树莓派我们去伺服控制

Question

我在我的 RaspberryPi 3 上连接了一个伺服器，我想控制它。我目前正在使用 pygame 库。它已安装并且是最新版本。这是我的代码：

# Import libraries
import RPi.GPIO as GPIO
import time
import pygame
from pygame.locals import *

pygame.init()

# Set GPIO numbering mode
GPIO.setmode(GPIO.BOARD)
# Set pin 11 as an output, and define as servo1 as PWM pin
GPIO.setup(11,GPIO.OUT)
servo = GPIO.PWM(11,50) # pin 11 for servo1, pulse 50Hz
# Start PWM running, with value of 0 (pulse off)
servo.start(0)
angle = 90.0
servo.ChangeDutyCycle(2+(angle/18))
time.sleep(0.5)
servo.ChangeDutyCycle(0)
changed = False

while 1:
    for event in pygame.event.get():
        if event.type == pygame.KEYDOWN:
            if event.key == pygame.K_a:
                if angle > 10:
                    angle = angle - 5
                    changed = True
            elif event.key == pygame.K_d:
                if angle < 170:
                    angle = angle + 5
                    changed = True
            elif event.key == pygame.K_q:
                break
           
        if changed:
            servo.ChangeDutyCycle(2+(angle/18))
            time.sleep(0.5)
            servo.ChangeDutyCycle(0)
            time.sleep(1.5)
            changed = False

#Clean things up at the end
servoH.stop()
GPIO.cleanup()
pygame.quit()

但它没有检测到事件。我不停地敲击键盘，伺服系统就静止不动了。我对其进行了调试，但它从未检测到任何 keybord/mouse 事件。

请帮忙。

Answer 1

您的代码没问题，但如果没有 window，就无法接收 window 事件（如按键）。

在您的程序中添加 window 使其正常运行。

这是我的测试代码：

# Import libraries
#import RPi.GPIO as GPIO
import time
import pygame
from pygame.locals import *

SCREEN_WIDTH = 600
SCREEN_HEIGHT= 400

BLACK  = (   0,   0,   0 )
YELLOW = ( 255, 255,   0 )

pygame.init()
screen = pygame.display.set_mode( ( SCREEN_WIDTH, SCREEN_HEIGHT ) )

"""
# Set GPIO numbering mode
GPIO.setmode(GPIO.BOARD)
# Set pin 11 as an output, and define as servo1 as PWM pin
GPIO.setup(11,GPIO.OUT)
servo = GPIO.PWM(11,50) # pin 11 for servo1, pulse 50Hz
# Start PWM running, with value of 0 (pulse off)
servo.start(0)
servo.ChangeDutyCycle(2+(angle/18))
time.sleep(0.5)
servo.ChangeDutyCycle(0)
"""
angle = 90.0
changed = False
running = True

font = pygame.font.SysFont( None, 25 )
angle_label = font.render( "Angle: %4.2f" % ( angle ), True, YELLOW )


while running:
    for event in pygame.event.get():
    if event.type == pygame.QUIT:
        running = False
    if event.type == pygame.KEYDOWN:
        if event.key == pygame.K_a:
            if angle > 10:
                angle = angle - 5
                changed = True
        elif event.key == pygame.K_d:
            if angle < 170:
                angle = angle + 5
                changed = True
        elif event.key == pygame.K_q:
            break
       
    if changed:
        """
        servo.ChangeDutyCycle(2+(angle/18))
        time.sleep(0.5)
        servo.ChangeDutyCycle(0)
        time.sleep(1.5)
        """
        angle_label = font.render( "Angle: %4.2f" % ( angle ), True, YELLOW )
        changed = False

    # Update the display
    screen.fill( BLACK )
    screen.blit( angle_label, ( 50, 50 ) )
    pygame.display.update()

#Clean things up at the end
"""
servoH.stop()
GPIO.cleanup()
"""
pygame.quit()

请注意，在 PyGame 代码中使用 time.sleep() 并不理想，因为它会阻塞事件循环。您的 OS 可能认为您的应用程序已锁定，并提示用户终止它。最好使用实时时间戳手动实现此延迟 - 仅在时间 window 允许时才向伺服器发送更新。

树莓派我们去伺服控制

RaspberryPi pigame servo controll

python

pygame

raspberry-pi

servo