Servos und Motoren steuern

In diesem Projekt haben wir 12 Servos und zwei Motoren, die gleichzeitig arbeiten.

Es ist jedoch wichtig zu beachten, dass, wenn Ihre Servos und Motoren einen hohen Anlaufstrom haben, es empfohlen wird, sie separat zu starten, um unzureichenden Stromversorgungsstrom zu vermeiden, der zum Neustart des Raspberry Pi führen könnte.

Code

from robot_hat import Servo, Motors
import time

# Create objects for 12 servos
servos = [Servo(f"P{i}") for i in range(12)]

# Create motor object
motors = Motors()

def initialize_servos():
    """Set initial angle of all servos to 0."""
    for servo in servos:
        servo.angle(-90)
        time.sleep(0.1)  # Wait for servos to reach the initial position
    time.sleep(1)


def sweep_servos(angle_from, angle_to, step):
    """Control all servos to sweep from a start angle to an end angle."""
    if angle_from < angle_to:
        range_func = range(angle_from, angle_to + 1, step)
    else:
        range_func = range(angle_from, angle_to - 1, -step)

    for angle in range_func:
        for servo in servos:
            servo.angle(angle)
        time.sleep(0.05)

def control_motors_and_servos():
    """Control motors and servos in synchronization."""
    try:
        while True:
            # Motors rotate forward and servos sweep from -90 to 90 degrees
            motors[1].speed(80)
            time.sleep(0.01)
            motors[2].speed(80)
            time.sleep(0.01)
            sweep_servos(-90, 90, 5)
            time.sleep(1)

            # Motors rotate backward and servos sweep from 90 to -90 degrees
            motors[1].speed(-80)
            time.sleep(0.01)
            motors[2].speed(-80)
            time.sleep(0.01)
            sweep_servos(90, -90, 5)
            time.sleep(1)
    except KeyboardInterrupt:
        # Stop motors when Ctrl+C is pressed
        motors.stop()
        print("Motors stopped.")

# Initialize servos to their initial position
initialize_servos()

# Control motors and servos
control_motors_and_servos()