如何使用线程使 time.sleep() 不会停止所有脚本？

Question

我 3 个月前开始学习 python，我想从构建机器人开始，今天我使用机器人公司为其特定电机 Hat 制作的库控制伺服电机，我的问题是当伺服电机使用for循环从中间向右或向左平稳转动（这是为了操纵机器人），我使用time.sleep()，但是当我睡觉时，机器人中的所有其他功能都会暂时停止。

我搜索了这个问题，发现我需要使用一个叫做线程的东西，我学习了非常非常基础的线程，但我仍然不知道如何在这段代码中实现它。

# Importing libraries
from pyPS4Controller.controller import Controller,Event
import Adafruit_PCA9685
import threading
import RPi.GPIO as GPIO
import time


# Defining a function to set up the servo motors to a frequency of 50Hz
def setup_servos(frequency):
    global head_right_left,head_up_down,steering

    head_right_left=Adafruit_PCA9685.PCA9685()
    head_up_down=Adafruit_PCA9685.PCA9685()
    steering=Adafruit_PCA9685.PCA9685()


    head_right_left.set_pwm_freq(frequency)
    head_up_down.set_pwm_freq(frequency)
    steering.set_pwm_freq(frequency)


# Defining functions for turning the head
def head_right():
    head_right_left.set_pwm(1,0,170)
def head_left():
    head_right_left.set_pwm(1,0,450)
def head_up():
    head_up_down.set_pwm(0,0,470)
def head_down():
    head_up_down.set_pwm(0,0,260)
def head_neutral():
    head_right_left.set_pwm(1,0,320)
    head_up_down.set_pwm(0,0,320)


# Defining functions to steer the wheels
def turn_right():
    for x in range(320,220,-1):
            steering.set_pwm(2,0,x)
            time.sleep(0.008)


def turn_left():
    for x in range(320,420):
        steering.set_pwm(2,0,x)
        time.sleep(0.008)


# Defining a function to setup the GPIO pins for the dc motor
def setup_dc_motor():
    GPIO.setup(17,GPIO.OUT)
    GPIO.setup(27,GPIO.OUT)
    GPIO.setup(18,GPIO.OUT)


# Defining a function that will stop the motors -------> OUTPUT=0
def stop_motor():
    GPIO.output(17,0)
    GPIO.output(27,0)
    GPIO.output(18,0)


# Defining a function that will drive the robot forwards
def drive_forwards():
    GPIO.output(27,0)
    GPIO.output(18,1)
    dc_motor_pwm.start(100)


# Defining a function that will drive the robot backwards
def drive_backwards():
    GPIO.output(27,1)
    GPIO.output(18,0)
    dc_motor_pwm.start(100)


# Defining a function that will stop the robot -----> PWM=0
def stop_robot():
    dc_motor_pwm.ChangeDutyCycle(0)


# This class is used for fixing the button mapping on the PS4 controller
class MyEventDefinition(Event):

    def x_pressed(self):
        return self.button_id == 0 and self.button_type == 1 and self.value == 1
    def x_released(self):
        return self.button_id == 0 and self.button_type == 1 and self.value == 0


    def circle_pressed(self):
        return self.button_id == 1 and self.button_type == 1 and self.value == 1
    def circle_released(self):
        return self.button_id == 1 and self.button_type == 1 and self.value == 0


    def square_pressed(self):
        return self.button_id == 3 and self.button_type == 1 and self.value == 1
    def square_released(self):
        return self.button_id == 3 and self.button_type == 1 and self.value == 0


    def triangle_pressed(self):
        return self.button_id == 2 and self.button_type == 1 and self.value == 1
    def triangle_released(self):
        return self.button_id == 2 and self.button_type == 1 and self.value == 0


# This class provides methods when a button is pressed
class MyController(Controller):
    """"""

    def on_R3_right(self,value=30000):
        head_right()


    def on_R3_left(self,value=-30000):
        head_left()


    def on_R3_up(self,value=-30000):
        head_up()


    def on_R3_down(self,value=30000):
        head_down()


    def on_R3_at_rest(self):
        head_neutral()


    def on_R2_press(self,value=25000):
        drive_forwards()


    def on_L2_press(self,value=25000):
        drive_backwards()


    def on_R2_release(self):
        stop_robot()


    def on_L2_release(self):
        stop_robot()

#--------------------------------------------------------------------------
    def on_left_arrow_press(self):
        turn_left()


    def on_right_arrow_press(self):  #-------------------> RIGHT HERE I NEED HELP
        turn_right()





    def on_left_right_arrow_release(self):
        steering.set_pwm(2,0,320)

#-----------------------------------------------------------------------



# The actual code

setup_servos(50)


GPIO.setmode(GPIO.BCM)

setup_dc_motor()

stop_motor()

dc_motor_pwm=GPIO.PWM(17,1000)
dc_motor_pwm.start(0)



controller = MyController(interface="/dev/input/js0", connecting_using_ds4drv=False, event_definition=MyEventDefinition)
controller.listen(timeout=60)

Answer 1

请问您当初为什么要睡觉？为什么你需要延迟你的机器人？
您可以在线程中调用 sleep（在大多数 python 实现中它不是实际线程 [请参阅 Python 的 GIL]）但是您需要将代码的其他部分移动到线程中，以便睡眠实际上会做一些有用的事情。

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