kopia lustrzana https://github.com/pimoroni/pimoroni-pico
59 wiersze
1.4 KiB
Python
59 wiersze
1.4 KiB
Python
import time
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import math
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from inventor import Inventor2040W
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"""
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Demonstrates how to control all of the servos on Inventor 2040 W.
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"""
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# Create a new Inventor2040W
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board = Inventor2040W()
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# Enable all servos (this puts them at the middle)
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for s in board.servos:
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s.enable()
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time.sleep(2)
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# Go to min
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for s in board.servos:
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s.to_min()
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time.sleep(2)
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# Go to max
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for s in board.servos:
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s.to_max()
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time.sleep(2)
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# Go back to mid
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for s in board.servos:
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s.to_mid()
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time.sleep(2)
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SWEEPS = 3 # How many sweeps of the servo to perform
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STEPS = 10 # The number of discrete sweep steps
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STEPS_INTERVAL = 0.5 # The time in seconds between each step of the sequence
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SWEEP_EXTENT = 90.0 # How far from zero to move the servo when sweeping
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# Do a sine sweep
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for j in range(SWEEPS):
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for i in range(360):
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value = math.sin(math.radians(i)) * SWEEP_EXTENT
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for s in board.servos:
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s.value(value)
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time.sleep(0.02)
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# Do a stepped sweep
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for j in range(SWEEPS):
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for i in range(0, STEPS):
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for s in board.servos:
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s.to_percent(i, 0, STEPS, 0.0 - SWEEP_EXTENT, SWEEP_EXTENT)
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time.sleep(STEPS_INTERVAL)
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for i in range(0, STEPS):
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for s in board.servos:
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s.to_percent(i, STEPS, 0, 0.0 - SWEEP_EXTENT, SWEEP_EXTENT)
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time.sleep(STEPS_INTERVAL)
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# Disable the servos
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for s in board.servos:
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s.disable()
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