导航

    • 登录
    • 搜索
    • 版块
    • 产品
    • 教程
    • 论坛
    • 淘宝
    1. 主页
    2. qlog
    Q
    • 举报资料
    • 资料
    • 关注
    • 粉丝
    • 屏蔽
    • 帖子
    • 楼层
    • 最佳
    • 群组

    qlog

    @qlog

    0
    声望
    1
    楼层
    193
    资料浏览
    0
    粉丝
    0
    关注
    注册时间 最后登录

    qlog 关注

    qlog 发布的帖子

    • 代码没有报错,也全部导入到openmv了,用电笔测量PWM没有电平,对应电机不旋转。
      import time
      from servo import Servos
      from machine import SoftI2C, Pin
      
      i2c = SoftI2C(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(8, 180)
      
      
      
      
      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]))
      
          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)
      
      
      
      import pca9685
      import math
      
      class Servos:
          def __init__(self, i2c, address=0x40, freq=50, min_us=600, max_us=2400, degrees=180):
              self.period = 1000000 / freq
              self.min_duty = self._us2duty(min_us)
              self.max_duty = self._us2duty(max_us)
              self.degrees = degrees
              self.freq = freq
              self.pca9685 = pca9685.PCA9685(i2c, address)
              self.pca9685.freq(freq)
      
          def _us2duty(self, value):
              return int(4095 * value / self.period)
      
          def position(self, index, degrees=None, radians=None, us=None, duty=None):
              span = self.max_duty - self.min_duty
              if degrees is not None:
                  duty = self.min_duty + span * degrees / self.degrees
              elif radians is not None:
                  duty = self.min_duty + span * radians / math.radians(self.degrees)
              elif us is not None:
                  duty = self._us2duty(us)
              elif duty is not None:
                  pass
              else:
                  return self.pca9685.duty(index)
              duty = min(self.max_duty, max(self.min_duty, int(duty)))
              self.pca9685.duty(index, duty)
      
          def release(self, index):
              self.pca9685.duty(index, 0)
      
      

      0_1727317721675_e51b1658b1e27bae9951bd8fbd85e13.jpg

      发布在 OpenMV Cam
      Q
      qlog