树莓派舵机与超声波的使用

一、舵机，我的树莓派测试的时候ChangeDutyCycle里面的值大概是2-12，总共180度

舵极测试
GPIO.setmode(GPIO.BCM)
panPin = 17
GPIO.setup(17, GPIO.OUT)

GPIO.setwarnings(False)
pan = GPIO.PWM(17, 50)
pan.start(2)
pan.ChangeDutyCycle(7)

二、超声波模块，所接的GPIO是BCM模式下的20与21

import RPi.GPIO as GPIO
import time

Trig_pin = 20
Echo_pin = 21

GPIO.setmode(GPIO.BCM)
GPIO.setup(Trig_pin, GPIO.OUT)
GPIO.setup(Echo_pin, GPIO.IN)

time.sleep(2)

def checkdist():
    GPIO.output(Trig_pin, GPIO.HIGH)
    time.sleep(0.00015)
    GPIO.output(Trig_pin, GPIO.LOW)
    while not GPIO.input(Echo_pin):
        pass
    t1= time.time()
    while GPIO.input(Echo_pin):
        pass
    t2 = time.time()
    t = (t2-t1)*340*100/2
    return t

try:
    while True:
        print('Distanse:%0.2f cm'%checkdist())
        if checkdist()<15:
            print('dis < 15')
        else :
            print(' dis>15 ')

except KeyboardInterrupt:
    GPIO.cleanup