JETson 舵机控制

1舵机驱动

参考博客：Jetson nano驱动舵机（非常简单！）_Wilbur11的博客-CSDN博客

SCL接GPIO5

SDA接GPIO3

vcc接3.3v

v+接5v，v+也可以通过控制器外接电源，但外接的电源也是5v

接线图

此处TX2与nano的GPIO接口相同 

 

2 环境配置

sudo pip3 install -U \ adafruit-circuitpython-busdevice==5.1.2 \ adafruit-circuitpython-motor==3.3.5 \ adafruit-circuitpython-pca9685==3.4.1 \ adafruit-circuitpython-register==1.9.8 \ adafruit-circuitpython-servokit==1.3.8 \ Adafruit-Blinka==6.11.1 \ Adafruit-GPIO==1.0.3 \ Adafruit-MotorHAT==1.4.0 \ Adafruit-PlatformDetect==3.19.6 \ Adafruit-PureIO==1.1.9 \ Adafruit-SSD1306==1.6.2

查看设备

sudo i2cdetect -y -r 1

出现下面内容，则匹配成功 

测试代码

from adafruit_servokit import ServoKit  #引入PCA9685库

kit = ServoKit(channels=16)  #明确PCA9685的舵机控制数
kit.servo[0].angle = 90  #channel0上的舵机旋转90。
kit.servo[0].angle = 90  #channel0上的舵机旋转90。

疯狂摇头丸

import time

from adafruit_servokit import ServoKit


kit = ServoKit(channels=16)


while True:
    for i in range(0,180,1):
        kit.servo[0].angle =i
        kit.servo[1].angle =i
        time.sleep(0.01) 

    for i in range(180,0,-1):
        kit.servo[0].angle =i
        kit.servo[1].angle =i
        time.sleep(0.01)

3舵机键盘控制

import time
import cv2
from adafruit_servokit import ServoKit

kit = ServoKit(channels=16)

angl = 90
tilt = 90
step = 4
kit.servo[0].angle =angl
kit.servo[1].angle =tilt

cam = cv2.VideoCapture('rtsp://admin:JGSYS123@192.168.31.123/Streaming/Channels/2')
width = cam.get(cv2.CAP_PROP_FRAME_WIDTH)
height = cam.get(cv2.CAP_PROP_FRAME_HEIGHT)

fnt = cv2.FONT_HERSHEY_COMPLEX
while True:
	ret, frame = cam.read()

	keyCode = cv2.waitKey(0) & 0xFF
	#水平旋转控制
	if keyCode == ord('a'):
		angl = angl - step
		if angl < 0:
			angl = 0
			frame = cv2.putText(frame, "out of range",(int(width/3), int(height/2)), fnt, 1, [0, 0, 255],2)
			kit.servo[0].angle = angl
		kit.servo[0].angle = angl
	elif keyCode == ord('d'):
		angl = angl + step
		if angl > 180:
			angl = 180
			frame = cv2.putText(frame, "out of range", (int(width/3), int(height/2)), fnt, 1, [0, 0, 255],2)
			kit.servo[0].angle = angl
		kit.servo[0].angle = angl
	# 垂直旋转控制
	elif keyCode == ord('w'):
		tilt = tilt + step
		if tilt > 180:
			tilt = 180
			frame = cv2.putText(frame, "out of range", (int(width/3), int(height/2)), fnt, 1, [0, 0, 255],2)
			kit.servo[1].angle = tilt
		kit.servo[1].angle = tilt
	elif keyCode == ord('s'):
		tilt = tilt - step
		if tilt < 0:
			tilt = 0
			frame = cv2.putText(frame, "out of range", (int(width/3), int(height/2)), fnt, 1, [0, 0, 255],2)
			kit.servo[1].angle = tilt
		kit.servo[1].angle = tilt
	
	elif keyCode == ord('q'):
		break

	# 显示视频流
	cv2.imshow('cap1', frame)


cam.release()
cv2.destroyAllWindows()