调试更改+挡板电机添加线程和配置文件

servo/servo_control.py

@@ -33,6 +33,7 @@ custom_config = {
     'acc': ACC,
 }
 
+
 class ServoInterface:
     def __init__(self, config=None):
         self.servo_controller = ServoController(config)
@@ -46,9 +47,11 @@ class ServoInterface:
         except Exception as e:
             raise RuntimeError(f"舵机初始化失败:{str(e)}") from e
 
+
 # 全局变量
 _Servo = ServoInterface(custom_config)
 
+
 def _degree_to_raw(degree: int) -> int:
     """
     角度转原始值
@@ -61,6 +64,7 @@ def _degree_to_raw(degree: int) -> int:
 
     return max(0, min(raw_value, 4095))
 
+
 def _raw_to_degree(raw: int) -> float:
     """
     原始值转角度
@@ -69,6 +73,7 @@ def _raw_to_degree(raw: int) -> float:
     """
     return round(raw * RAW_TO_DEGREE_RATIO, 2)
 
+
 def set_servo_speed(value: int):
     """
     设置舵机速度
@@ -82,6 +87,7 @@ def set_servo_speed(value: int):
     else:
         raise ValueError("速度值超出限定范围")
 
+
 def set_servo_acceleration(value: int):
     """
     设置舵机加速度
@@ -94,6 +100,7 @@ def set_servo_acceleration(value: int):
     else:
         raise ValueError("加速度值超出限定范围")
 
+
 def set_servo_ori_position(ori_position: int):
     """
     设置舵机原点位
@@ -103,6 +110,7 @@ def set_servo_ori_position(ori_position: int):
     POS_START = _degree_to_raw(ori_position)
     print(f"舵机原点位置已设置为：{ori_position}度（对应原始值：{POS_START}）")
 
+
 def set_servo_rot_position(rot_position: int):
     """
     设置舵机翻转位置
@@ -112,6 +120,7 @@ def set_servo_rot_position(rot_position: int):
     POS_END = _degree_to_raw(rot_position)
     print(f"舵机翻转位置已设置为：{rot_position}度（对应原始值：{POS_END}）")
 
+
 def move_to_rot_position():
     """舵机旋转到翻转位置"""
     try:
@@ -123,6 +132,7 @@ def move_to_rot_position():
     except Exception as e:
         raise RuntimeError(f"舵机移动到翻转位置失败:{str(e)}") from e
 
+
 def move_to_ori_position():
     """舵机旋转到原点"""
     try:
@@ -134,6 +144,7 @@ def move_to_ori_position():
     except Exception as e:
         raise RuntimeError(f"舵机移动到原点位置失败:{str(e)}") from e
 
+
 # ----------调试接口----------
 if __name__ == '__main__':
     set_servo_speed(1500)
@@ -143,9 +154,9 @@ if __name__ == '__main__':
 
     move_to_rot_position()      # 旋转180度
     time.sleep(1)
-    move_to_ori_position()      # 旋转0度
-    time.sleep(1)
+    # move_to_ori_position()      # 旋转0度
+    # time.sleep(1)
     
-    while(True):
+    while True:
         time.sleep(1)
     

servo/servo_test.py

@@ -11,7 +11,7 @@ import logging
 
 # -------------参数配置--------------
 BAUDRATE = 115200                        # 舵机的波特率
-PORT = 'COM4'
+PORT = '/dev/ttyACM0 '
 SERVO_IDS = [1, 2, 3, 4, 5]              # 舵机们的 ID 号
 POS_START = 2047
 POS_END = 0
@@ -20,14 +20,15 @@ ACC = 0
 TIME_INTERVAL1 = ((2047-0) / 1500) + 2   # 翻转回来的时间
 TIME_INTERVAL2 = 10                      # 不用翻转运行的时间
 
+
 class ServoController:
     def __init__(self, config=None):
         """
         初始化舵机控制器
         """
         self.config = config
-        self.time_interval1 = self.config['time_interval1']
-        self.time_interval2 = self.config['time_interval2']
+        # self.time_interval1 = self.config['time_interval1']
+        # self.time_interval2 = self.config['time_interval2']
 
         # 初始化串口和舵机处理器
         self.port_handler = PortHandler(self.config['port'])
@@ -130,14 +131,14 @@ class ServoController:
                                 self.config['speed'],
                                 self.config['acc'])
             print("运动到180度")
-            time.sleep(self.time_interval1)
+            time.sleep(2)
 
             # 运动到结束位置（0度）
             self.write_position(self.config['pos_end'],
                                 self.config['speed'],
                                 self.config['acc'])
             print("运动到0度")
-            time.sleep(self.time_interval2)
+            time.sleep(2)
 
     def run(self):
         """循环运行：复位位置之后，先转到180度，延时TIME_INTERVAL1一段时间，再转到0度"""