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我有一个激活两个伺服系统的程序。现在，代码激活伺服“A”，然后激活伺服“B”，然后在循环中重复此操作。我想添加第三个伺服，伺服“C”，我想设置它，以便它们在“A”和“B”循环两次后运行。所以顺序是：'A' 'B' 'A' 'B' 'C' 然后它会循环。现在伺服系统只能在循环上以“A”“B”“A”“B”的模式运行。我被卡住了，似乎无法弄清楚如何做到这一点。有任何想法吗？

import RPi.GPIO as GPIO
import time

aServoPin = 11
bServoPin = 13
GPIO.setmode(GPIO.BOARD)

GPIO.setup(aServoPin, GPIO.OUT)
GPIO.setup(bServoPin, GPIO.OUT)

aPwm = GPIO.PWM(aServoPin, 50)
bPwm = GPIO.PWM(bServoPin, 50)
aPwm.start(5)
bPwm.start(5)

while True:
    a = 0
    b = 0
    while(a < 5):
        for i in range(45, 135):
            position = 1./18.*(i)+2
            aPwm.ChangeDutyCycle(position)
            time.sleep(0.005)

        for i in range(135, 45, -1):
            position = 1./18.*(i)+2
            aPwm.ChangeDutyCycle(position)
            time.sleep(0.005)
        a = a + 1

    while(b < 5):
        for i in range(135, 45, -1):
            position = 1./18.*(i)+2
            bPwm.ChangeDutyCycle(position)
            time.sleep(0.005)

        for i in range(45, 135):
            position = 1./18.*(i)+2
            bPwm.ChangeDutyCycle(position)
            time.sleep(0.005)
        b = b + 1

    time.sleep(1)
aPwm.stop()
bPwm.stop()
GPIO.cleanup()
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1 回答 1

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这是你想要的吗 ？

while True:
    a = 0
    b = 0
    c = 0
    loopAB = 0
    while(loopAB < 2):
        while(a < 5):
            for i in range(45, 135):
                position = 1./18.*(i)+2
                aPwm.ChangeDutyCycle(position)
                time.sleep(0.005)

            for i in range(135, 45, -1):
                position = 1./18.*(i)+2
                aPwm.ChangeDutyCycle(position)
                time.sleep(0.005)
            a = a + 1

        while(b < 5):
            for i in range(135, 45, -1):
                position = 1./18.*(i)+2
                bPwm.ChangeDutyCycle(position)
                time.sleep(0.005)

            for i in range(45, 135):
                position = 1./18.*(i)+2
                bPwm.ChangeDutyCycle(position)
                time.sleep(0.005)
            b = b + 1
        loopAB += 1
        
    while(c < 5):
        # do some things
        c = c + 1

    time.sleep(1)
aPwm.stop()
bPwm.stop()
GPIO.cleanup()
于 2021-01-20T19:58:09.973 回答