135 lines
4.5 KiB
Python
135 lines
4.5 KiB
Python
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#!/usr/bin/env python
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# -*- coding: utf-8 -*-
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'''
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# @Time : 2025/7/15 17:52
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# @Author : hx
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# @File : motor.py
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'''
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import serial
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import time
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import math
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start_speed = 8
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stop_speed = 0
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def send_hex_command(port, baudrate, hex_data):
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"""
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通过串口发送十六进制指令
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:param port: 串口号 (如 'COM3' 或 '/dev/ttyUSB0')
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:param baudrate: 波特率 (如 9600)
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:param hex_data: 十六进制字符串 (如 "7B 01 02 01 20 0E 10 00 64 23 7D")
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"""
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try:
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# 转换十六进制字符串为字节数据
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byte_data = bytes.fromhex(hex_data.replace(" ", ""))
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# 打开串口
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with serial.Serial(port, baudrate, timeout=1) as ser:
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print(f"已连接串口 {port}, 波特率 {baudrate}")
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# 发送指令
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ser.write(byte_data)
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print(f"已发送指令: {hex_data}")
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# 可选：等待并读取返回数据
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time.sleep(0.1)
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if ser.in_waiting > 0:
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response = ser.read(ser.in_waiting)
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print(f"收到响应: {response.hex().upper()}")
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except Exception as e:
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print(f"发生错误: {e}")
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def generate_fixed_command(speed):
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"""
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生成固定的速度控制指令: 7B 01 01 00 20 00 00 00 <speed> <checksum> 7D
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参数:
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speed (int): 十进制速度值 (0~255)
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返回:
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str: 十六进制命令字符串
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"""
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actual_speed = int(speed * 10)
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if not (0 <= actual_speed <= 255):
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raise ValueError("速度必须在 0~255 范围内")
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command_bytes = [
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0x7B, 0x01, 0x01, # 帧头、地址、控制模式
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0x00, 0x20, # 方向、细分
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0x00, 0x00, # 位置高/低字节（持续旋转）
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0x00, actual_speed # 保持整数速度值
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]
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# 计算校验和（前9个字节异或）
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checksum = 0
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for byte in command_bytes:
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checksum ^= byte
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full_command = command_bytes + [checksum, 0x7D]
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return ' '.join(f'{byte:02X}' for byte in full_command)
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def listen_and_respond(port, baudrate):
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"""
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持续监听串口，一旦有信号就执行开始和停止的指令
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"""
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try:
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with serial.Serial(port, baudrate, timeout=1) as ser:
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ser.reset_input_buffer()
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print(f"[监听中] 串口 {port} 已打开，等待信号...")
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while True:
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if ser.in_waiting > 0:
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incoming = ser.read(ser.in_waiting)
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print(f"[收到信号] 内容: {incoming.hex().upper()}")
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# 执行开始旋转
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start_cmd = generate_fixed_command(8)
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print("发送开始指令:", start_cmd)
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ser.write(bytes.fromhex(start_cmd.replace(" ", "")))
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# 延迟一段时间
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time.sleep(4)
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# 执行停止
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stop_cmd = generate_fixed_command(0)
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print("发送停止指令:", stop_cmd)
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ser.write(bytes.fromhex(stop_cmd.replace(" ", "")))
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print("[已完成一次响应]\n等待下一次信号...\n")
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time.sleep(0.1) # 避免CPU占用过高
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except Exception as e:
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print(f"监听时发生错误: {e}")
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if __name__ == "__main__":
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# 配置参数
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PORT = "/dev/ttyACM0" # 修改为你的串口号
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BAUD_RATE = 115200 # 修改为你的设备波特率
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HEX_COMMAND = {
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"Clockwise_rotation":"7B 01 02 01 20 0E 10 00 64 23 7D", # 顺时针旋转360
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"Counterclockwise_rotation":"7B 01 02 00 20 0E 10 00 64 22 7D",
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"One_revolution_per_second":"7B 01 01 00 20 00 00 00 3F 64 7D", # 有问题
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"Ten_radin_per_second":"7B 01 01 00 20 00 00 00 64 3F 7D",
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"Eight_radin_per_second": "7B 01 01 00 20 00 00 00 50 0B 7D",
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"stop":"7B 01 01 00 20 00 00 00 00 5B 7D"
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}# 要发送的指令
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try:
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# 生成并发送开始旋转指令（速度 = 8）
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start_cmd = generate_fixed_command(start_speed)
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send_hex_command(PORT, BAUD_RATE, start_cmd)
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# 延迟一段时间（比如 4 秒）
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time.sleep(4)
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# 生成并发送停止指令（速度 = 0）
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stop_cmd = generate_fixed_command(stop_speed)
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send_hex_command(PORT, BAUD_RATE, stop_cmd)
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print("电机控制流程执行完成。")
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except Exception as e:
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print(f"运行错误: {e}")
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