SunFounder PiArm, Руководство пользователя

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Piarm, Release 1.0
4.5.2 Hanging Clip - Keyboard Control
Run the code
cd / home / pi / piarm / examples
sudo python3 keyboard_control2 . py
After running the code, follow the prompts and press the keys on the keyboard to control the Arm and Hanging Clip
of PiArm.
But you need to assemble
Hanging Clip
to PiArm first.
Note:
• To switch the keyboard to lowercase English input.
•
w
,
s
,
a
,
d
,
i
and
k
are used to control the rotation of the arm.
•
j
and
l
are used to control the opening and closing of the Hanging Clip.
Code
from piarm import PiArm
from robot_hat import Pin,PWM,Servo,ADC
from time import time,sleep
from robot_hat.utils import reset_mcu
import sys
import tty
import termios
reset_mcu()
sleep( 0.01 )
arm = PiArm([ 1 , 2 , 3 ])
arm . hanging_clip_init(PWM( 'P3' ))
arm . set_offset([ 0 , 0 , 0 ])
controllable = 0
manual = '''
Press keys on keyboard
w: extend
s: retract
a: turn left
d: turn right
i: go up
k: go down
j: open
l: close
ESC: Quit
'''
def readchar ():
fd = sys . stdin . fileno()
old_settings = termios . tcgetattr(fd)
try :
tty . setraw(sys . stdin . fileno())
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4.5. Keyboard Control 125