所需器材有:树莓派及其电源,usb摄像头,路由器,两台伺服舵机及其外壳,一台笔记本,一根网线
import rpi.gpio as gpio import time import signal import atexit import os import sys import tty, termios atexit.register(gpio.cleanup) servopin = 22 servopin2 = 21 gpio.setmode(gpio.bcm) gpio.setup(servopin, gpio.out, initial=false) p = gpio.pwm(servopin, 50) p.start(0) gpio.setup(servopin2, gpio.out, initial=false) p2 = gpio.pwm(servopin2, 50) p2.start(0) time.sleep(2) i = 0 j = 0 while true: fd = sys.stdin.fileno() old_settings = termios.tcgetattr(fd) try: tty.setraw(fd) ch = sys.stdin.read(1) finally: termios.tcsetattr(fd, termios.tcsadrain, old_settings) if ch == 'a': if i - 10 >= 0: i = i - 10 p.changedutycycle(2.5 + 10 * i / 180) time.sleep(0.02) p.changedutycycle(0) time.sleep(0.2) if ch == 'd': if i + 10 < 181: i = i + 10 p.changedutycycle(2.5 + 10 * i / 180) time.sleep(0.02) p.changedutycycle(0) time.sleep(0.2) if ch == 'w': if j + 10 < 181: j = j + 10 p2.changedutycycle(2.5 + 10 * j / 180) time.sleep(0.02) p2.changedutycycle(0) time.sleep(0.2) if ch == 's': if j - 10 >= 0: j = j - 10 p2.changedutycycle(2.5 + 10 * j / 180) time.sleep(0.02) p2.changedutycycle(0) time.sleep(0.2) if ch == 'q': print "shutdown" break;
如对本文有疑问, 点击进行留言回复!!
linux下文本编辑器vim的使用方法(复制、粘贴、替换、行号、撤销、多文件操作)
网友评论