用python3实现raspberry pi（树莓派）两路舵机摄像头控制程序

 

目录

1. 舵机控制程序

2. 配置文件

3. 摄像机控制程序

---

关于舵机的理论知识，网上有比较多的介绍，这里我就不赘述了（我也说不清楚）。这里只是简单说一下我所了解的，以及自己的一些想法：

• 舵机只能有两个旋转方向：要么正转、要么反转
• 舵机的转动有一个能够转动的最大角度和最小角度，当转动达到最值，也就不能再转动了（在舵机允许的最值之内，你可以自己重新定义这些最值）
• 要实现摄像头既能水平方向转动，又能垂直方向转动，那就需要两个舵机
• 我先实现一个控制舵机的类，用来实现一个舵机运动方向的控制；然后定义一个摄像机控制类，来实现摄像机方向的控制
• 我所实现的功能是输入对应指令，可以控制摄像头上、下、左、右方向的运动，以及让摄像头回归初始位置

说明：摄像头实现摄像功能这里就不讲了，网上有很多资料可以参考，我用的是MJPG-Streamer，实现方式还是比较简单的

安装参考可以戳这里

1. 舵机控制程序

steering.py:

# -*- coding: UTF-8 -*-
import RPi.GPIO as GPIO
import time
import atexit
# 这个类表示单个的SG90模块


class Steering:
    max_delay = 0.2
    min_delay = 0.04

    def __init__(self, channel, init_position, min_angle, max_angle, speed):
        self.channel = channel
        self.init_position = init_position
        self.position = init_position
        self.min_angle = min_angle
        self.max_angle = max_angle
        self.speed = speed

        atexit.register(GPIO.cleanup)
        GPIO.setmode(GPIO.BOARD)
        GPIO.setwarnings(False)
        GPIO.setup(self.channel, GPIO.OUT, initial=False)

        self.pwm = GPIO.PWM(self.channel, 50)  # PWM
        self.pwm.start(2.5 + 10 * self.position / 180)  # 让舵机转到初始位置
        time.sleep(Steering.max_delay)
        self.pwm.ChangeDutyCycle(0)  # 这一步比较重要，如果不加的话，舵机会不规则抖动（具体原因还不知道）
        time.sleep(Steering.min_delay)

    def forwardRotation(self):
        print("current postion: " + str(self.position))

        if (self.position + self.speed) <= self.max_angle:
            self.position = self.position + self.speed
            self.pwm.ChangeDutyCycle(2.5 + 10 * self.position / 180)  # 设置舵机角度
            time.sleep(Steering.min_delay)
            self.pwm.ChangeDutyCycle(0)  # 舵机回到中位
            time.sleep(Steering.min_delay)

    def reverseRotation(self):
        print("current postion: " + str(self.position))

        if (self.position - self.speed) >= self.min_angle:
            self.position = self.position - self.speed
            self.pwm.ChangeDutyCycle(2.5 + 10 * self.position / 180)  # 设置舵机角度
            time.sleep(Steering.min_delay)
            self.pwm.ChangeDutyCycle(0)  # 舵机回到中位
            time.sleep(Steering.min_delay)

    def reset(self):
        '''
        Reset the steering to the middle
        '''
        self.position = self.init_position
        self.pwm.start(2.5 + 10 * self.init_position / 180)  # 让舵机转到初始位置
        time.sleep(Steering.max_delay)
        self.pwm.ChangeDutyCycle(0)  # 这一步比较重要，如果不加的话，舵机会不规则抖动（具体原因还不知道）
        time.sleep(Steering.min_delay)

    def stop(self):
        self.pwm.stop()
        time.sleep(Steering.max_delay)
        GPIO.cleanup()


if __name__ == "__main__":
    steer = Steering(38, 90, 45, 136, 5)
    while True:
        direction = input("Please input direction: ")
        if direction == "F":
            steer.forwardRotation()
        elif direction == "R":
            steer.reverseRotation()
        elif direction == "S":
            steer.stop()

2. 配置文件

config.ini

[car]
# This is the parmaters that will control the car's wheels
# The number is the interface number of GPIO (GPIO.BOARD)
LEFT_FRONT_1 = 7
LEFT_FRONT_2 = 11

RIGHT_FRONT_1 = 13
RIGHT_FRONT_2 = 15

LEFT_BEHIND_1 = 31
LEFT_BEHIND_2 = 33

RIGHT_BEHIND_1 = 35
RIGHT_BEHIND_2 = 37

[camera]
# This is the parameters that will control camera's horizonal direction move
HIntfNum = 38
HInitPosition = 90
HMinPosition = 40
HMaxPosition = 140
HSpeed = 5

# This is the parameters that will control camera's vertical direction move
VIntfNum = 40
VInitPosition = 120
VMinPosition = 75
VMaxPosition = 180
VSpeed = 5

[server]

3. 摄像机控制程序

camera_controler.py

# -*- coding = UTF-8 -*-
from steering import Steering
import time
import configparser


class Camera:
    def __init__(self):
        '''
        Read config file to init camera's parameter
        '''
        config = configparser.ConfigParser()
        config.read("config.ini")

        # Horiazonal direction control parameters
        HIntfNum = config.getint("camera", "HIntfNum")
        HInitPosition = config.getint("camera", "HInitPosition")
        HMinPosition = config.getint("camera", "HMinPosition")
        HMaxPosition = config.getint("camera", "HMaxPosition")
        HSpeed = config.getint("camera", "HSpeed")

        # Vertical direction control parameters
        VIntfNum = config.getint("camera", "VIntfNum")
        VInitPosition = config.getint("camera", "VInitPosition")
        VMinPosition = config.getint("camera", "VMinPosition")
        VMaxPosition = config.getint("camera", "VMaxPosition")
        VSpeed = config.getint("camera", "VSpeed")

        self.HCameraControl = Steering(
            HIntfNum, HInitPosition, HMinPosition, HMaxPosition, HSpeed)
        self.VCameraControl = Steering(
            VIntfNum, VInitPosition, VMinPosition, VMaxPosition, VSpeed)

    def cameraRotate(self, direction):
        '''
        This method is used to contorl the camera's rotating
        The value of parameter direction and its meaning as follow:
        HR - Turn right
        HL - Turn left
        VU - Turn upward
        VD - Turn downword
        '''
        if direction == "HL":
            self.HCameraControl.forwardRotation()
        elif direction == "HR":
            self.HCameraControl.reverseRotation()
        elif direction == "VU":
            self.VCameraControl.forwardRotation()
        elif direction == "VD":
            self.VCameraControl.reverseRotation()
        elif direction == "RESET":
            self.HCameraControl.reset()
            self.VCameraControl.reset()
        else:
            print(
                "Your input for camera direction is wrong, please input: HR, HL, VU, VD or RESET!")


if __name__ == "__main__":
    camera = Camera()
    while(True):
        direction = input("Please input direction: ")
        camera.cameraRotate(direction)