我正在尝试对机器人手臂进行编程,我需要两个伺服系统同时运行,并且能够在不同方向运行,例如从 90° 到 180°,另一个伺服系统从 90° 到 0°,我是使用 Arduino、Python 和 pyfirmata 任何帮助都会很好,谢谢!
import pyfirmata
import time
board = pyfirmata.Arduino('/dev/cu.usbmodem14201')
armlower2 = board.get_pin('d:6:s')
armlower1 = board.get_pin('d:10:s')
for angle in range(90, 180, 1):
armlower2.write(angle)
time.sleep(0.015)
for angle in range(180, 90, -1):
armlower2.write(angle)
time.sleep(0.015)
for angle in range(90, 0, -1):
armlower1.write(angle)
time.sleep(0.015)
for angle in range(0, 90, 1):
armlower1.write(angle)
time.sleep(0.015)
这会移动舵机,但一次只能移动一个?
threading
,这是一个非常简单的示例:
import threading
def move_armlower2():
for angle in range(90, 180, 1):
armlower2.write(angle)
time.sleep(0.015)
for angle in range(180, 90, -1):
armlower2.write(angle)
time.sleep(0.015)
def move_armlower1():
for angle in range(90, 0, -1):
armlower1.write(angle)
time.sleep(0.015)
for angle in range(0, 90, 1):
armlower1.write(angle)
time.sleep(0.015)
threads = [
threading.Thread(target=move_armlower2), # Creating threads
threading.Thread(target=move_armlower1)
]
for th in threads:
th.start() # Starts the thread
for th in threads:
th.join() # Waits for the thread to terminate
您应该围绕“当前值”和“想要值”的概念编写主循环,即您想要的值与您当前所处的值(角度)。这可以扩展到任意数量的电机,使用电机数组,并在循环中遍历它们的值。但对于两个人来说,您可以简单地执行以下操作。
// The angle values you want to achieve, and what they currently are
GLOBAL want1, want2
GLOBAL current1, current2
LOOP {
LOCAL updelta = 1
LOCAL downdelta = -1
if want1 > current1
movearm1(updelta)
current1 = current1 + updelta
else if want1 < current1
movearm1(downdelta)
current1 = current1 + downdelta
if want2 > current2
movearm2(updelta)
current2 = current2 + updelta
else if want2 < current2
movearm2(downdelta)
current2 = current2 + downdelta
sleep(0.015)
}