4. OpenMV控制小车运动中的舵机转向问题
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    • OpenMV控制小车运动中的舵机转向问题

    • 哈
       

      from pyb import Pin, Timer
# Servo Control Example
#
# This example shows how to use your OpenMV Cam to control servos.

import time
from pyb import Servo
s1 = Servo(3) # P9

while (True) :
    s1.angle(3)

      上述代码可以正常通过P9口来控制舵机转向。

      from pyb import Pin, Timer
# Servo Control Example
#
# This example shows how to use your OpenMV Cam to control servos.
inverse_left=False  #change it to True to inverse left wheel
inverse_right=False #change it to True to inverse right wheel

ain1 =  Pin('P0', Pin.OUT_PP)
ain2 =  Pin('P1', Pin.OUT_PP)
bin1 =  Pin('P2', Pin.OUT_PP)
bin2 =  Pin('P3', Pin.OUT_PP)
ain1.low()
ain2.low()
bin1.low()
bin2.low()
pwma = Pin('P7')
pwmb = Pin('P8')
tim = Timer(4, freq=10000)
ch1 = tim.channel(1, Timer.PWM, pin=pwma)
ch2 = tim.channel(2, Timer.PWM, pin=pwmb)
ch1.pulse_width_percent(0)
ch2.pulse_width_percent(0)




def run(left_speed, right_speed):
    if inverse_left==True:
        left_speed=(-left_speed)
    if inverse_right==True:
        right_speed=(-right_speed)

    if left_speed < 0:
        ain1.low()
        ain2.high()
    else:
        ain1.high()
        ain2.low()
    ch1.pulse_width_percent(abs(left_speed))

    if right_speed < 0:
        bin1.low()
        bin2.high()
    else:
        bin1.high()
        bin2.low()
    ch2.pulse_width_percent(abs(right_speed))

while (True) :
    run(25,25)

      上述代码可通过TB622A16612FNG芯片来控制小车电机转速。（P7P8两口来输出PWM）
      一但讲上述两段代码组合到一起，仍可通过run()函数控制电机转速，但无法控制舵机转向。组合后的代码如下:

      from pyb import Pin, Timer
# Servo Control Example
#
# This example shows how to use your OpenMV Cam to control servos.

import time
from pyb import Servo
s1 = Servo(3) # P7




inverse_left=False  #change it to True to inverse left wheel
inverse_right=False #change it to True to inverse right wheel

ain1 =  Pin('P0', Pin.OUT_PP)
ain2 =  Pin('P1', Pin.OUT_PP)
bin1 =  Pin('P2', Pin.OUT_PP)
bin2 =  Pin('P3', Pin.OUT_PP)
ain1.low()
ain2.low()
bin1.low()
bin2.low()
pwma = Pin('P7')
pwmb = Pin('P8')
tim = Timer(4, freq=10000)
ch1 = tim.channel(1, Timer.PWM, pin=pwma)
ch2 = tim.channel(2, Timer.PWM, pin=pwmb)
ch1.pulse_width_percent(0)
ch2.pulse_width_percent(0)




def run(left_speed, right_speed):
    if inverse_left==True:
        left_speed=(-left_speed)
    if inverse_right==True:
        right_speed=(-right_speed)

    if left_speed < 0:
        ain1.low()
        ain2.high()
    else:
        ain1.high()
        ain2.low()
    ch1.pulse_width_percent(abs(left_speed))

    if right_speed < 0:
        bin1.low()
        bin2.high()
    else:
        bin1.high()
        bin2.low()
    ch2.pulse_width_percent(abs(right_speed))

while (True) :
    run(50,50)
    s1.angle(30)

      求解答

      0

    • s1 = Servo(3) # P7

      pwma = Pin('P7')

      引脚冲突了

      0
    • 哈

      好像没有，我是注释写错了，s1=Servo(3)对应的是P9口吧

      0