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)