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调试更改+挡板电机添加线程和配置文件

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pengqi
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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75
RK1106/stepper_motor.py
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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秒
time.sleep(2) # 暂停3秒
# 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秒
time.sleep(2) # 暂停3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 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)