# -*- coding: utf-8 -*-
import struct
import serialServo
import serial
import wiringpi
###
# servoの初期化
###
con = serial.Serial("/dev/ttyUSB0",
115200,
parity=serial.PARITY_EVEN,
stopbits=serial.STOPBITS_ONE,
timeout=1)
servo0 = serialServo.Servo(con, "0") # Servo ID = 0, 旋回
servo1 = serialServo.Servo(con, "1") # Servo ID = 1, L1 or L2
servo2 = serialServo.Servo(con, "2") # Servo ID = 2, R1 or R2
###
# servo操作関数
###
stick_th = 25000
def stick_infinite_loop_control(servo, val):
if (-1 * stick_th <= val) and (val <= stick_th):
_pos = servo.Pos(135) # 中立
if val > stick_th:
_pos = servo.Pos(serialServo.MAX_ANGLE)
if val < -1 * stick_th:
_pos = servo.Pos(serialServo.MIN_ANGLE)
# GPIOを出力モード（1）に設定
wiringpi.pinMode(2, 1)
con = None
con = serial.Serial("/dev/ttyUSB0",
115200,
parity=serial.PARITY_EVEN,
stopbits=serial.STOPBITS_ONE,
timeout=1)
initial_angle = 135 # 中立
servos = []
for i in range(1):
print("Servo", i, "initializing...")
servos.append(serialServo.Servo(con, "{}".format(i)))
print(servos)
angles = [servo.GetPos() for servo in servos]
th = 25000
def max_angle_stick_control(servo_id, val):
if (-1 * th <= val) and (val <= th):
_pos = servos[servo_id].Pos(servos[servo_id].GetPos())
_pos = servos[servo_id].Pos(_pos)
if val > th:
_pos = servos[servo_id].Pos(serialServo.MAX_ANGLE)
if val < -1 * th:
_pos = servos[servo_id].Pos(serialServo.MIN_ANGLE)
print("servo_id = {}, angle postition = {}, value = {}".format(
import serialServo
import sys
import serial
import time
from getch import _Getch
con = None
con = serial.Serial("/dev/ttyUSB0",
115200,
parity=serial.PARITY_EVEN,
stopbits=serial.STOPBITS_ONE,
timeout=1)
servo = serialServo.Servo(con, "0", 10)
_angle = servo.GetPos()
getch = _Getch()
while True:
ikey = getch()
print(_angle)
# A: Up, B: Down
if ikey == "A":
_angle = servo.Pos(_angle + 5)
if ikey == "B":
_angle = servo.Pos(_angle - 5)
if ikey == '\x03': # <Ctrl-c>
break
def setPort(event):
global servo
value = portBuff.get()
serialServo.SetSerial(value)
servo = serialServo.Servo(add)
portLabel.configure(text="selected port")