SunFounder PiArm, Руководство пользователя

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Piarm, Release 1.0
Initialize the MCU first, then initialize the individual servo connection pins of PiArm and the connection pin of the
bucket.
• PiArm( ) : Initialize the 3 servo pins on the Arm.
• bucket_init( ) : Set the pin of the bucket.
•
set_offset( )
: Set the offset value of the 3 servos on the Arm.
while True :
arm . set_bucket( - 50 )
sleep( 1 )
arm . set_bucket( 90 )
sleep( 1 )
This code is used to move the bucket back and forth between -50 and 90 degrees with a time interval of 1 second.
•
set_bucket()
: Used to control the rotation angle of the bucket.
4.2.2 Hanging Clip
Run the code
cd / home / pi / piarm / examples
sudo python3 clip . py
After running the code, you will see the Hanging Clip repeatedly opening and closing. But you need to assemble
Hanging Clip first.
Code
from robot_hat import Robot,Servo,PWM
from robot_hat.utils import reset_mcu
from time import sleep
from piarm import PiArm
reset_mcu()
sleep( 0.01 )
arm = PiArm([ 1 , 2 , 3 ])
arm . hanging_clip_init(PWM( 'P3' ))
arm . set_offset([ 0 , 0 , 0 ])
if __name__ == "__main__" :
while True :
arm . set_hanging_clip( - 50 )
sleep( 1 )
arm . set_hanging_clip( 90 )
sleep( 1 )
• hanging_clip_init( ) : Used to initialize the pin of the Hanging Clip.
•
set_hanging_clip( )
: used to set the rotation angle of the Hanging Clip.
4.2. Assemble and Test 3 EoATs 111