def __init__(self, i2c):
s = servo.Servos(i2c)
servo_list = []
for n in range(16):
servo_list.append(Servo9686(s, n))
servo_list.append(ServoDirect(Pin(0)))
servo_list.append(ServoDirect(Pin(2)))
# Set them all to 90 degrees
for n in range(18):
servo_list[n].position(90)
self.servo_list = servo_list
import machine import servo import time # GPIO->PIN pin = [16, 5, 4, 0, 2, 14, 12, 13, 15, 3, 1, 9, 10] # Initialize I2C dis_i2c = machine.I2C(sda=machine.Pin(pin[7]), scl=machine.Pin(pin[6])) servos = servo.Servos(dis_i2c) # Main program servos.position(0, degrees=180) time.sleep(3) servos.position(0, degrees=0)
# Handle if these were reversed...
tmp = max(STEERING_SERVO_MIN_US, STEERING_SERVO_MAX_US)
STEERING_SERVO_MIN_US = min(STEERING_SERVO_MIN_US, STEERING_SERVO_MAX_US)
STEERING_SERVO_MAX_US = tmp
device = None
if ARDUINO_SERVO_CONTROLLER:
device = pyb.UART(3, 19200, timeout_char=1000)
if NATIVE_SERVO_CONTROLLER:
import servo
import machine
device = servo.Servos(machine.I2C(sda=machine.Pin("P5"),
scl=machine.Pin("P4")),
address=0x40,
freq=50)
if NATIVE_MOTOR_CONTROLLER:
from pyb import Pin, Timer
# these are motor driver pins, which set the direction of each motor
pinADir0 = pyb.Pin('P0', pyb.Pin.OUT_PP, pyb.Pin.PULL_NONE)
pinADir1 = pyb.Pin('P1', pyb.Pin.OUT_PP, pyb.Pin.PULL_NONE)
pinBDir0 = pyb.Pin('P2', pyb.Pin.OUT_PP, pyb.Pin.PULL_NONE)
pinBDir1 = pyb.Pin('P3', pyb.Pin.OUT_PP, pyb.Pin.PULL_NONE)
# Dir0/1 must be not equal to each other for forward or backwards
# operation. If they are equal then that's a brake operation.
# If they are not equal then the motor will spin one way other the
# other depending on its hookup and the value of channel 0.
from machine import I2C, Pin
import servo
i2c = I2C(2)
ser = servo.Servos(i2c)
while True:
ser.position(
11, us=1500
) # 11 is your servo channel, us is servo position, usually the value is from 0.5ms to 2.5ms
pyb.delay(1000)
ser.position(11, us=2000)
pyb.delay(1000)
from microbit import sleep, button_a
import radio
import PCA9685
import servo
def playnote(sc, smap, note, numticks, ticklength):
sc.position(smap.index(note), 30) # move servo enough to hit glass
sleep(100) # give it time to move that far
sc.position(smap.index(note), 0) # move it back
sleep(100)
sc.release(smap.index(note))
sleep((ticklength * numticks) - 200) # rest for the length of the note
radio.on()
sc = servo.Servos()
# http://www.musicnotes.com/SheetMusic/mtd.asp?ppn=MN0127456
swt = ('a4:2', 'b4:2', 'g4', 'a4:2', 'c5:2', 'd5:2', 'b4', 'c5:2', 'b4:2')
smap = ('g4', 'a4', 'b4', 'c5', 'd5')
while True:
incoming = radio.receive()
if incoming == 'dingdong' or button_a.was_pressed():
for _ in range(5):
for x in swt:
y = x.split(':')
playnote(sc, smap, y[0], len(y) > 1 and int(y[1]) or 1, 200)
# servo_max = 600 # Max pulse length out of 4096
# Set frequency to 60hz, good for servos.
# pwm.set_pwm_freq(60)
# print('Moving servo on channel 0, press Ctrl-C to quit...')
# # Move servo on channel O between extremes.
# pwm.set_pwm(3, 0, servo_min)
# sleep(1000)
# pwm.set_pwm(3, 0, servo_max)
# sleep(1000)
# 驱动舵机
# Use servo helper class to move channel 0 by degrees
s0 = servo.Servos(i2c)
s0.Servo360(2, 1, 90)
sleep(2000)
s0.Servo360(2, 2, 90)
sleep(2000)
s0.Servo360(2, 3, 90)
sleep(2000)
#s0.Servo270(1, 0)
#sleep(2000)
#s0.Servo270(1, 90)
#sleep(2000)
#s0.Servo270(1, 180)
#sleep(2000)
#s0.Servo270(1, 270)
#sleep(2000)
#s0.Servo270(1, 180)
import ps2x_controller
import time
import math
import bloc_calculator
import ujson
import os
if "config.json" in os.listdir():
f = open("config.json", "r")
config = ujson.loads(f.read())
f.close()
else:
print("no config file")
i2c = machine.I2C(sda=machine.Pin(21), scl=machine.Pin(22))
s1 = servo.Servos(i2c, address=0x40)
s2 = servo.Servos(i2c, address=0x41)
s = [s1, s2]
controller = ps2x_controller.Controller()
def calibrate():
global config
s = {"0x40": s1, "0x41": s2}
servos = ["inner", "coxa", "outer"]
offsets = {"inner": config, "coxa": 0, "outer": 0}
sticks = {"inner": "PSS_LX", "coxa": "PSS_RX", "outer": "PSS_RY"}
for leg in range(6):
sc = s[config["servos"]["leg_address"][leg]]
for servo in servos:
# * ############################################################################### from machine import Pin, I2C import time # Imports for the servo FeatherWing import pca9685 import servo # Construct an I2C bus i2c = I2C(scl=Pin(5), sda=Pin(4), freq=100000) # Define the servos instance # In the case of the feather it will contain 8 possible servos servos = servo.Servos(i2c) # We'll just be controlling servo number 0 here SERVO_NUMBER = 0 # Move the servo in position 80deg # 80 deg was actually center on the servo I was testing on # The default possible range is 0-180. However, note that most servos, even # if advertised as having that range, do not. +/-60 deg around the center # is much more reliable. +/-45deg around center is even better. servos.position(SERVO_NUMBER, 80) time.sleep(1) # Now, move to 50deg servos.position(SERVO_NUMBER, 50) time.sleep(1)
import servo from machine import I2C, Pin import time i2c = I2C(-1, scl=Pin(22), sda=Pin(21)) # Create a simple PCA9685 class instance. servo = servo.Servos(i2c) servo.position(0, degrees=100)
