树莓派安装pihpio库控制pwm舵机

以前用了一份代码，控制pwm输出很不稳定，出现抖舵现象，用pihpio库控制pwm舵机可以解决这个问题

教程

1.安装pigpio

$ sudo apt install pigpio

2.启用remote gpio

$ sudo raspi-config

选择Interface Options
启用Remote GPIO

3.设置开机自启并启动服务

设置开机自启

$ sudo systemctl enable pigpiod

启动服务(默认所有ip均可连接，端口8888)

$ sudo systemctl start pigpiod

其他方式启动服务：指定允许连接的ip和监听端口

$ sudo pigpiod -n localhost # allow localhost only
$ sudo pigpiod -n 192.168.1.65 # allow 192.168.1.65 only
$ sudo pigpiod -n localhost -n 192.168.1.65 # allow localhost and 192.168.1.65 only

安装成功后，输入命令sudo pigpiod运行pigpio守护进程，python接口通过和pigpio守护进程通信来控制GPIO口。
函数set_PWM_dutycycle， set_PWM_frequency，set_PWM_range分别控制PWM的占空比、频率和控制精度

！！！ python程序：

import pigpio
import time

def duoji_open(port,angle1):
    while angle1 > 90:
        pi.set_PWM_dutycycle(port, angle1)  # 2.5%
        time.sleep(0.03)
        angle1 -= 1


def duoji_close(port,angle2):
    while angle2 < 135:
        pi.set_PWM_dutycycle(port, angle2)  # 2.5%
        time.sleep(0.03)
        angle2 += 1


if __name__ == '__main__':
    pi = pigpio.pi()
    pi.set_PWM_frequency(18, 50)  # frequency 50Hz
    pi.set_PWM_range(18, 1000)  # set range 1000
    time.sleep(0.5)  # wait for 2 seconds
    port=18
    angle1 = 135
    angle2 = 90
    duoji_open(port,angle1)
    time.sleep(1)
    duoji_close(port,angle2)