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robot.py
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# Simple demo of of the PCA9685 PWM servo/LED controller library.
# This will move channel 0 from min to max position repeatedly.
# Author: Tony DiCola
# License: Public Domain
from __future__ import division
import time
# Import the PCA9685 module.
import Adafruit_PCA9685
import argparse
ap = argparse.ArgumentParser()
ap.add_argument("-n", required = True, help = "Path to the image")
args = vars(ap.parse_args())
n = args["n"]
# Uncomment to enable debug output.
#import logging
#logging.basicConfig(level=logging.DEBUG)
# Initialise the PCA9685 using the default address (0x40).
pwm = Adafruit_PCA9685.PCA9685()
# Alternatively specify a different address and/or bus:
#pwm = Adafruit_PCA9685.PCA9685(address=0x41, busnum=2)
# Configure min and max servo pulse lengths
servo_min = 150 # Min pulse length out of 4096
servo_max = 300 # Max pulse length out of 4096
# Helper function to make setting a servo pulse width simpler.
def set_servo_pulse(channel, pulse):
pulse_length = 1000000 # 1,000,000 us per second
pulse_length //= 60 # 60 Hz
print('{0}us per period'.format(pulse_length))
pulse_length //= 4096 # 12 bits of resolution
print('{0}us per bit'.format(pulse_length))
pulse *= 1000
pulse //= pulse_length
pwm.set_pwm(channel, 0, pulse)
pwm.set_pwm(2, 0, 0)
pwm.set_pwm(1, 0, 0)
pwm.set_pwm(0, 0, 0)
# Set frequency to 60hz, good for servos.
pwm.set_pwm_freq(10)
print('Moving servo on channel 0, press Ctrl-C to quit...')
# Move servo on channel O between extremes.
time.sleep(3)
def cha_0() :
#pwm.set_pwm(2, 0, 150)
pwm.set_pwm(2, 0, 130)
#time.sleep(0.1)
pwm.set_pwm(0, 0, 100)
#time.sleep(0.1)
pwm.set_pwm(1, 0, 220)
time.sleep(3)
#pwm.set_pwm(1, 0, 0)
# sec line
pwm.set_pwm(2, 0, 200)
#time.sleep(0.1)
pwm.set_pwm(0, 0, 100)
#time.sleep(0.1)
pwm.set_pwm(1, 0, 190)
#pwm.set_pwm(1, 0, servo_max)
time.sleep(1)
# sec cha
pwm.set_pwm(2, 0, 130)
#time.sleep(0.1)
pwm.set_pwm(0, 0, 100)
#time.sleep(0.1)
pwm.set_pwm(1, 0, 200)
time.sleep(3)
#pwm.set_pwm(1, 0, 0)
# sec line
pwm.set_pwm(2, 0, 200)
#time.sleep(0.1)
pwm.set_pwm(0, 0, 100)
#time.sleep(0.1)
pwm.set_pwm(1, 0, 220)
time.sleep(1)
def cha_1() :
#pwm.set_pwm(2, 0, 200)
pwm.set_pwm(2, 0, 180)
#time.sleep(0.1)
pwm.set_pwm(0, 0, 100)
#time.sleep(0.1)
pwm.set_pwm(1, 0, 220)
time.sleep(3)
#pwm.set_pwm(1, 0, 0)
# sec line
pwm.set_pwm(2, 0, 220)
#time.sleep(0.1)
pwm.set_pwm(0, 0, 100)
#time.sleep(0.1)
pwm.set_pwm(1, 0, 180)
#pwm.set_pwm(1, 0, servo_max)
time.sleep(1)
# sec cha
#pwm.set_pwm(2, 0, 190)
pwm.set_pwm(2, 0, 170)
#time.sleep(0.1)
pwm.set_pwm(0, 0, 100)
#time.sleep(0.1)
pwm.set_pwm(1, 0, 190)
time.sleep(3)
#pwm.set_pwm(1, 0, 0)
# sec line
pwm.set_pwm(2, 0, 250)
#time.sleep(0.1)
pwm.set_pwm(0, 0, 100)
#time.sleep(0.1)
pwm.set_pwm(1, 0, 220)
time.sleep(1)
def cha_2() :
pwm.set_pwm(2, 0, 250)
#time.sleep(0.1)
pwm.set_pwm(0, 0, 100)
#time.sleep(0.1)
pwm.set_pwm(1, 0, 220)
time.sleep(3)
#pwm.set_pwm(1, 0, 0)
# sec line
pwm.set_pwm(2, 0, 300)
#time.sleep(0.1)
pwm.set_pwm(0, 0, 100)
#time.sleep(0.1)
pwm.set_pwm(1, 0, 190)
#pwm.set_pwm(1, 0, servo_max)
time.sleep(1)
# sec cha
pwm.set_pwm(2, 0, 250)
#time.sleep(0.1)
pwm.set_pwm(0, 0, 100)
#time.sleep(0.1)
pwm.set_pwm(1, 0, 180)
time.sleep(3)
#pwm.set_pwm(1, 0, 0)
# sec line
pwm.set_pwm(2, 0, 300)
#time.sleep(0.1)
pwm.set_pwm(0, 0, 100)
#time.sleep(0.1)
pwm.set_pwm(1, 0, 220)
time.sleep(1)
def cha_3() :
#pwm.set_pwm(2, 0, 150)
pwm.set_pwm(2, 0, 130)
#time.sleep(0.1)
pwm.set_pwm(0, 0, 100)
#time.sleep(0.1)
pwm.set_pwm(1, 0, 200)
time.sleep(3)
# sec line
pwm.set_pwm(2, 0, 180)
time.sleep(0.1)
pwm.set_pwm(0, 0, 100)
time.sleep(0.1)
pwm.set_pwm(1, 0, 170)
time.sleep(1)
# sec cha
#pwm.set_pwm(2, 0, 150)
pwm.set_pwm(2, 0, 130)
#time.sleep(0.1)
pwm.set_pwm(0, 0, 100)
#time.sleep(0.1)
pwm.set_pwm(1, 0, 180)
time.sleep(3)
#pwm.set_pwm(1, 0, 0)
# sec line
pwm.set_pwm(2, 0, 190)
#time.sleep(0.1)
pwm.set_pwm(0, 0, 100)
#time.sleep(0.1)
pwm.set_pwm(1, 0, 190)
time.sleep(1)
def cha_4() :
pwm.set_pwm(2, 0, 150)
#pwm.set_pwm(2, 0, 190)
#time.sleep(0.1)
pwm.set_pwm(0, 0, 100)
#time.sleep(0.1)
pwm.set_pwm(1, 0, 200)
time.sleep(3)
# sec line
pwm.set_pwm(2, 0, 200)
time.sleep(0.1)
pwm.set_pwm(0, 0, 100)
time.sleep(0.1)
pwm.set_pwm(1, 0, 170)
time.sleep(1)
# sec cha
pwm.set_pwm(2, 0, 180)
#time.sleep(0.1)
pwm.set_pwm(0, 0, 100)
#time.sleep(0.1)
pwm.set_pwm(1, 0, 170)
time.sleep(3)
#pwm.set_pwm(1, 0, 0)
# sec line
pwm.set_pwm(2, 0, 250)
#time.sleep(0.1)
pwm.set_pwm(0, 0, 100)
#time.sleep(0.1)
pwm.set_pwm(1, 0, 180)
time.sleep(1)
def cha_5() :
pwm.set_pwm(2, 0, 230)
#time.sleep(0.1)
pwm.set_pwm(0, 0, 100)
#time.sleep(0.1)
pwm.set_pwm(1, 0, 200)
time.sleep(3)
# sec line
pwm.set_pwm(2, 0, 260)
time.sleep(0.1)
pwm.set_pwm(0, 0, 100)
time.sleep(0.1)
pwm.set_pwm(1, 0, 170)
time.sleep(1)
# sec cha
pwm.set_pwm(2, 0, 200)
#time.sleep(0.1)
pwm.set_pwm(0, 0, 100)
#time.sleep(0.1)
pwm.set_pwm(1, 0, 170)
time.sleep(3)
#pwm.set_pwm(1, 0, 0)
# sec line
pwm.set_pwm(2, 0, 300)
#time.sleep(0.1)
pwm.set_pwm(0, 0, 100)
#time.sleep(0.1)
pwm.set_pwm(1, 0, 190)
time.sleep(1)
def cha_6() :
pwm.set_pwm(2, 0, 150)
#time.sleep(0.1)
pwm.set_pwm(0, 0, 100)
#time.sleep(0.1)
pwm.set_pwm(1, 0, 180)
time.sleep(3)
# sec line
pwm.set_pwm(2, 0, 140)
time.sleep(0.1)
pwm.set_pwm(0, 0, 100)
time.sleep(0.1)
pwm.set_pwm(1, 0, 160)
time.sleep(1)
# sec cha
pwm.set_pwm(2, 0, 148)
#time.sleep(0.1)
pwm.set_pwm(0, 0, 100)
#time.sleep(0.1)
pwm.set_pwm(1, 0, 170)
time.sleep(3)
#pwm.set_pwm(1, 0, 0)
# sec line
pwm.set_pwm(2, 0, 180)
#time.sleep(0.1)
pwm.set_pwm(0, 0, 100)
#time.sleep(0.1)
pwm.set_pwm(1, 0, 170)
time.sleep(1)
def cha_7() :
#pwm.set_pwm(2, 0, 180)
pwm.set_pwm(2, 0, 160)
#time.sleep(0.1)
pwm.set_pwm(0, 0, 100)
#time.sleep(0.1)
pwm.set_pwm(1, 0, 170)
time.sleep(3)
# sec line
pwm.set_pwm(2, 0, 180)
time.sleep(0.1)
pwm.set_pwm(0, 0, 100)
time.sleep(0.1)
#pwm.set_pwm(1, 0, 150)
pwm.set_pwm(1, 0, 140)
time.sleep(1)
# sec cha
pwm.set_pwm(2, 0, 140)
#time.sleep(0.1)
pwm.set_pwm(0, 0, 100)
#time.sleep(0.1)
pwm.set_pwm(1, 0, 160)
time.sleep(3)
#pwm.set_pwm(1, 0, 0)
# sec line
pwm.set_pwm(2, 0, 200)
#time.sleep(0.1)
pwm.set_pwm(0, 0, 100)
#time.sleep(0.1)
pwm.set_pwm(1, 0, 170)
time.sleep(1)
def cha_8() :
#pwm.set_pwm(2, 0, 200)
pwm.set_pwm(2, 0, 215)
#time.sleep(0.1)
pwm.set_pwm(0, 0, 100)
#time.sleep(0.1)
pwm.set_pwm(1, 0, 170)
time.sleep(3)
# sec line
pwm.set_pwm(2, 0, 220)
time.sleep(0.1)
pwm.set_pwm(0, 0, 100)
time.sleep(0.1)
#pwm.set_pwm(1, 0, 140)
pwm.set_pwm(1, 0, 135)
time.sleep(1)
# sec cha
#pwm.set_pwm(2, 0, 180)
pwm.set_pwm(2, 0, 215)
#time.sleep(0.1)
pwm.set_pwm(0, 0, 100)
#time.sleep(0.1)
pwm.set_pwm(1, 0, 150)
time.sleep(3)
#pwm.set_pwm(1, 0, 0)
# sec line
pwm.set_pwm(2, 0, 260)
#time.sleep(0.1)
pwm.set_pwm(0, 0, 100)
#time.sleep(0.1)
pwm.set_pwm(1, 0, 170)
time.sleep(1)
def test() :
pwm.set_pwm(0, 0, 100)
for i in range(1,6) :
if (i == 5) :
print(100)
pwm.set_pwm(1, 0, 100)
time.sleep(1)
else :
print(servo_min + i*100)
pwm.set_pwm(1, 0, servo_min + i*100)
time.sleep(1)
pwm.set_pwm(1, 0, 0)
def test1() :
pwm.set_pwm(0, 0, 150)
time.sleep(1)
pwm.set_pwm(0, 0, 0)
def test2() :
pwm.set_pwm(2, 0, 500)
#time.sleep(0.1)
pwm.set_pwm(0, 0, 150)
#time.sleep(0.1)
pwm.set_pwm(1, 0, 220)
"""pwm.set_pwm(1, 0, 200)
#time.sleep(0.1)
pwm.set_pwm(0, 0, 150)
time.sleep(3)"""
def test3() :
start=150
pwm.set_pwm(1, 0, 220)
for i in range(15) :
pwm.set_pwm(0, 0, start)
print(start)
start += 30
time.sleep(1)
#pwm.set_pwm(1, 0, 220)
#time.sleep(0.1)
#pwm.set_pwm(0, 0, 100)
#time.sleep(0.1)
#pwm.set_pwm(1, 0, 180)
time.sleep(0.5)
def dance() :
start=150
zero = 150
two = 550
for i in range(8) :
"""if i % 3 == 0 :
pwm.set_pwm(2, 0, 550)
elif i % 3 == 1 :
pwm.set_pwm(2, 0, 520)
elif i % 3 == 2 :
pwm.set_pwm(2, 0, 600)
else :
pwm.set_pwm(2, 0, 580)"""
pwm.set_pwm(2, 0, two)
#pwm.set_pwm(1, 0, start)
pwm.set_pwm(0, 0, zero)
print(start)
start += 30
if i % 2 == 0 :
zero += 50
two += 50
else :
zero -= 50
two -= 50
time.sleep(0.5)
time.sleep(0.5)
# turn 1
start=150
for i in range(15) :
pwm.set_pwm(1, 0, start)
start += 30
time.sleep(0.1)
for i in range(15) :
pwm.set_pwm(1, 0, start)
start -= 30
time.sleep(0.1)
time.sleep(0.1)
pwm.set_pwm(2, 0, 0)
pwm.set_pwm(1, 0, 0)
pwm.set_pwm(0, 0, 0)
def main() :
pwm.set_pwm(2, 0, 0)
pwm.set_pwm(1, 0, 0)
pwm.set_pwm(0, 0, 0)
time.sleep(0.5)
#test3()
if n == str(87) :
dance()
return
else :
# back to start point
pwm.set_pwm(2, 0, 550)
time.sleep(0.5)
pwm.set_pwm(1, 0, 350)
time.sleep(0.5)
pwm.set_pwm(1, 0, 300)
time.sleep(1)
eval("cha_"+n+"()")
time.sleep(1)
# back to end
pwm.set_pwm(2, 0, 560)
pwm.set_pwm(0, 0, 180)
time.sleep(3)
pwm.set_pwm(1, 0, 250)
time.sleep(0.1)
pwm.set_pwm(1, 0, 300)
time.sleep(0.1)
pwm.set_pwm(1, 0, 350)
time.sleep(0.1)
pwm.set_pwm(2, 0, 0)
pwm.set_pwm(1, 0, 0)
pwm.set_pwm(0, 0, 0)
return
main()