调试更改+挡板电机添加线程和配置文件

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"""