SunFounder PiArm, Руководство пользователя

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Piarm, Release 1.0
(continued from previous page)
ch = sys . stdin . read( 1 )
finally :
termios . tcsetattr(fd, termios . TCSADRAIN, old_settings)
return ch
def control (key):
arm . speed = 100
flag = False
alpha,beta,gamma = arm . servo_positions
clip = arm . component_staus
if key == 'w' :
alpha += 3
flag = True
elif key == 's' :
alpha -= 3
flag = True
if key == 'a' :
gamma += 3
flag = True
elif key == 'd' :
gamma -= 3
flag = True
if key == 'i' :
beta += 3
flag = True
elif key == 'k' :
beta -= 3
flag = True
if key == 'j' :
clip -= 1
flag = True
elif key == 'l' :
clip += 1
flag = True
if flag == True :
arm . set_angle([alpha,beta,gamma])
arm . set_hanging_clip(clip)
print ( 'servo angles: %s , clip angle: %s ' % (arm . servo_positions,arm . component_
˓ →
staus))
if __name__ == "__main__" :
print (manual)
while True :
key = readchar() . lower()
control(key)
if key == chr ( 27 ):
break
In this code, the
control()
function is created to control the PiArm by reading the key values on the keyboard.
• alpha , beta and gamma refer to the angles of the 3 servos on the arm respectively, refer to: Angle Mode .
126 Chapter 4. Play with Python