pengqi/wire_controlsystem
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修改传送带电机、舵机、达妙电机等相关接口

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pengqi
2026-02-26 15:42:22 +08:00
parent 5c9946dfc7
commit 8d2e91b8b3
10 changed files with 1642 additions and 331 deletions
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49
servo/servo_test.py
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@ -1,20 +1,11 @@
#!/usr/bin/env python
# -*- coding: utf-8 -*-
'''
"""
# @Time : 2026/1/5 17:01
# @Author : reenrr
# @File : servo_test.py
# @Desc : 测试舵机
'''
#!/usr/bin/env python
# -*- coding: utf-8 -*-
'''
# @Time : 2025/12/2 14:05
# @Author : reenrr
# @File :servo.py
# @Description : 控制舵机正反转
'''
"""
from servo_sdk import *
import logging
@ -49,13 +40,13 @@ class ServoController:
"""配置串口参数"""
# 打开串口
if self.port_handler.openPort():
logging.info("成功打开串口")
print("成功打开串口")
else:
raise RuntimeError("打开串口失败")
# 设置波特率
if self.port_handler.setBaudRate(self.config['baudrate']):
logging.info("设置波特率成功")
print("设置波特率成功")
else:
self.port_handler.closePort()
raise RuntimeError("设置波特率失败")
@ -66,16 +57,16 @@ class ServoController:
for servo_id in self.config['servo_ids']:
enable_result = self.servo_handler.torqueEnable(servo_id)
if enable_result[1] != 0:
logging.info(f"[ID:{servo_id:02d}] 舵机使能失败，错误信息：{enable_result[1]}")
print(f"[ID:{servo_id:02d}] 舵机使能失败，错误信息：{enable_result[1]}")
enable_success = False
else:
logging.info(f"[ID:{servo_id:02d}] 舵机使能成功")
print(f"[ID:{servo_id:02d}] 舵机使能成功")
if not enable_success:
self.cleanup()
raise RuntimeError("使能舵机失败,程序退出")
logging.info("所有舵机使能成功")
print("所有舵机使能成功")
def disable_all_servos(self):
"""失能所有舵机"""
@ -83,16 +74,16 @@ class ServoController:
for servo_id in self.config['servo_ids']:
disable_result = self.servo_handler.torqueDisable(servo_id)
if disable_result[1] != 0:
logging.info(f"[ID:{servo_id:02d}] 舵机失能失败，错误信息：{disable_result[1]}")
print(f"[ID:{servo_id:02d}] 舵机失能失败，错误信息：{disable_result[1]}")
disable_success = False
else:
logging.info(f"[ID:{servo_id:02d}] 舵机失能成功")
print(f"[ID:{servo_id:02d}] 舵机失能成功")
if not disable_success:
self.cleanup()
raise RuntimeError("失能舵机失败,程序退出")
logging.info("所有舵机失能成功")
print("所有舵机失能成功")
def write_position(self, position, speed, acc):
"""
@ -106,13 +97,13 @@ class ServoController:
servo_id, position, speed, acc
)
if not add_param_result:
logging.info(f"[ID:{servo_id:02d}] 添加参数失败")
print(f"[ID:{servo_id:02d}] 添加参数失败")
continue
result = self.servo_handler.GroupSyncWrite.txPacket()
if result != COMM_SUCCESS:
logging.info(f"[ID:{servo_id:02d}] 发送指令失败：{result.getTxRxResult(result)}")
logging.info("复位成功")
print(f"[ID:{servo_id:02d}] 发送指令失败：{result.getTxRxResult(result)}")
print("复位成功")
# 清空参数缓存
self.servo_handler.GroupSyncWrite.clearParam()
@ -126,26 +117,26 @@ class ServoController:
self.disable_all_servos()
if self.port_handler.is_open():
self.port_handler.closePort()
logging.info("串口已关闭")
print("串口已关闭")
def run_cycle(self):
"""运行舵机循环运动"""
self.is_running = True
logging.info("舵机开始循环运动（按Ctrl+C终止）...")
print("舵机开始循环运动（按Ctrl+C终止）...")
while self.is_running:
# 运动到起始位置（180度）
self.write_position(self.config['pos_start'],
self.config['speed'],
self.config['acc'])
logging.info("运动到180度")
print("运动到180度")
time.sleep(self.time_interval1)
# 运动到结束位置（0度）
self.write_position(self.config['pos_end'],
self.config['speed'],
self.config['acc'])
logging.info("运动到0度")
print("运动到0度")
time.sleep(self.time_interval2)
def run(self):
@ -162,12 +153,12 @@ class ServoController:
# 运行循环
self.run_cycle()
except KeyboardInterrupt:
logging.info("\n用户终止程序...")
print("\n用户终止程序...")
self.stop()
except RuntimeError as e:
logging.info(f"\n运行错误：{str(e)}")
print(f"\n运行错误：{str(e)}")
except Exception as e:
logging.info(f"\n程序运行异常：{str(e)}")
print(f"\n程序运行异常：{str(e)}")
finally:
self.cleanup()