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servo_old.py
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# -*- coding: utf-8 -*-
import RPi.GPIO as GPIO
import time
import Adafruit_PCA9685
#import RPIservo
servo1_direction = 1
servo2_direction = 1
servo3_direction = 1
servo4_direction = 1
pwm = Adafruit_PCA9685.PCA9685()
pwm.set_pwm_freq(50)
#(duty ratio -100)/2.55
#Using the ebove formula, we have
# 100 for 0°
# 560 for 180°
pwm0_init = 500
pwm0_max = 450
pwm0_min = 150
pwm0_pos = pwm0_init
pwm1_init = 300
pwm1_max = 480
pwm1_min = 160
pwm1_pos = pwm1_init
pwm2_init = 300
pwm2_max = 500
pwm2_min = 100
pwm2_pos = pwm2_init
pwm3_init = 300
pwm3_max = 500
pwm3_min = 300
pwm3_pos = pwm3_init
origin_pos = 300 #300
def duty_ratio(angle): # calcul les angles en degre
degre = (angle - 100)/2.55
return int(degre)
def initialization():
try:
pwm.set_all_pwm(0, 100) # all servomotor are initialize to 300 degree
time.sleep(1)
except:
pass
# min and max degree interval
def interval (angle,min_angle,max_angle):
if angle < min_angle:
angle = min_angle
elif angle > max_angle:
angle = max_angle
else:
pass
return int(angle)
# second servomotor
"""
def ahead():
global pwm0_pos, pwm1_pos
pwm.set_pwm(0, 0, pwm0_init)
pwm.set_pwm(1", 0, (pwm1_ma"x-20))
pwm0"_pos = pwm0_"init
pwm1_"pos = pwm1_"max-20
"
"""
def servo_camera(angle_camera): # servo numero 11
# initialisation
angle = interval(angle_camera, 150, 500)
pwm.set_pwm(11, 0, angle)
def servo_post_cam(n):
#angle = interval(post_angle, 150, 500)
pwm.set_pwm(12, 0,n)
def servo_arm_1(angle_arm1):
angle = interval(angle_arm1, 150, 500)
pwm.set_pwm(13, 0,angle)
def servo_180(angle_180):
angle = interval(angle_180, 150, 500)
pwm.set_pwm(14, 0,angle)
def hand_servo(hand_angle):
angle = interval(hand_angle, 150, 500)
pwm.set_pwm(15, 0,angle)
def clean_all():
global pwm
pwm = Adafruit_PCA9685.PCA9685()
pwm.set_pwm_freq(50)
pwm.set_all_pwm(0, 0)
if __name__ == '__main__':
try:
angle_camera = 200
post_angle = 150
angle_arm1 = 250
angle_180 = 100
hand_angle = 150
pwm.set_pwm_freq(50)
#initialization()
#print("initialisation terminer")
#time.sleep(1)
#servo_camera(angle_camera) # * caméra
#time.sleep(1)
#pwm.set_pwm(12, 0, 300)
#time.sleep(4)
#pwm.set_pwm(12, 0, 185) #servo_post_cam(post_angle) # *4
#time.sleep(1)
#pwm.set_pwm(13, 0, 100) # *3
#time.sleep(2)
#pwm.set_pwm(13, 0, 255) # *3
#time.sleep(1)
pwm.set_pwm(12, 0, 300) # servo 4 init
pwm.set_pwm(12, 0, 185) # servo 4 position de capture
time.sleep(4)
pwm.set_pwm(13, 0, 255) # abaisser bon angle servo 3
pwm.set_pwm(13, 0, 100) # soulève servo 3
#time.sleep(1)
#hand_servo(hand_angle) # *1
#time.sleep(1)
clean_all()
#print(f"post_cam {post_angle}")
except:
pass
"""
def initialise():
pwm = Adafruit_PCA9685.PCA9685()
pwm.set_pwm_freq(50)
pwm.set_pwm(12, 0, 300) # servo 4 init
pwm.set_pwm(12, 0, 185) # servo 4 position de capture
pwm.set_pwm(13, 0, 255) # abaisser bon angle servo 3
pwm.set_pwm(13, 0, 100) # soulève servo 3
"""