调试更改+挡板电机添加线程和配置文件

This commit is contained in:
2026-03-24 16:52:10 +08:00
parent e7e6693798
commit 91b1b394bb
19 changed files with 1125 additions and 252 deletions

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#!/usr/bin/env python
# -*- coding: utf-8 -*-
'''
# @Time : 2026/1/9 10:45
# @Time : 2026/3/16 15:00
# @Author : reenrr
# @File : RK1106_server.py
# @Desc : RK1106服务端等待工控机调用 通信为JSON格式
# @Desc : RK1106服务端(类形式,多线程),等待工控机调用 通信为JSON格式
'''
import socket
import logging
import sys
import json
import threading
from stepper_motor import motor_start, align_wire, cleanup, motor_stop
# ------------日志配置(终端+文件双输出)--------------
logging.basicConfig(
level=logging.INFO,
format='%(asctime)s - %(levelname)s - %(message)s',
# 核心新增:日志文件配置
handlers=[
# 1. 文件处理器:保存到.log文件
logging.FileHandler(
"RK1106_server.log", # Buildroot推荐路径临时测试可改/tmp/1106_server.log
mode='a', # 追加模式(不会覆盖历史日志)
encoding='utf-8' # 防止中文乱码(必加)
),
# 2. 终端处理器:输出到控制台
logging.StreamHandler(sys.stdout)
]
)
# --------配置TCP服务端----------
HOST = "192.168.0.100"
HOST = "192.168.5.100"
PORT = 8888
CONFIG_FILE = "motor_config.json"
# 全局参数缓存
MOTOR_CONFIG = {
"speed": 2500, # 默认速度
"cycle": 10.0, # 默认旋转圈数
}
def handle_setting(para_type: str, para_value: str) ->dict:
class RK1106Server:
"""
处理客户端发送的参数设置指令cmd:"setting"),更新全局电机配置
:param para_type: 要设置的参数类型,仅支持"speed""cycle"
:param para_value: 参数值字符串将尝试转换为int(speed)或float(cycle)
:return: 标准化相应字典dict,如:
{
"Result": "1"表示成功,"0"表示失败,
"ErrMsg": str # 成功提示或错误详情
}
RK1106服务端类
在初始化时加载配置,提供配置管理和指令处理功能
"""
try:
if para_type == "speed":
MOTOR_CONFIG["speed"] = int(para_value)
elif para_type == "cycle":
MOTOR_CONFIG["cycle"] = float(para_value)
else:
return {"Result": "0", "ErrMsg": f"不支持的参数类型: {para_type}"}
return {"Result": "1", "ErrMsg": "设置成功"}
except ValueError as e:
return {"Result": "0", "ErrMsg": f"参数值格式错误: {str(e)}"}
def __init__(self):
"""初始化服务端,加载配置"""
self.config = self._load_config()
logging.info(f"服务初始化完成,加载配置:{self.config}")
def _load_config(self):
"""
从JSON文件加载电机配置
:return: 加载的配置字典
"""
try:
with open(CONFIG_FILE, "r") as f:
return json.load(f)
except FileNotFoundError:
logging.warning(f"配置文件 {CONFIG_FILE} 未找到,将使用默认配置")
return {"speed": 2500, "cycle": 10.0}
except json.JSONDecodeError:
logging.error(f"配置文件 {CONFIG_FILE} 格式错误")
return {"speed": 2500, "cycle": 10.0}
def _save_config(self):
"""
将电机配置保存到JSON文件
"""
try:
with open(CONFIG_FILE, "w") as f:
json.dump(self.config, f, indent=4, ensure_ascii=False)
logging.info(f"配置已保存:{self.config}")
except IOError as e:
logging.error(f"配置文件 {CONFIG_FILE} 保存失败: {str(e)}")
def handle_setting(self, para_type: str, para_value: str) -> dict:
"""
处理客户端发送的参数设置指令cmd:"setting"),更新电机配置
:param para_type: 要设置的参数类型,仅支持"speed""cycle"
:param para_value: 参数值字符串将尝试转换为int(speed)或float(cycle)
:return: 标准化相应字典dict
"""
try:
if para_type == "speed":
self.config["speed"] = int(para_value)
elif para_type == "cycle":
self.config["cycle"] = float(para_value)
else:
return {"Result": "0", "ErrMsg": f"不支持的参数类型: {para_type}"}
# 保存到文件
self._save_config()
return {"Result": "1", "ErrMsg": "设置成功"}
except ValueError as e:
return {"Result": "0", "ErrMsg": f"参数值格式错误: {str(e)}"}
def handle_start(self, para_type: str, para_value: str) -> dict:
"""
处理启动电机指令cmd: "start"),使用当前配置运行电机
:param para_type:为"direction"时,使用"para_value"作为临时方向
:param para_value:为0或1
:return: 标准化相应字典dict
"""
try:
if para_type == "direction":
direction = int(para_value)
if direction not in (0, 1):
return {"Result": "0", "ErrMsg": "方向必须为0或1"}
def handle_start(para_type: str, para_value: str) -> dict:
"""
处理启动电机指令cmd: "start"),使用当前MOTOR_CONFIG配置运行电机
:param para_type:为"direction"时,使用"para_value"作为临时方向
:param para_value:为0或1
:return: 标准化相应字典dict,如:
{
"Result": "1"表示成功,"0"表示失败,
"ErrMsg": str #执行结果或异常信息
}
"""
try:
if para_type == "direction":
direction = int(para_value)
if direction not in (0,1):
return {"Result": "0", "ErrMsg": "方向必须为0或1"}
motor_start(speed=MOTOR_CONFIG["speed"],
cycle=MOTOR_CONFIG["cycle"],
motor_start(speed=self.config["speed"],
cycle=self.config["cycle"],
direction=direction)
dir_str = "正向" if direction == 1 else "负向"
return {"Result": "1", "ErrMsg": f"电机启动成功({dir_str}"}
dir_str = "正向" if direction == 1 else "负向"
return {"Result": "1", "ErrMsg": f"电机启动指令已发送({dir_str}"}
else:
return {"Result": "0", "ErrMsg": "start 指令仅支持'direction'"}
except Exception as e:
return {"Result": "0", "ErrMsg": f"电机启动失败:{str(e)}"}
def handle_stop(self) -> dict:
"""
处理停止电机指令cmd: "stop")
:return: 标准化相应字典dict
"""
try:
motor_stop()
return {"Result": "1", "ErrMsg": "电机停止指令已发送"}
except Exception as e:
return {"Result": "0", "ErrMsg": f"电机停止失败:{str(e)}"}
def handle_align(self) -> dict:
"""
处理线条对齐(挡板一来一回)
:return: dict
"""
try:
align_wire(self.config['speed'], self.config['cycle'])
return {"Result": "1", "ErrMsg": "线条对齐指令已发送"}
except Exception as e:
return {"Result": "0", "ErrMsg": "线条对齐失败"}
def parse_json_command(self, data: str) -> dict:
"""
解析客户端发送的原始JSON字符串指令并分发至对应处理函数
:param data: 客户端发送的原始JSON字符串
:return dict:标准化响应字典
"""
try:
cmd_obj = json.loads(data.strip())
except json.JSONDecodeError as e:
return {"Result": "0", "ErrMsg": f"JSON 格式错误: {str(e)}"}
cmd = cmd_obj.get("cmd", "").strip()
para_type = cmd_obj.get("para_type", "").strip()
para_value = cmd_obj.get("para_value", "").strip()
if cmd == "setting":
return self.handle_setting(para_type, para_value)
elif cmd == "start":
return self.handle_start(para_type, para_value)
elif cmd == "stop":
if para_type == "none" and para_value == "none":
return self.handle_stop()
else:
return {"Result": "0", "ErrMsg": "stop指令参数必须为none"}
elif cmd == "alignment":
if para_type == "none" and para_value == "none":
return self.handle_align()
else:
return {"Result": "0", "ErrMsg": "alignment指令参数必须为none"}
else:
return {"Result": "0", "ErrMsg": "start 指令仅支持'direction'"}
except Exception as e:
return {"Result": "0", "ErrMsg": f"电机启动失败:{str(e)}"}
return {"Result": "0", "ErrMsg": f"未知指令:{cmd}"}
def run_server(self):
"""
启动TCP服务端监听指定端口接收工控机连接并循环处理JSON指令
"""
# 创建TCP socket
server_socket = None
conn = None
def handle_stop() -> dict:
"""
处理停止电机指令cmd: "stop")
:return: 标准化相应字典dict,如:
{
"Result": "1"表示成功,"0"表示失败,
"ErrMsg": str #执行结果或异常信息
}
"""
try:
motor_stop()
return {"Result": "1", "ErrMsg": "电机已停止"}
except Exception as e:
return {"Result": "0", "ErrMsg": f"电机停止失败:{str(e)}"}
try:
server_socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
server_socket.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
server_socket.bind((HOST, PORT))
server_socket.listen(1) # 只允许1个工控机连接
logging.info(f"[1106] 服务已启动,监听端口:{PORT},等待工控机连接...")
def handle_align() -> dict:
"""
处理线条对齐(挡板一来一回)
:return: dict
"""
try:
align_wire(MOTOR_CONFIG['speed'], MOTOR_CONFIG['cycle'])
return {"Result": "1", "ErrMsg": "处理线条对齐"}
except Exception as e:
return {"Result": "0", "ErrMsg": "线条对齐失败"}
while True: # 持续接受新连接
try:
# 等待工控机连接
conn, addr = server_socket.accept()
logging.info(f"[1106] 工控机已连接:{addr}")
def parse_json_command(data: str) -> dict:
"""
解析客户端发送的原始JSON字符串指令并分发至对应处理函数
:param data: 客户端发送的原始JSON字符串
:return dict:标准化响应字典
"""
try:
cmd_obj = json.loads(data.strip())
except json.JSONDecodeError as e:
return {"Result": "0", "ErrMsg": f"JSON 格式错误: {str(e)}"}
# 循环接收指令
while True:
# 接收指令最大1024字节
data = conn.recv(1024).decode()
if not data:
logging.warning("客户端断开连接")
break
cmd = cmd_obj.get("cmd", "").strip()
para_type = cmd_obj.get("para_type", "").strip()
para_value = cmd_obj.get("para_value", "").strip()
logging.info(f"\n[1106] 收到工控机指令:{data}")
if cmd == "setting":
return handle_setting(para_type, para_value)
elif cmd == "start":
return handle_start(para_type, para_value)
elif cmd == "stop":
if para_type == "none" and para_value == "none":
return handle_stop()
else:
return {"Result": "0", "ErrMsg": "stop指令参数必须为none"}
elif cmd == "alignment":
if para_type == "none" and para_value == "none":
return handle_align()
else:
return {"Result": "0", "ErrMsg": "alignment指令参数必须为none"}
else:
return {"Result": "0", "ErrMsg": f"未知指令:{cmd}"}
# 解析指令
response_dict = self.parse_json_command(data)
response_json = json.dumps(response_dict, ensure_ascii=False) + "\n" # 看需不需要加换行符\n
# 发送响应给工控机
conn.sendall(response_json.encode("utf-8"))
logging.info(f"[1106] 已发送响应:{response_json}")
except ConnectionError:
logging.info("客户端异常断开")
except Exception as e:
logging.info(f"处理连接时发生错误: {e}")
finally:
if conn is not None:
conn.close()
conn = None # 重置,避免重复关闭
logging.info("客户端连接已关闭,等待新连接...")
# ----------对外接口----------
def server():
"""启动TCP服务端监听指定端口接收工控机连接并循环处理JSON指令"""
# 创建TCP socket
server_socket = None
conn = None
try:
server_socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
server_socket.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
server_socket.bind((HOST, PORT))
server_socket.listen(1) # 只允许1个工控机连接
logging.info(f"[1106] 服务已启动,监听端口:{PORT},等待工控机连接...")
while True: # 持续接受新连接
try:
# 等待工控机连接
conn, addr = server_socket.accept()
logging.info(f"[1106] 工控机已连接:{addr}")
# 循环接收指令
while True:
# 接收指令最大1024字节
data = conn.recv(1024).decode()
if not data:
logging.warning("客户端断开连接")
break
logging.info(f"\n[1106] 收到工控机指令:{data}")
# 解析指令
response_dict = parse_json_command(data)
response_json = json.dumps(response_dict, ensure_ascii=False) + "\n" # 看需不需要加换行符\n
# 发送响应给工控机
conn.sendall(response_json.encode("utf-8"))
logging.info(f"[1106] 已发送响应:{response_json}")
except ConnectionError:
logging.info("客户端异常断开")
except Exception as e:
logging.info(f"处理连接时发生错误: {e}")
finally:
if conn is not None:
conn.close()
conn = None # 重置,避免重复关闭
logging.info("客户端连接已关闭,等待新连接...")
except KeyboardInterrupt:
logging.info("\n收到 Ctrl+C正在关闭服务...")
finally:
if server_socket:
server_socket.close()
logging.info("服务已停止,监听 socket 已释放")
except KeyboardInterrupt:
logging.info("\n收到 Ctrl+C正在关闭服务...")
finally:
if server_socket:
server_socket.close()
logging.info("服务已停止,监听 socket 已释放")
# ----------测试接口----------
if __name__ == "__main__":
server()
SERVER = RK1106Server()
SERVER.run_server()

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#!/usr/bin/env python
# -*- coding: utf-8 -*-
'''
# @Time : 2026/3/16 15:00
# @Author : reenrr
# @File : RK1106_server_test.py
# @Desc : RK1106服务端类形式多线程等待工控机调用 通信为JSON格式 --待测试,加了线程
'''
import socket
import logging
import json
import threading
from stepper_motor import motor_start, align_wire, cleanup, motor_stop
# --------配置TCP服务端----------
HOST = "192.168.5.100"
PORT = 8888
CONFIG_FILE = "motor_config.json"
class RK1106Server:
"""
RK1106服务端类
在初始化时加载配置,提供配置管理和指令处理功能
"""
def __init__(self):
"""初始化服务端,加载配置"""
self.config = self._load_config()
self.current_thread = None
logging.info(f"服务初始化完成,加载配置:{self.config}")
def _load_config(self):
"""
从JSON文件加载电机配置
:return: 加载的配置字典
"""
try:
with open(CONFIG_FILE, "r") as f:
return json.load(f)
except FileNotFoundError:
logging.warning(f"配置文件 {CONFIG_FILE} 未找到,将使用默认配置")
return {"speed": 2500, "cycle": 10.0}
except json.JSONDecodeError:
logging.error(f"配置文件 {CONFIG_FILE} 格式错误")
return {"speed": 2500, "cycle": 10.0}
def _save_config(self):
"""
将电机配置保存到JSON文件
"""
try:
with open(CONFIG_FILE, "w") as f:
json.dump(self.config, f, indent=4, ensure_ascii=False)
logging.info(f"配置已保存:{self.config}")
except IOError as e:
logging.error(f"配置文件 {CONFIG_FILE} 保存失败: {str(e)}")
def _execute_motor_command(self, cmd_func: callable, *args, **kwargs):
"""
在单独的线程中执行电机命令
:param cmd_func: 要执行的电机命令函数
:param args: 传递给cmd_func的位置参数
:param kwargs: 传递给cmd_func的关键字参数
"""
try:
result = cmd_func(*args, **kwargs)
logging.info(f"电机命令执行完成: {result}")
except Exception as e:
logging.error(f"执行电机命令时出错: {str(e)}")
def handle_setting(self, para_type: str, para_value: str) -> dict:
"""
处理客户端发送的参数设置指令cmd:"setting"),更新电机配置
:param para_type: 要设置的参数类型,仅支持"speed""cycle"
:param para_value: 参数值字符串将尝试转换为int(speed)或float(cycle)
:return: 标准化相应字典dict
"""
try:
if para_type == "speed":
self.config["speed"] = int(para_value)
elif para_type == "cycle":
self.config["cycle"] = float(para_value)
else:
return {"Result": "0", "ErrMsg": f"不支持的参数类型: {para_type}"}
# 保存到文件
self._save_config()
return {"Result": "1", "ErrMsg": "设置成功"}
except ValueError as e:
return {"Result": "0", "ErrMsg": f"参数值格式错误: {str(e)}"}
def handle_start(self, para_type: str, para_value: str) -> dict:
"""
处理启动电机指令cmd: "start"),使用当前配置运行电机
:param para_type:为"direction"时,使用"para_value"作为临时方向
:param para_value:为0或1
:return: 标准化相应字典dict
"""
try:
if para_type == "direction":
direction = int(para_value)
if direction not in (0, 1):
return {"Result": "0", "ErrMsg": "方向必须为0或1"}
# 在新线程中启动电机
thread = threading.Thread(
target=self._execute_motor_command,
args=(motor_start,),
kwargs={
"speed": self.config["speed"],
"cycle": self.config["cycle"],
"direction": direction
}
)
thread.start()
dir_str = "正向" if direction == 1 else "负向"
return {"Result": "1", "ErrMsg": f"电机启动指令已发送({dir_str}"}
else:
return {"Result": "0", "ErrMsg": "start 指令仅支持'direction'"}
except Exception as e:
return {"Result": "0", "ErrMsg": f"电机启动失败:{str(e)}"}
def handle_stop(self) -> dict:
"""
处理停止电机指令cmd: "stop")
:return: 标准化相应字典dict
"""
try:
# 在新线程中停止电机
thread = threading.Thread(
target=self._execute_motor_command,
args=(motor_stop,)
)
thread.start()
return {"Result": "1", "ErrMsg": "电机停止指令已发送"}
except Exception as e:
return {"Result": "0", "ErrMsg": f"电机停止失败:{str(e)}"}
def handle_align(self) -> dict:
"""
处理线条对齐(挡板一来一回)
:return: dict
"""
try:
# 在新线程中对齐线条
thread = threading.Thread(
target=self._execute_motor_command,
args=(align_wire,),
kwargs={
"speed": self.config['speed'],
"cycle": self.config['cycle']
}
)
thread.start()
return {"Result": "1", "ErrMsg": "线条对齐指令已发送"}
except Exception as e:
return {"Result": "0", "ErrMsg": "线条对齐失败"}
def parse_json_command(self, data: str) -> dict:
"""
解析客户端发送的原始JSON字符串指令并分发至对应处理函数
:param data: 客户端发送的原始JSON字符串
:return dict:标准化响应字典
"""
try:
cmd_obj = json.loads(data.strip())
except json.JSONDecodeError as e:
return {"Result": "0", "ErrMsg": f"JSON 格式错误: {str(e)}"}
cmd = cmd_obj.get("cmd", "").strip()
para_type = cmd_obj.get("para_type", "").strip()
para_value = cmd_obj.get("para_value", "").strip()
if cmd == "setting":
return self.handle_setting(para_type, para_value)
elif cmd == "start":
return self.handle_start(para_type, para_value)
elif cmd == "stop":
if para_type == "none" and para_value == "none":
return self.handle_stop()
else:
return {"Result": "0", "ErrMsg": "stop指令参数必须为none"}
elif cmd == "alignment":
if para_type == "none" and para_value == "none":
return self.handle_align()
else:
return {"Result": "0", "ErrMsg": "alignment指令参数必须为none"}
else:
return {"Result": "0", "ErrMsg": f"未知指令:{cmd}"}
def run_server(self):
"""
启动TCP服务端监听指定端口接收工控机连接并循环处理JSON指令
"""
# 创建TCP socket
server_socket = None
conn = None
try:
server_socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
server_socket.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
server_socket.bind((HOST, PORT))
server_socket.listen(1) # 只允许1个工控机连接
logging.info(f"[1106] 服务已启动,监听端口:{PORT},等待工控机连接...")
while True: # 持续接受新连接
try:
# 等待工控机连接
conn, addr = server_socket.accept()
logging.info(f"[1106] 工控机已连接:{addr}")
# 循环接收指令
while True:
# 接收指令最大1024字节
data = conn.recv(1024).decode()
if not data:
logging.warning("客户端断开连接")
break
logging.info(f"\n[1106] 收到工控机指令:{data}")
# 解析指令
response_dict = self.parse_json_command(data)
response_json = json.dumps(response_dict, ensure_ascii=False) + "\n" # 看需不需要加换行符\n
# 发送响应给工控机
conn.sendall(response_json.encode("utf-8"))
logging.info(f"[1106] 已发送响应:{response_json}")
except ConnectionError:
logging.info("客户端异常断开")
except Exception as e:
logging.info(f"处理连接时发生错误: {e}")
finally:
if conn is not None:
conn.close()
conn = None # 重置,避免重复关闭
logging.info("客户端连接已关闭,等待新连接...")
except KeyboardInterrupt:
logging.info("\n收到 Ctrl+C正在关闭服务...")
finally:
if server_socket:
server_socket.close()
logging.info("服务已停止,监听 socket 已释放")
# ----------测试接口----------
if __name__ == "__main__":
SERVER = RK1106Server()
SERVER.run_server()

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RK1106/image.png Normal file

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4
RK1106/motor_config.json Normal file
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@ -0,0 +1,4 @@
{
"speed": 2500,
"cycle": 10.0
}

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@ -8,4 +8,7 @@
![img.png](img.png)
GPIO32 --脉冲引脚
GPIO33 --方向引脚
剩下两个引脚为地线
剩下两个引脚为地线
# 自启动设置:
![alt text](image.png)

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@ -7,9 +7,29 @@
# @Desc : 线条厂控制步进电机测试 应该不会丢步
"""
import time
import logging
import sys
from periphery import GPIO
# ------------日志配置(终端+文件双输出)--------------
logging.basicConfig(
level=logging.INFO,
format='%(asctime)s - %(levelname)s - %(message)s',
# 核心新增:日志文件配置
handlers=[
# 1. 文件处理器:保存到.log文件
logging.FileHandler(
"RK1106_server.log", # Buildroot推荐路径临时测试可改/tmp/1106_server.log
mode='a', # 追加模式(不会覆盖历史日志)
encoding='utf-8' # 防止中文乱码(必加)
),
# 2. 终端处理器:输出到控制台
logging.StreamHandler(sys.stdout)
]
)
# ------------参数配置-------------
# 1. 脉冲PUL引脚配置 → GPIO32
PUL_Pin = 32
@ -66,8 +86,8 @@ class StepperMotor:
self.pul_gpio.write(False)
self.dir_gpio.write(False)
print(f"✅ PUL引脚初始化完成{self.pul_pin} 引脚")
print(f"✅ DIR引脚初始化完成{self.dir_pin} 引脚")
logging.info(f"✅ PUL引脚初始化完成{self.pul_pin} 引脚")
logging.info(f"✅ DIR引脚初始化完成{self.dir_pin} 引脚")
except PermissionError:
raise RuntimeError("权限不足请用sudo运行程序sudo python xxx.py")
@ -76,10 +96,10 @@ class StepperMotor:
def _validate_params(self, rounds: float, direction: int) -> bool:
if rounds <= 0:
print("圈数必须为正数")
logging.info("圈数必须为正数")
return False
if direction not in (0, 1):
print("方向必须为0逆时针或1顺时针")
logging.info("方向必须为0逆时针或1顺时针")
return False
return True
@ -97,17 +117,17 @@ class StepperMotor:
# 设置旋转方向DIR电平
if direction == 1: # 顺时针
self.dir_gpio.write(self.clockwise_level)
print(f"\n=== 顺时针旋转 {rounds} 圈 ===")
logging.info(f"\n=== 顺时针旋转 {rounds} 圈 ===")
else: # 逆时针
self.dir_gpio.write(self.counter_clockwise_level)
print(f"\n=== 逆时针旋转 {rounds} 圈 ===")
logging.info(f"\n=== 逆时针旋转 {rounds} 圈 ===")
# 计算总脉冲数和时序(精准控制,避免丢步)
total_pulses = int(rounds * self.pulses_per_round)
pulse_period = 1.0 / pulse_frequency # 脉冲周期(秒)
half_period = pulse_period / 2 # 占空比50%MA860H最优
print(f"总脉冲数:{total_pulses} | 频率:{pulse_frequency}Hz | 周期:{pulse_period * 1000:.2f}ms")
logging.info(f"总脉冲数:{total_pulses} | 频率:{pulse_frequency}Hz | 周期:{pulse_period * 1000:.2f}ms")
start_time = time.perf_counter() # 高精度计时(避免丢步)
# 发送脉冲序列核心占空比50%的方波)
@ -122,13 +142,13 @@ class StepperMotor:
# 更新下一个脉冲的起始时间
start_time += pulse_period
print("✅ 旋转完成")
logging.info("✅ 旋转完成")
def stop(self):
"""紧急停止(置低脉冲引脚)"""
if self.pul_gpio:
self.pul_gpio.write(False)
print("🛑 电机已停止")
logging.info("🛑 电机已停止")
def close(self):
"""释放GPIO资源"""
@ -136,12 +156,12 @@ class StepperMotor:
if self.pul_gpio:
self.pul_gpio.write(False) # 脉冲引脚置低
self.pul_gpio.close()
print("\n✅ PUL引脚已关闭电平置低")
logging.info("\n✅ PUL引脚已关闭电平置低")
if self.dir_gpio:
self.dir_gpio.write(False) # 方向引脚置低
self.dir_gpio.close()
print("✅ DIR引脚已关闭电平置低")
logging.info("✅ DIR引脚已关闭电平置低")
# 重置GPIO对象
self.pul_gpio = None
@ -163,16 +183,16 @@ def motor_start(speed: int, cycle: float, direction: int):
:param direction: 0=负向逆时针1=正向(顺时针)
"""
try:
print("\n=== 启动步进电机 ===")
logging.info("\n=== 启动步进电机 ===")
GLOBAL_MOTOR.rotate(pulse_frequency=speed, rounds=cycle, direction=direction)
time.sleep(5) # 暂停5秒
except ImportError:
print("\n❌ 缺少依赖请安装python-periphery")
print("命令pip install python-periphery")
logging.info("\n❌ 缺少依赖请安装python-periphery")
logging.info("命令pip install python-periphery")
except Exception as e:
print(f"\n❌ 程序异常:{str(e)}")
logging.info(f"\n❌ 程序异常:{str(e)}")
def motor_stop():
"""紧急停止(仅停止脉冲,保留实例)"""
@ -180,7 +200,8 @@ def motor_stop():
if GLOBAL_MOTOR:
GLOBAL_MOTOR.stop()
except Exception as e:
print("停止失败:{e}")
logging.info("停止失败:{e}")
def align_wire(speed: int, cycle: float):
"""
@ -189,20 +210,20 @@ def align_wire(speed: int, cycle: float):
:param cycle: 旋转圈数
"""
try:
print("\n=== 启动线条对齐 ===")
logging.info("\n=== 启动线条对齐 ===")
# 靠近电机方向 逆时针
GLOBAL_MOTOR.rotate(pulse_frequency=speed, rounds=cycle, direction=0)
time.sleep(5) # 暂停5
time.sleep(2) # 暂停3
# 远离电机方向 顺时针
GLOBAL_MOTOR.rotate(pulse_frequency=speed,rounds=cycle, direction=1)
time.sleep(5) # 暂停5
time.sleep(2) # 暂停3
except ImportError:
print("\n❌ 缺少依赖请安装python-periphery")
print("命令pip install python-periphery")
logging.info("\n❌ 缺少依赖请安装python-periphery")
logging.info("命令pip install python-periphery")
except Exception as e:
print(f"\n❌ 程序异常:{str(e)}")
logging.info(f"\n❌ 程序异常:{str(e)}")
def cleanup():
"""程序退出时统一清理"""
@ -212,14 +233,14 @@ def cleanup():
if __name__ == '__main__':
align_wire(speed=2500, cycle=10.0)
time.sleep(10) # 电机运动需要的时间
time.sleep(5) # 电机运动需要的时间
# 测试是否电机能停止
# # 测试是否电机能停止
motor_start(speed=2500, cycle=5.0, direction=0)
time.sleep(1) # 电机运动需要的时间
motor_stop()
motor_stop()
time.sleep(0.2)
while(True): # 防止程序退出
while True: # 防止程序退出
time.sleep(1)