【OpenMV学习笔记】 pca9685学习之用python尝试写代码

pca9685学习资料在我的这篇BLOG:【学习笔记】——16路PWM舵机驱动板(PCA 9685) + Arduino:https://blog.csdn.net/qq_42807924/article/details/82229997
连接方式：

例程：main,py

# Servo Shield Example.
#
# This example demonstrates the servo shield. Please follow these steps:
#
#   1. Connect a servo to any PWM output.
#   2. Connect a 3.7v battery (or 5V source) to VIN and GND.
#   3. Copy pca9685.py and servo.py to OpenMV and reset it.
#   4. Connect and run this script in the IDE.

import time
from servo import Servos
from machine import I2C, Pin

i2c = I2C(sda=Pin('P5'), scl=Pin('P4'))
servo = Servos(i2c, address=0x40, freq=50, min_us=650, max_us=2800, degrees=180)

while True:
    for i in range(0, 8):
        servo.position(i, 0)
    time.sleep(500)
    for i in range(0, 8):
        servo.position(i, 180)
    time.sleep(500)

自己写代码：

#定义一个底座运行模块
def chassis_angle_analy():
    print('进入底座运行')
    x_chassis_ball = 30.0
    y_chassis_ball = 200.0
    chassised_angle=0
    chassis_angle=0
    while (1):
        chassised_angle=math.atan(x_chassis_ball/y_chassis_ball) #得到相对弧度
        chassised_angle=chassised_angle*180/3.14   #转换成角度
        chassised_angle=90-chassised_angle/0.34   #0.34=50/17  转换成舵机绝对角度
        print('底盘绝对角度是：')
        print( chassised_angle)
        if 0<=chassised_angle<=180:
            while(chassis_angle<chassised_angle):
                servo.position(0,chassis_angle)
                chassis_angle+=1
                time.sleep(30)
            while(chassis_angle>chassised_angle):
                servo.position(0,chassis_angle)
                chassis_angle-=1
                time.sleep(30)
        else:
            print('底座角度已经超出范围！')
        break

#手爪收紧函数
def hand_hold():
    pass
    print('手爪收紧')
    hand_angle=160
    max_hand_angle=160#手爪初始状态
    min_hand_angle=60

    while(min_hand_angle<=hand_angle):
        hand_angle+=1
        servo.position(4,hand_angle)
        time.sleep(30)

#抓到球三个电机回收的动作
def catchedback():
    print('恢复位置')
    while(elbow_angle!=max_elbow_angle or arm_angle!=max_arm_angle or chassis_angle!=90)
        pass
        i=3
        while(i>=0):
        #底座，手臂，肘，手爪，对应0，1，2，3
            i=i-1
            if i==2 and elbow_angle<=max_elbow_angle
                servo.position(i,elbow_angle)
                elbow_angle++
            elif i==1 and arm_angle<=max_arm_angle
                servo.