOW)  #超声波模块发射端管脚设置trig
GPIO.setup(ECHO, GPIO.IN, pull_up_down=GPIO.PUD_UP)  #超声波模块接收端管脚设置echo
XRservo.XiaoRGEEK_SetServo(0x07, 70)  ##设置1舵机角度90°


def Motor_Forward():
    print 'motor forward'
    GPIO.output(ENA, True)
    GPIO.output(ENB, True)
    GPIO.output(IN1, True)
    GPIO.output(IN2, False)
    GPIO.output(IN3, True)
    GPIO.output(IN4, False)


def Motor_Backward():
    print 'motor_backward'
    GPIO.output(ENA, True)