253 lines
6 KiB
Python
253 lines
6 KiB
Python
'''
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经过重构后的船新代码
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使用GPIO.PWM来生成PWM波。
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可以指定固定角度或时间，也可以手动控制。
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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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'''
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端口的定义
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'''
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CAROUSEL_ENA = 19
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CAROUSEL_DIR = 26
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CAROUSEL_PUL = 21
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ELEVATOR_DIR = 16
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ELEVATOR_PUL = 20
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CONVEYOR_ENA = 12
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CONVEYOR_DIR = 6
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CONVEYOR_PUL = 13
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WATCHDOG_DIR = 9
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WATCHDOG_PUL = 5
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HORIZONAL_ENA = 14
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HORIZONAL_DIR = 18
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HORIZONAL_PUL = 15
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VERTICAL_ENA = 11
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VERTICAL_DIR = 7
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VERTICAL_PUL = 1
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BAG_PUSHER_ENA = 23
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BAG_PUSHER_DIR = 22
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BAG_PUSHER_PUL = 24
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SCISSORS_PUSHER_ENA = 0
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SCISSORS_PUSHER_DIR = 3
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SCISSORS_PUSHER_PUL = 8
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SPIGOT = 17
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SCISSORS = 25
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class Motor():
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'''
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小板控制的电机，只有DIR和PUL引脚，用于控制方向和速度。
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'''
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def __init__(self, DIR, PUL, step_angle, subdivision, degree_per_second):
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'''
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初始化，指定引脚，步进角和细分。
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'''
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self.__DIR = DIR
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self.__PUL = PUL
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self.__degree_per_cycle = step_angle / subdivision
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self.__degree_per_second = degree_per_second
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self.__half_cycle = self.__degree_per_cycle / self.__degree_per_second / 2
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self.__frequency = degree_per_second / self.__degree_per_cycle
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GPIO.setup(DIR, GPIO.OUT)
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GPIO.setup(PUL, GPIO.OUT)
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self.__pwm = GPIO.PWM(PUL, self.__frequency)
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def __set_direction(self, output_DIR):
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'''
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设置转动的角度
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'''
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GPIO.output(self.__DIR, output_DIR)
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def __pwm_start(self):
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'''
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开始产生PWM波
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'''
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self.__pwm.ChangeFrequency(self.__frequency)
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self.__pwm.start(50)
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def stop(self):
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'''
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停止产生PWM波
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'''
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self.__pwm.stop()
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def start(self, direction):
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'''
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开始转动
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'''
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self.__set_direction(direction)
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self.__pwm_start()
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def __turn_time(self, second):
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'''
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转动指定时间
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'''
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self.__pwm_start()
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sleep(second)
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self.stop()
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def __turn_degree(self, degree):
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'''
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转动指定角度
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'''
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cycle = int(degree / self.__degree_per_cycle)
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for _ in range(cycle):
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GPIO.output(self.__PUL, GPIO.LOW)
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sleep(self.__half_cycle)
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GPIO.output(self.__PUL, GPIO.HIGH)
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sleep(self.__half_cycle)
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def forward_time(self, second):
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'''
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设置时间，正转
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'''
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self.__set_direction(GPIO.HIGH)
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self.__turn_time(second)
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def backward_time(self, second):
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'''
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设置时间，反转
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'''
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self.__set_direction(GPIO.LOW)
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self.__turn_time(second)
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def forward_degree(self, degree):
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'''
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设置角度，正转
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'''
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self.__set_direction(GPIO.HIGH)
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self.__turn_degree(degree)
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def backward_degree(self, degree):
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'''
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设置角度，反转
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'''
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self.__set_direction(GPIO.LOW)
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self.__turn_degree(degree)
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class ENAMotor(Motor):
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'''
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带有ENA信号的步进电机
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'''
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def __init__(self, ENA, DIR, PUL, step_angle, subdivision, degree_per_second):
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super(ENAMotor, self).__init__(DIR, PUL, step_angle,
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subdivision, degree_per_second)
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self.__ena = ENA
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GPIO.setup(ENA, GPIO.OUT)
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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.__ena, GPIO.HIGH)
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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.__ena, GPIO.LOW)
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def start(self, direction):
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'''
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开始转动
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'''
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self.enable()
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super(ENAMotor, self).start(direction)
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def stop(self):
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'''
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停止转动
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'''
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super(ENAMotor, self).stop()
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self.disable()
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def forward_degree(self, degree):
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'''
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设置角度，正转
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'''
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self.enable()
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super(ENAMotor, self).forward_degree(degree)
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self.disable()
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def backward_degree(self, degree):
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'''
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设置角度，反转
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'''
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self.enable()
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super(ENAMotor, self).backward_degree(degree)
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self.disable()
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def forward_time(self, second):
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'''
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设置时间，正转
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'''
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self.enable()
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super(ENAMotor, self).forward_time(second)
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self.disable()
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def backward_time(self, second):
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'''
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设置时间，反转
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'''
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self.enable()
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super(ENAMotor, self).backward_time(second)
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self.disable()
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class Servo:
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'''
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舵机
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'''
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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)
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self.__pwm = GPIO.PWM(self.port, 50)
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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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self.__pwm.ChangeFrequency(50)
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self.__pwm.start(dc)
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sleep(1)
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self.__pwm.stop()
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class Relay:
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'''
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继电器
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'''
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def __init__(self, port):
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self.port = port
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GPIO.setup(port, GPIO.OUT)
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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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GPIO.setwarnings(False)
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GPIO.setmode(GPIO.BCM)
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carousel = ENAMotor(CAROUSEL_ENA, CAROUSEL_DIR, CAROUSEL_PUL, 1.8, 32, 30)
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elevator = Motor(ELEVATOR_DIR, ELEVATOR_PUL, 18, 16, 1800)
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conveyor = ENAMotor(CONVEYOR_ENA, CONVEYOR_DIR, CONVEYOR_PUL, 1.8, 32, 30)
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watchdog = Motor(WATCHDOG_DIR, WATCHDOG_PUL, 18, 16, 3600)
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recycleh = ENAMotor(
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HORIZONAL_ENA, HORIZONAL_DIR, HORIZONAL_PUL, 1.8, 32, 360)
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recyclev = ENAMotor(
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VERTICAL_ENA, VERTICAL_DIR, VERTICAL_PUL, 1.8, 32, 360)
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bag_pusher = ENAMotor(BAG_PUSHER_ENA, BAG_PUSHER_DIR,
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BAG_PUSHER_PUL, 1.8, 32, 360)
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scissors_pusher = ENAMotor(
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SCISSORS_PUSHER_ENA, SCISSORS_PUSHER_DIR, SCISSORS_PUSHER_PUL, 1.8, 32, 360)
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spigot = Relay(SPIGOT)
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spigot.disable()
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scissors = Servo(SCISSORS)
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