import time,sensor,image,math,pyb
from servo import Servos
#from pyb import Pin#可有可无
from machine import I2C, Pin

#摄像头初始化函数
sensor.reset()
sensor.set_pixformat(sensor.GRAYSCALE)
sensor.set_framesize(sensor.VGA) # High Res!
sensor.set_windowing((80, 640)) #该部分是摄像头分辨率调整，条形码建议640x80或反之
sensor.skip_frames(30)
sensor.set_auto_gain(False)  # must turn this off to prevent image washout...
sensor.set_auto_whitebal(False)  # must turn this off to prevent image washout...
clock = time.clock()

i2c = I2C(sda=Pin('P5'), scl=Pin('P4'))#pca9685初始化，下面预计为舵机使用iic地址配置
servo = Servos(i2c, address=0x40, freq=50, min_us=500, max_us=2500, degrees=180)

pin1 = Pin('P1', Pin.IN, Pin.PULL_UP)   ##将P1口作为阈值控制口 OUT_PP PULL_NONE
key1=0

#所有舵机度数为90度时机械臂与地面垂直
servo.position(0,90)#初始化舵机位置，从下到上6个舵机
time.sleep_ms(1000)
servo.position(1,90)#按支架方向度数减小是向前
time.sleep_ms(1000)
servo.position(2,90)#该舵机度数增大是向前
time.sleep_ms(1000)
servo.position(3,90)#该舵机度数增大是向前申
time.sleep_ms(1000)
servo.position(4,90)#旋转机械爪舵机，一般不用动，90度是水平状态
servo.position(5,80)#机械爪张合舵机(120度完全闭合，减小度数张开)
time.sleep_ms(2000)

#按键中断函数
def callback_PIN1(line):
    global key1#全局变量
    key1=1
    pyb.delay(5)#按键消抖，下面内容为外部中断配置
extint = pyb.ExtInt(pin1, pyb.ExtInt.IRQ_FALLING, pyb.Pin.PULL_UP, callback_PIN1)

#条形码识别函数(详细可参考星曈官网)
def barcode_name(code):
    if(code.type() == image.EAN2):
        return "EAN2"
    if(code.type() == image.EAN5):
        return "EAN5"
    if(code.type() == image.EAN8):
        return "EAN8"
    if(code.type() == image.UPCE):
        return "UPCE"
    if(code.type() == image.ISBN10):
        return "ISBN10"
    if(code.type() == image.UPCA):
        return "UPCA"
    if(code.type() == image.EAN13):
        return "EAN13"
    if(code.type() == image.ISBN13):
        return "ISBN13"
    if(code.type() == image.I25):
        return "I25"
    if(code.type() == image.DATABAR):
        return "DATABAR"
    if(code.type() == image.DATABAR_EXP):
        return "DATABAR_EXP"
    if(code.type() == image.CODABAR):
        return "CODABAR"
    if(code.type() == image.CODE39):
        return "CODE39"
    if(code.type() == image.PDF417):
        return "PDF417"
    if(code.type() == image.CODE93):
        return "CODE93"
    if(code.type() == image.CODE128):
        return "CODE128"

#用字典将大中小和左中右位置对应
barcode_positions = {}

#条形码扫描函数
def scan_barcode(position_label):
    while True:#死循环，未检测到条形码则一直检测
        clock.tick()
        img = sensor.snapshot()
        codes = img.find_barcodes()
        if codes:#该部分可参考星曈官网示例
            for code in codes:
                img.draw_rectangle(code.rect())
                barcode_type = barcode_name(code)
                payload = code.payload()
                barcode_positions[payload] = position_label
                print("Barcode %s, Payload \"%s\", position %s" % (barcode_type, payload, position_label))
                return  # Successfully detected a barcode, exit the loop
        else:
            print("No barcode detected, retrying...")

#扫描右侧函数
def scan_move_right():
    for pos0 in range(90,80,-2):
        servo.position(0,pos0)
        time.sleep_ms(50)
    time.sleep_ms(500)

#中间扫描函数
def scan_move_middle():
    for pos1 in range(90,50,-2):
        servo.position(1,pos1)
        time.sleep_ms(50)
    time.sleep_ms(500)
    for pos3 in range(90,160,2):
        servo.position(3,pos3)
        time.sleep_ms(30)
    time.sleep_ms(500)
    for pos2 in range(90,105,2):
        servo.position(2,pos2)
        time.sleep_ms(50)
    time.sleep_ms(500)

#扫描左侧函数
def scan_move_left():
    for pos0 in range(90,102,2):
        servo.position(0,pos0)#(100度左右适宜，可能略有误查)
        time.sleep_ms(50)
    time.sleep_ms(500)

#扫描后复位到中间
def scan_move_back():
    for pos0 in range(80,91,2):#扫描完所有条形码后机械臂转回中间
        servo.position(0,pos0)
        time.sleep_ms(50)
    time.sleep_ms(500)
    for pos1 in range(52,90,2):
        servo.position(1,pos1)
        time.sleep_ms(50)
    time.sleep_ms(500)
#扫描后的抓取函数左中右一次性抓取
def catch_move(barcode_positions,key):
    if barcode_positions.get(key)=='L':
        for pos0 in range(90,101,2):
            servo.position(0,pos0)
            time.sleep_ms(50)
        time.sleep_ms(500)
        for pos1 in range(90,50,-2):
            servo.position(1,pos1)
            time.sleep_ms(50)
        time.sleep_ms(500)
        for pos3 in range(90,75,-2):
            servo.position(3,pos3)
            time.sleep_ms(50)
        time.sleep_ms(500)
        for pos2 in range(90,150,2):
            servo.position(2,pos2)
            time.sleep_ms(50)
        time.sleep_ms(500)
        servo.position(5,110)
        time.sleep_ms(500)
        for pos1 in range(50,90,2):
            servo.position(1,pos1)
            time.sleep_ms(50)
        time.sleep_ms(500)
        for pos0 in range(100,160,2):
            servo.position(0,pos0)
            time.sleep_ms(50)
        time.sleep_ms(2000)
        #if key1==1 and pin1.value()==0:#按键按下则打开机械爪并旋转复位，否则机械臂不动
            #servo.position(3,110)#机械爪张开
            #time.sleep_ms(1000)
            #servo.position(0,90)
            #time.sleep_ms(5000)
        #else:
            #servo.position(0,180)
            #time.sleep_ms(1000)
    if barcode_positions.get(key)=='M':
        servo.position(0,90)
        time.sleep_ms(500)
        for pos1 in range(90,50,-2):
            servo.position(1,pos1)
            time.sleep_ms(50)
        time.sleep_ms(500)
        for pos3 in range(90,75,-2):
            servo.position(3,pos3)
            time.sleep_ms(50)
        time.sleep_ms(500)
        for pos2 in range(90,150,2):
            servo.position(2,pos2)
            time.sleep_ms(50)
        time.sleep_ms(500)
        servo.position(5,110)
        time.sleep_ms(500)
        for pos1 in range(50,90,2):
            servo.position(1,pos1)
            time.sleep_ms(50)
        time.sleep_ms(500)
        for pos0 in range(90,160,2):
            servo.position(0,pos0)
            time.sleep_ms(50)
        time.sleep_ms(2000)

        #if key1==1 and pin1.value()==0:#按键按下则打开机械爪并旋转复位，否则机械臂不动
            #servo.position(3,110)#机械爪张开
            #time.sleep_ms(1000)
            #servo.position(0,90)
            #time.sleep_ms(5000)
        #else:
            #servo.position(0,180)
            #time.sleep_ms(1000)
    if barcode_positions.get(key)=='R':
        for pos0 in range(90,80,-2):
            servo.position(0,pos0)
            time.sleep_ms(50)
        time.sleep_ms(500)
        for pos1 in range(90,50,-2):
            servo.position(1,pos1)
            time.sleep_ms(50)
        time.sleep_ms(500)
        for pos3 in range(90,75,-2):
            servo.position(3,pos3)
            time.sleep_ms(50)
        time.sleep_ms(500)
        for pos2 in range(90,150,2):
            servo.position(2,pos2)
            time.sleep_ms(50)
        time.sleep_ms(500)
        servo.position(5,110)
        time.sleep_ms(500)
        for pos1 in range(50,90,2):
            servo.position(1,pos1)
            time.sleep_ms(50)
        time.sleep_ms(500)
        for pos0 in range(80,160,2):
            servo.position(0,pos0)
            time.sleep_ms(50)
        time.sleep_ms(2000)
        #if key1==1 and pin1.value()==0:#按键按下则打开机械爪并旋转复位，否则机械臂不动
            #servo.position(3,110)#机械爪张开
            #time.sleep_ms(1000)
            #servo.position(0,90)
            #time.sleep_ms(5000)
        #else:
            #servo.position(0,180)
            #time.sleep_ms(1000)
#######################################################################
#以下为本次抓取程序，上述为各部分函数

#检测中间物体的条形码
scan_move_middle()
time.sleep_ms(500)
scan_barcode("M")
#向左移动
scan_move_left()
time.sleep_ms(500)
#左边识别条形码
scan_barcode("L")
#向右移动
#右边识别条形码
scan_move_right()
scan_barcode("R")
time.sleep_ms(500)
scan_move_back()
time.sleep_ms(500)
#以下为抓取物料顺序，更改引号内内容即可
catch_move(barcode_positions,"middle")
if key1==1 and pin1.value()==0:#按键按下则打开机械爪并旋转复位，否则机械臂不动
    servo.position(5,80)#机械爪张开
    time.sleep_ms(1000)
    for i in range(160,90,-2):
        servo.position(0,i)
        time.sleep_ms(50)
    time.sleep_ms(500)
catch_move(barcode_positions,"small")
if key1==1 and pin1.value()==0:#按键按下则打开机械爪并旋转复位，否则机械臂不动
    servo.position(5,80)#机械爪张开
    time.sleep_ms(1000)
    for i in range(160,90,-2):
        servo.position(0,i)
        time.sleep_ms(50)
    time.sleep_ms(500)
catch_move(barcode_positions,"big")
if key1==1 and pin1.value()==0:#按键按下则打开机械爪并旋转复位，否则机械臂不动
    servo.position(5,80)#机械爪张开
    time.sleep_ms(1000)
    for i in range(160,90,-2):
        servo.position(0,i)
        time.sleep_ms(50)
    time.sleep_ms(500)
#这样大中小就和方位对应起来了
#比如定义一个moveto(L/M/R）ifL左移，ifR右移，if不动
#机械臂移动到中方块处moveto(barcode_positions["middle"])然后拿走
#回到初始位置
#移到小方块处moveto(barcode_positions["small"])拿走
#回到初始位置
#移到大方块处moveto(barcode_positions["big"])拿走
#回到初始位置

![0_1716033374049_IMG_20240518_195556.jpg](正在上传 100%) 

import time
from servo import Servos
from machine import I2C, Pin

i2c = I2C(sda=Pin('P5'), scl=Pin('P4'))
servo = Servos(i2c, address=0x40, freq=50, min_us=500, max_us=2500, degrees=180)

while True:
servo.position(0, 0)
time.sleep_ms(500)
servo.position(0, 180)
time.sleep_ms(500)

代码是例程的 而且 三个条形码放在一起 只能识别到一个

为什么例程也没有模型啊 我已经升级固件了