# -*- coding:utf-8 -*-
import time
#引入pca9685的原始代码
import machine
#这里加入了灯光展示
from light import Light
#引入mqtt的paho
import paho.mqtt.client as mqtt
#本地ip
MQTTHOST = "127.0.0.1"
#mqtt的端口号
MQTTPORT = 1883
#初始化mqttClient
mqttClient = mqtt.Client()
#初始化pwm
pwm = machine.PCA9685(0x40, debug=False)
#设置pwm的频率
pwm.setPWMFreq(50)
#设置初始上下位置为中间，（500+2500）/2 = 1500
up = 1500
#设置初始左右位置为中间
dw = 1500
#设置灯的接口位置
led = Light(17)
# 消息处理函数
def on_message_come(client, userdata, msg):
topicmsg = str(msg.payload.decode("utf-8"))
msgList = topicmsg.split(',', 1)
#evalFunc的作用是将接受的命令字符串变成对应的方法进行执行
evalFunc(msgList[0], msgList[1])
# 连接MQTT服务器
def on_mqtt_connect():
mqttClient.connect(MQTTHOST, MQTTPORT, 60)
# subscribe 消息订阅
def on_subscribe(top):
mqttClient.subscribe(top, 1) # 主题为"mqtt"
mqttClient.on_message = on_message_come # 消息到来处理函数
mqttClient.loop_forever()
def evalFunc(func, n):
#例如获取到了mqtt消息，right,1 ，这个表示执行向右1个单位，一共10个单位
print(str(func) + '(' + str(n) + ')')
#eval可以调用方法进行执行
eval(str(func) + '(' + str(n) + ')')
#这个是恢复到初始位置
def reset(n):
led.blink()
global up
global dw
for i in range(1400,1500,1):
pwm.setServoPulse(0,i)
time.sleep(0.00025)
for i in range(1400,1500,1):
pwm.setServoPulse(1,i)
time.sleep(0.00025)
up = 1500
dw = 1500
#这个是向前进的代码
def front(n):
n = int(n)
#这里我自定义n乘以5，是因为我之前每次执行一个单位，我想一次性执行5个单位的向下
n = n * 5
#灯光闪烁
led.blink()
global up
#这里会判断是否已经到了阈值范围，如果到了则不执行下一步
if up != 2500:
#开启循环进行，从up到up+100*n,每次走100 * n个距离，当然这里你可以10 * n,这样舵机移动的角度非常小非常小
#我这里500~2500一共是2000个，分20下100 * n,当n为1时，则移动20下从最前边到最后边，角度大概是从0度到180度这样，具体度数描述不太准确，请见谅
#现在n = n * 5,意味着我只需要4下就从最前边到最后面，具体根据你的度数范围来，还有根据你移动的角度大小来决定舵机的速度
for i in range(up,up+100*n,1*n):
pwm.setServoPulse(0,i)
time.sleep(0.00025)
#每次执行完毕后，up都会变化
up += 100*n
#这里防止up变大超过2500，则变为2500
if up > 2500:
up = 2500
def back(n):
n = int(n)
n = n * 5
led.blink()
global up
if up != 500:
for i in range(up,up-100*n,-1*n):
pwm.setServoPulse(0,i)
time.sleep(0.00025)
up -= 100*n
if up < 500:
up = 500
def left(n):
n = int(n)
n = n * 2
led.blink()
global dw
if dw != 2500:
for i in range(dw,dw+100*n,1*n):
pwm.setServoPulse(1,i)
time.sleep(0.00025)
dw += 100*n
if dw > 2500:
dw = 2500
def right(n):
n = int(n)
n = n * 2
led.blink()
global dw
if dw != 500:
for i in range(dw,dw-100*n,-1*n):
pwm.setServoPulse(1,i)
time.sleep(0.00025)
dw -= 100*n
if dw < 500:
dw = 500
if __name__ == '__main__':
topic='mqtt'
on_mqtt_connect()
on_subscribe(topic)
下面是machine的代码，也就是PCA9685的python3测试代码
#!/usr/bin/python
import time
import math
import smbus
# ============================================================================
# Raspi PCA9685 16-Channel PWM Servo Driver
# ============================================================================
class PCA9685:
# Registers/etc.
__SUBADR1 = 0x02
__SUBADR2 = 0x03
__SUBADR3 = 0x04
__MODE1 = 0x00
__PRESCALE = 0xFE
__LED0_ON_L = 0x06
__LED0_ON_H = 0x07
__LED0_OFF_L = 0x08
__LED0_OFF_H = 0x09
__ALLLED_ON_L = 0xFA
__ALLLED_ON_H = 0xFB
__ALLLED_OFF_L = 0xFC
__ALLLED_OFF_H = 0xFD
def __init__(self, address=0x40, debug=False):
self.bus = smbus.SMBus(1)
self.address = address
self.debug = debug
if (self.debug):
print("Reseting PCA9685")
self.write(self.__MODE1, 0x00)
def write(self, reg, value):
"Writes an 8-bit value to the specified register/address"
self.bus.write_byte_data(self.address, reg, value)
if (self.debug):
print("I2C: Write 0x%02X to register 0x%02X" % (value, reg))
def read(self, reg):
"Read an unsigned byte from the I2C device"
result = self.bus.read_byte_data(self.address, reg)
if (self.debug):
print("I2C: Device 0x%02X returned 0x%02X from reg 0x%02X" % (self.address, result & 0xFF, reg))
return result
def setPWMFreq(self, freq):
"Sets the PWM frequency"
prescaleval = 25000000.0 # 25MHz
prescaleval /= 4096.0 # 12-bit
prescaleval /= float(freq)
prescaleval -= 1.0
if (self.debug):
print("Setting PWM frequency to %d Hz" % freq)
print("Estimated pre-scale: %d" % prescaleval)
prescale = math.floor(prescaleval + 0.5)
if (self.debug):
print("Final pre-scale: %d" % prescale)
oldmode = self.read(self.__MODE1);
newmode = (oldmode & 0x7F) | 0x10 # sleep
self.write(self.__MODE1, newmode) # go to sleep
self.write(self.__PRESCALE, int(math.floor(prescale)))
self.write(self.__MODE1, oldmode)
time.sleep(0.005)
self.write(self.__MODE1, oldmode | 0x80)
def setPWM(self, channel, on, off):
"Sets a single PWM channel"
self.write(self.__LED0_ON_L+4*channel, on & 0xFF)
self.write(self.__LED0_ON_H+4*channel, on >> 8)
self.write(self.__LED0_OFF_L+4*channel, off & 0xFF)
self.write(self.__LED0_OFF_H+4*channel, off >> 8)
if (self.debug):
print("channel: %d LED_ON: %d LED_OFF: %d" % (channel,on,off))
def setServoPulse(self, channel, pulse):
"Sets the Servo Pulse,The PWM frequency must be 50HZ"
pulse = pulse*4096/20000 #PWM frequency is 50HZ,the period is 20000us
self.setPWM(channel, 0, int(pulse))
if __name__=='__main__':
pwm = PCA9685(0x40, debug=False)
pwm.setPWMFreq(50)
while True:
# setServoPulse(2,2500)
for i in range(500,2500,10):
pwm.setServoPulse(0,i)
time.sleep(0.02)
for i in range(2500,500,-10):
pwm.setServoPulse(0,i)
time.sleep(0.02)
Python2的代码在此
#!/usr/bin/python
import time
import math
import smbus
# ============================================================================
# Raspi PCA9685 16-Channel PWM Servo Driver
# ============================================================================
class PCA9685:
# Registers/etc.
__SUBADR1 = 0x02
__SUBADR2 = 0x03
__SUBADR3 = 0x04
__MODE1 = 0x00
__PRESCALE = 0xFE
__LED0_ON_L = 0x06
__LED0_ON_H = 0x07
__LED0_OFF_L = 0x08
__LED0_OFF_H = 0x09
__ALLLED_ON_L = 0xFA
__ALLLED_ON_H = 0xFB
__ALLLED_OFF_L = 0xFC
__ALLLED_OFF_H = 0xFD
def __init__(self, address=0x40, debug=False):
self.bus = smbus.SMBus(1)
self.address = address
self.debug = debug
if (self.debug):
print("Reseting PCA9685")
self.write(self.__MODE1, 0x00)
def write(self, reg, value):
"Writes an 8-bit value to the specified register/address"
self.bus.write_byte_data(self.address, reg, value)
if (self.debug):
print("I2C: Write 0x%02X to register 0x%02X" % (value, reg))
def read(self, reg):
"Read an unsigned byte from the I2C device"
result = self.bus.read_byte_data(self.address, reg)
if (self.debug):
print("I2C: Device 0x%02X returned 0x%02X from reg 0x%02X" % (self.address, result & 0xFF, reg))
return result
def setPWMFreq(self, freq):
"Sets the PWM frequency"
prescaleval = 25000000.0 # 25MHz
prescaleval /= 4096.0 # 12-bit
prescaleval /= float(freq)
prescaleval -= 1.0
if (self.debug):
print("Setting PWM frequency to %d Hz" % freq)
print("Estimated pre-scale: %d" % prescaleval)
prescale = math.floor(prescaleval + 0.5)
if (self.debug):
print("Final pre-scale: %d" % prescale)
oldmode = self.read(self.__MODE1);
newmode = (oldmode & 0x7F) | 0x10 # sleep
self.write(self.__MODE1, newmode) # go to sleep
self.write(self.__PRESCALE, int(math.floor(prescale)))
self.write(self.__MODE1, oldmode)
time.sleep(0.005)
self.write(self.__MODE1, oldmode | 0x80)
def setPWM(self, channel, on, off):
"Sets a single PWM channel"
self.write(self.__LED0_ON_L+4*channel, on & 0xFF)
self.write(self.__LED0_ON_H+4*channel, on >> 8)
self.write(self.__LED0_OFF_L+4*channel, off & 0xFF)
self.write(self.__LED0_OFF_H+4*channel, off >> 8)
if (self.debug):
print("channel: %d LED_ON: %d LED_OFF: %d" % (channel,on,off))
def setServoPulse(self, channel, pulse):
"Sets the Servo Pulse,The PWM frequency must be 50HZ"
pulse = pulse*4096/20000 #PWM frequency is 50HZ,the period is 20000us
self.setPWM(channel, 0, int(pulse))
if __name__=='__main__':
pwm = PCA9685(0x40, debug=False)
pwm.setPWMFreq(50)
while True:
# setServoPulse(2,2500)
for i in range(500,2500,10):
pwm.setServoPulse(0,i)
time.sleep(0.02)
for i in range(2500,500,-10):
pwm.setServoPulse(0,i)
time.sleep(0.02)具体的代码在此，包括python2和python3还有C的代码都在此，想多了解的可以下载一下，也可以不下载，代码也贴出来了，点击下载
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