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# -*- coding: utf-8 -*-
'''
Copyright (c) [2021] [CaliFall]
[GarbageDetectGolf] is licensed under Mulan PSL v2.
You can use this software according to the terms and conditions of the Mulan PSL v2.
You may obtain a copy of Mulan PSL v2 at:
http://license.coscl.org.cn/MulanPSL2
THIS SOFTWARE IS PROVIDED ON AN "AS IS" BASIS, WITHOUT WARRANTIES OF ANY KIND, EITHER EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO NON-INFRINGEMENT, MERCHANTABILITY OR FIT FOR A PARTICULAR PURPOSE.
See the Mulan PSL v2 for more details.
'''
import time
import Adafruit_PCA9685
try:
pwm = Adafruit_PCA9685.PCA9685()
pwm.set_pwm_freq(50)
channel_lower = 0
channel_upper = 4
biggap1 = 0.50
gap1 = 0.10
gap2 = 0.40
flip_angle = 60 # 上舵机翻转角度
offset_l = 2 # 下舵机修正角度
offset_u = -9 # 上舵机修正角度
moto_enable = True
ddmode = False
except:
print("舵机初始化失败")
pass
def set_servo_angle(channel, angle):
# 输入角度转换成12^精度的数值
# + 0.5是进行四舍五入运算。
date = int(4096 * ((angle * 11) + 500) / 20000 + 0.5)
pwm.set_pwm(channel, 0, date)
def motoact(mode):
if not moto_enable:
return 0
if mode == 1: # 第一象限
set_servo_angle(channel_lower, (90 - 45 / 2) + offset_l)
time.sleep(gap1)
set_servo_angle(channel_upper, 90 + offset_u + flip_angle)
time.sleep(gap2)
motoact(0)
if mode == 2: # 第二象限
set_servo_angle(channel_lower, (90 + 45 / 2) + offset_l)
time.sleep(gap1)
set_servo_angle(channel_upper, 90 + offset_u + flip_angle)
time.sleep(gap2)
motoact(0)
if mode == 3: # 第三象限
set_servo_angle(channel_lower, (90 - 45 / 2) + offset_l)
time.sleep(gap1)
set_servo_angle(channel_upper, 90 + offset_u - flip_angle)
time.sleep(gap2)
motoact(0)
if mode == 4: # 第四象限
set_servo_angle(channel_lower, (90 + 45 / 2) + offset_l)
time.sleep(gap1)
set_servo_angle(channel_upper, 90 + offset_u - flip_angle)
time.sleep(gap2)
motoact(0)
if mode == 0: # 复位动作
set_servo_angle(channel_upper, 90 + offset_u)
set_servo_angle(channel_lower, 90 + offset_l)
if mode == 5: # 测试动作
motoact(1)
time.sleep(0.5)
motoact(2)
time.sleep(0.5)
motoact(3)
time.sleep(0.5)
motoact(4)
time.sleep(0.5)
if mode == 6: # 调试动作
set_servo_angle(channel_lower, 90 - 45 / 2 + offset_l)
set_servo_angle(channel_upper, 165 + offset_u)
if mode == 7: # 警告动作
set_servo_angle(channel_lower, 90 + offset_u + 20)
time.sleep(0.5)
set_servo_angle(channel_lower, 90 + offset_u - 20)
time.sleep(0.5)
motoact(0)
if mode == 8: # 调头动作
set_servo_angle(channel_lower, (90 - 180 /2) + offset_u - 2)
def motoact_dd(mode, ddflag):
if not moto_enable:
return 0
if mode == 1: # 第一象限
if ddflag == "A":
set_servo_angle(channel_lower, (90 - 45 / 2) + offset_l)
time.sleep(gap1)
set_servo_angle(channel_upper, 90 + offset_u + flip_angle)
time.sleep(gap2)
motoact(0)
if ddflag == "B":
set_servo_angle(channel_lower, (90 + 135 / 2) + offset_l)
time.sleep(biggap1)
set_servo_angle(channel_upper, 90 + offset_u - flip_angle)
time.sleep(gap2)
motoact(0)
if mode == 2: # 第二象限
if ddflag == "A":
set_servo_angle(channel_lower, (90 + 45 / 2) + offset_l)
time.sleep(gap1)
set_servo_angle(channel_upper, 90 + offset_u + flip_angle)
time.sleep(gap2)
motoact(0)
if ddflag == "B":
set_servo_angle(channel_lower, (90 - 135 / 2) + offset_l)
time.sleep(biggap1)
set_servo_angle(channel_upper, 90 + offset_u - flip_angle)
time.sleep(gap2)
motoact(0)
if mode == 3: # 第三象限
if ddflag == "A":
set_servo_angle(channel_lower, (90 + 135 / 2) + offset_l)
time.sleep(biggap1)
set_servo_angle(channel_upper, 90 + offset_u + flip_angle)
time.sleep(gap2)
motoact(0)
if ddflag == "B":
set_servo_angle(channel_lower, (90 - 45 / 2) + offset_l)
time.sleep(gap1)
set_servo_angle(channel_upper, 90 + offset_u - flip_angle)
time.sleep(gap2)
motoact(0)
if mode == 4: # 第四象限
if ddflag == "A":
set_servo_angle(channel_lower, (90 - 135 / 2) + offset_l)
time.sleep(biggap1)
set_servo_angle(channel_upper, 90 + offset_u + flip_angle)
time.sleep(gap2)
motoact(0)
if ddflag == "B":
set_servo_angle(channel_lower, (90 + 45 / 2) + offset_l)
time.sleep(gap1)
set_servo_angle(channel_upper, 90 + offset_u - flip_angle)
time.sleep(gap2)
motoact(0)
if mode == 0: # 复位动作
set_servo_angle(channel_upper, 90 + offset_u)
set_servo_angle(channel_lower, 90 + offset_l)
if mode == 5: # 测试动作
motoact(1)
time.sleep(0.5)
motoact(2)
time.sleep(0.5)
motoact(3)
time.sleep(0.5)
motoact(4)
time.sleep(0.5)
if mode == 6: # 调试动作
set_servo_angle(channel_lower, 90 - 45 / 2 + offset_l)
set_servo_angle(channel_upper, 165 + offset_u)
if mode == 7: # 警告动作
set_servo_angle(channel_lower, 90 + offset_u + 20)
time.sleep(0.5)
set_servo_angle(channel_lower, 90 + offset_u - 20)
time.sleep(0.5)
motoact(0)
if mode == 8: # 调头动作
set_servo_angle(channel_lower, (90 - 180 /2) + offset_u - 2)
if __name__ == '__main__':
mode = 1
if mode == 1:
while True:
key = int(input("key:"))
if ddmode:
motoact_dd(key, ddflag)
else:
motoact(key)
if mode == 2:
while True:
motoact(1)
time.sleep(0.5)
motoact(2)
time.sleep(0.5)
motoact(3)
time.sleep(0.5)
motoact(4)
time.sleep(0.5)
if mode == 3:
while True:
set_servo_angle(4, int(input()))
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