107 lines
2.5 KiB
Python
107 lines
2.5 KiB
Python
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'''
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worker模块包含两个类：Motor和port_enaMotor
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前者就是普通的马达，后者多了一个启用的端口。
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'''
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from time import sleep
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import RPi.GPIO as GPIO
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class Motor():
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'''
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步进电机
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'''
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def __init__(self, port_dir, port_pul, degree_per_cycle, steps):
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self.port_dir = port_dir
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self.port_pul = port_pul
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self.degree_per_cycle = degree_per_cycle
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self.steps = steps
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GPIO.setup(port_dir, GPIO.OUT, initial=GPIO.HIGH)
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GPIO.setup(port_pul, GPIO.OUT, initial=GPIO.HIGH)
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def turn_degree(self, degree, direction):
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'''
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转动角度
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'''
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GPIO.output(self.port_dir, direction)
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cycle = int(degree / self.degree_per_cycle * self.steps)
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for _ in range(cycle):
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GPIO.output(self.port_pul, GPIO.LOW)
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sleep(0.0001)
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GPIO.output(self.port_pul, GPIO.HIGH)
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sleep(0.0001)
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class ENAMotor(Motor):
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'''
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带有port_ena信号的步进电机
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'''
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def __init__(self, port_dir, port_pul, degree_per_cycle, steps, port_ena):
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super(ENAMotor, self).__init__(
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port_dir, port_pul, degree_per_cycle, steps)
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self.port_ena = port_ena
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GPIO.setup(port_ena, GPIO.OUT, initial=GPIO.HIGH)
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def enable(self):
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'''
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启用电机
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'''
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GPIO.output(self.port_ena, GPIO.LOW)
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def disable(self):
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'''
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停用电机
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'''
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GPIO.output(self.port_ena, GPIO.HIGH)
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class VibratorMotor:
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'''震动马达'''
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def __init__(self, port):
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'''
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初始化
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'''
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self.port = port
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GPIO.setup(port, GPIO.OUT, initial=GPIO.LOW)
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def enable(self):
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'''开始震动'''
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GPIO.output(self.port, GPIO.HIGH)
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def disable(self):
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'''停止震动'''
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GPIO.output(self.port, GPIO.LOW)
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class Servo:
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'''舵机'''
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def __init__(self, port):
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'''初始化'''
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self.port = port
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GPIO.setup(port, GPIO.OUT, initial=GPIO.LOW)
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def degree(self, degree):
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'''转到某个角度'''
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dc = (degree / 180 * 2 + 0.5) * 5
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p = GPIO.PWM(self.port, 50)
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p.start(dc)
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sleep(1)
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p.stop()
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class Relay:
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"继电器"
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def __init__(self, port):
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self.port = port
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GPIO.setup(port, GPIO.OUT, initial=GPIO.LOW)
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def enable(self):
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GPIO.output(self.port, GPIO.HIGH)
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def disable(self):
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GPIO.output(self.port, GPIO.LOW)
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