smartservo
--- 智能舵机¶
smartservo
模块的主要功能与函数
智能舵机说明¶
mbuild模块的智能舵机模块如下图所示:
功能相关函数¶
-
smartservo.
set_zero
()¶ 设置当前位置为零点。
-
smartservo.
move_to
(position, speed)¶ 按指定转速移动到绝对角度,参数:
- position 目标角度,单位为度,范围
-2147483648~2147483647
- speed 转速,单位为rpm/min,范围
1~50
- position 目标角度,单位为度,范围
-
smartservo.
move
(position, speed)¶ 按指定转速移动到相对角度,参数:
- position 目标角度,单位为度,范围
-2147483648~2147483647
- speed 转速,单位为rpm/min,范围
1~50
- position 目标角度,单位为度,范围
-
smartservo.
set_power
(pwm)¶ 设置电机以指定动力转动,开环控制,参数:
- pwm 转速,单位为
无
,范围-100~100
。
- pwm 转速,单位为
-
smartservo.
get_value
(type)¶ 获取电机数据,参数:
type 获取数据类型,字符串类型,参数可以选择为:
"current":电流,单位A
"voltage":电压,单位V
"speed":速度,单位rpm/min
"angle":角度,单位度
"temperature":温度,单位摄氏度
程序示例1:¶
import novapi
from mbuild.smartservo import smartservo_class
#先初始化,定义智能舵机接在M1口的第1个
__smartservo_1 = smartservo_class("M1", "INDEX1")
while True:
__smartservo_1.set_zero()
time.sleep(0.1)
__smartservo_1.move_to(360, 20)
time.sleep(4)
position = __smartservo_1.get_value("angle")
print("position: " ,position)
__smartservo_1.move(-360, 20)
time.sleep(4)
position = __smartservo_1.get_value("angle")
print("position: ",position)
__smartservo_1.set_power(50)
time.sleep(1)
param0 = __smartservo_1.get_value("current")
print("current: " ,param0)
param1 = __smartservo_1.get_value("voltage")
print("voltage: " ,param1)
param2 = __smartservo_1.get_value("speed")
print("speed: " ,param2)
param3 = __smartservo_1.get_value("angle")
print("angle: " ,param3)
param4 = __smartservo_1.get_value("temperature")
print("temperature: ", param4)