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  • 我们只解决官方正版的OpenMV的问题(STM32),其他的分支有很多兼容问题,我们无法解决。
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  • pca9685控制舵机,接线没问题,报错,程序停在这一步是为什么?



    • 0_1564456069573_0c49adaa-3d56-4d44-b87b-9faa07223a27-image.png

      import utime
      import ustruct
      
      class PCA9685:
          def __init__(self, i2c, address=0x40):
              self.i2c = i2c
              self.address = address
              self.reset()
      
          def _write(self, address, value):
              self.i2c.writeto_mem(self.address, address, bytearray([value]))//程序停在这一步报错?
      
          def _read(self, address):
              return self.i2c.readfrom_mem(self.address, address, 1)[0]
      
          def reset(self):
              self._write(0x00, 0x00) # Mode1
      
          def freq(self, freq=None):
              if freq is None:
                  return int(25000000.0 / 4096 / (self._read(0xfe) - 0.5))
              prescale = int(25000000.0 / 4096.0 / freq + 0.5)
              old_mode = self._read(0x00) # Mode 1
              self._write(0x00, (old_mode & 0x7F) | 0x10) # Mode 1, sleep
              self._write(0xfe, prescale) # Prescale
              self._write(0x00, old_mode) # Mode 1
              utime.sleep_us(5)
              self._write(0x00, old_mode | 0xa1) # Mode 1, autoincrement on
      
          def pwm(self, index, on=None, off=None):
              if on is None or off is None:
                  data = self.i2c.readfrom_mem(self.address, 0x06 + 4 * index, 4)
                  return ustruct.unpack('<HH', data)
              data = ustruct.pack('<HH', on, off)
              self.i2c.writeto_mem(self.address, 0x06 + 4 * index,  data)
      
          def duty(self, index, value=None, invert=False):
              if value is None:
                  pwm = self.pwm(index)
                  if pwm == (0, 4096):
                      value = 0
                  elif pwm == (4096, 0):
                      value = 4095
                  value = pwm[1]
                  if invert:
                      value = 4095 - value
                  return value
              if not 0 <= value <= 4095:
                  raise ValueError("Out of range")
              if invert:
                  value = 4095 - value
              if value == 0:
                  self.pwm(index, 0, 4096)
              elif value == 4095:
                  self.pwm(index, 4096, 0)
              else:
                  self.pwm(index, 0, value)
      
      
      


    • 还会停在这一步
      self.i2c.writeto_mem(self.address, 0x06 + 4 * index, data)
      main.py和servo.py都是只改动了舵机相关的参数。



    • 你用的是官方的舵机扩展板?

      https://singtown.com/learn/50057/

      按照视频操作,如果出现错误就找售后维修。