鹹魚ZTMR實例—遙控舵機

遙控車好簡單，我們來試一下看看如何控制舵機。爲機械臂打基礎。

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SG90舵機
範圍180°（-90°~90°）

引腳	說明
暗灰（棕色）	GND
紅色	5V
橙色	X1

PS2手柄

PS2手柄數字	代表按鈕	舵機狀態
5	上	逆時針旋轉
7	下	順時針旋轉

例程：遙控單個舵機
main.py

# main.py -- put your code here!
import ps2
from pyb import Servo,delay


s1=Servo(1)      #定義舵機X1
s1.angle(0)      #開機角度歸0
# 一個記錄轉動角度的函數.這個函數留着 有大用處
def setServoTurn(flag):      
    turn_angle = s1.angle()   
    if flag:
        #逆時針 值遞增 最大值90度
        turn_angle += 10 #每按一次轉10度
        if turn_angle <= 90:
            s1.angle(turn_angle)
    else:
        #順時針 值遞減 最小值-90度
        turn_angle -= 10
        if turn_angle >= -90:
            s1.angle(turn_angle)
while True: 
    pyb.delay(300)    
    print(ps2.ps2_key()) 
    if (ps2.ps2_key()==5):    #上建逆時針轉
        setServoTurn(True)    #Ture調用函數flag的if部分     
    elif (ps2.ps2_key()==7):  #下 順時針轉
        setServoTurn(False)   #False調用函數flag的else部分 

參考

ps2.py

hon
from machine import Pin
import time
def ps2_test():
  print('test ok')
di=Pin(Pin.cpu.C0,Pin.IN,Pin.PULL_DOWN)                     
do=Pin(Pin.cpu.C1,Pin.OUT, )                                             
cs=Pin(Pin.cpu.C2,Pin.OUT,)     #PULL_UP                                          
clk=Pin(Pin.cpu.C3,Pin.OUT,)   
#D0 16  dat=DI
#D2 04  cmd=DO
#D3  0  CS =CS
#D4  02  CLK=CLK                                                      
def DO_H():
  do.value(1)
def DO_L():
  do.value(0)
def CS_H ():
  cs.value(1)
def CS_L():
  cs.value(0)
def CLK_H ():
  clk.value(1)
def CLK_L():
  clk.value(0)

#常量按鈕
PSB_SELECT     = 1
PSB_L3         = 2
PSB_R3         = 3
PSB_START      = 4
PSB_PAD_UP     = 5
PSB_PAD_RIGHT  = 6
PSB_PAD_DOWN   = 7
PSB_PAD_LEFT   = 8
PSB_L2         = 9
PSB_R2         = 10
PSB_L1         = 11
PSB_R1         = 12
PSB_GREEN      = 13
PSB_RED        = 14
PSB_BLUE       = 15
PSB_PINK       = 16
PSB_TRIANGLE   = 13
PSB_CIRCLE     = 14
PSB_CROSS      = 15
PSB_SQUARE     = 26
# 左搖桿
PSS_RX = 5                
PSS_RY = 6
PSS_LX = 7
PSS_LY = 8
mask=[
PSB_SELECT,
    PSB_L3,
    PSB_R3 ,
    PSB_START,
    PSB_PAD_UP,
    PSB_PAD_RIGHT,
    PSB_PAD_DOWN,
    PSB_PAD_LEFT,
    PSB_L2,
    PSB_R2,
    PSB_L1,
    PSB_R1 ,
    PSB_GREEN,
    PSB_RED,
    PSB_BLUE,
    PSB_PINK]
comd=[0x01,0x42]
data=[0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00]
def ps2_init():
  CLK_H()
  DO_H()
  time.sleep_ms(10)
def ps2_cmd(cmd):
  global data
  data[1]=0
  for ref in (1,2,4,8,16,32,64,128):
    if ( ref & cmd):
     DO_H()
    else:
     DO_L()
    CLK_H ()
    time.sleep_us(50)
    CLK_L()
    time.sleep_us(50)
    CLK_H ()
    if(di.value()==1):
     data[1]=ref|data[1]
def ps2_red():
  global data
  global comd
  CS_L()
  ps2_cmd(comd[0])
  ps2_cmd(comd[1])
  CS_H()
  if(data[1]==57):
    return 0#red light
  else:
    return 1#not red
def ps2_read():
  global data
  global comd
  byte=0
  ref=0x01
  CS_L()
  ps2_cmd(comd[0])
  ps2_cmd(comd[1])
  for byte in (2,3,4,5,6,7,8):
    for ref in (1,2,4,8,16,32,64,128):
     CLK_H ()
     CLK_L()
     time.sleep_us(50)
     CLK_H ()
     if(di.value()==1):
      data[byte]= ref|data[byte]
    time.sleep_us(50)
  CS_H ()
def ps2_clear():#ok
  global data
  for i in range(0,9,1):
    data[i]=0

def ps2_andata(button):
  global data
  return data[button]
def ps2_key():
  global data
  global mask
  ps2_clear()
  ps2_read()
  handkey=(data[4]<<8)|data[3]
  for index in (0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15):
    if (( handkey&(1<<(mask[index]-1)))==0):
     return index+2
  return 0

效果