使用pwm控制舵机来回摆动的中心位置,还是基于前两篇的结果,这个让舵机可以在45度的范围摆动,可以使用pwm控制它摆动的中心角度。
效果:
python写的模拟舵机控制来回摆动的中心点
代码如下:
import tkinter as tk
import math
class SwingArm:
def __init__(self):
self.current_angle = 0.0 # 当前角度(-45~45)
self.target_angle = 0.0 # 目标角度
self.speed = 180.0 # 180.0度/秒
angle_rad = math.radians(self.current_angle)
self.x = 200 + 100 * math.cos(angle_rad)
self.y = 150 - 100 * math.sin(angle_rad)
def set_target(self, pwm):
# PWM映射到角度(1000→-45°,2000→45°)
self.target_angle = (pwm - 1500) * 0.09
def update(self, delta_time):
# 计算移动方向和距离
angle_diff = self.target_angle - self.current_angle
if abs(angle_diff) < 0.1: # 到达阈值
return
direction = 1 if angle_diff > 0 else -1
max_step = self.speed * delta_time
step = min(abs(angle_diff), max_step) * direction
# 更新当前角度并限制范围
self.current_angle = max(-45.0, min(45.0, self.current_angle + step))
# 新增摆臂位置计算
angle_rad = math.radians(self.current_angle)
self.x = 200 + 100 * math.cos(angle_rad)
self.y = 150 - 100 * math.sin(angle_rad)
class ServoSimulator:
def __init__(self, master):
self.master = master
master.title("舵机摆动模拟器")
# 界面布局
self.canvas = tk.Canvas(master, width=400, height=300, bg='white')
self.canvas.pack(pady=20)
# PWM输入控件
# 删除原有Entry控件,添加滑动条
self.pwm_label = tk.Label(master, text="PWM控制 (1000-2000):")
self.pwm_label.pack()
# 创建水平滑动条
self.pwm_slider = tk.Scale(master, from_=1000, to=2000, orient=tk.HORIZONTAL,
length=300, command=self.update_angle)
self.pwm_slider.set(1500) # 设置默认值
self.pwm_slider.pack(pady=10)
# 删除原有pwm_entry及其绑定
self.pwm_entry = tk.Entry(master)
self.pwm_entry.pack()
self.pwm_entry.insert(0, "1500")
# 角度显示
self.angle_label = tk.Label(master, text="当前角度: 0.00°")
self.angle_label.pack(pady=10)
# 绘制摆臂
self.arm = self.canvas.create_line(200, 150, 300, 150, width=3, fill='blue')
# 绘制最大最小角度参考线(红色虚线)
self.min_line = self.canvas.create_line(200, 150, 200, 150, width=1, fill='red', dash=(4,2))
self.max_line = self.canvas.create_line(200, 150, 200, 150, width=1, fill='red', dash=(4,2))
# 绑定输入事件
self.pwm_entry.bind("<KeyRelease>", self.update_angle)
# 新增初始化变量
self.current_angle = 0.0
self.direction = 1
self.input_pwm = 0.0
self.swing_angle = 0.0 # 初始角度
# 初始化摆臂对象
self.swing_arm = SwingArm()
# 删除残留的pwm_entry相关代码
self.pwm_entry.pack_forget() # 隐藏输入框
self.pwm_entry.unbind("<KeyRelease>") # 解除事件绑定
# 启动动画循环
self.update_animation()
def update_angle(self, pwm_value):
# 将PWM值传给摆臂对象
self.swing_arm.set_target(int(pwm_value))
def do_swing(self, delta_time):
self.auto_speed = (self.input_pwm-1000)/1000*180.0
deltaAngle = self.auto_speed * delta_time * self.direction
new_angle = self.swing_angle + deltaAngle
# 边界检测和方向反转
if new_angle >= 25 or new_angle <= -25:
self.direction *= -1
# 更新当前角度并设置目标PWM
self.swing_angle = new_angle
target_pwm = 1500 + (self.swing_angle / 0.09)
self.swing_arm.set_target(int(target_pwm))
def adjust_swing_center(self, delta_time):
self.auto_speed = 90
# 计算中心位置(1000→-25°,2000→25°)
center = (self.input_pwm - 1500) * 0.05
# 计算摆动边界(中心±22.5度)
min_angle = center - 22.5
max_angle = center + 22.5
# 更新角度并检测边界
new_angle = self.swing_angle + self.auto_speed * delta_time * self.direction
if new_angle > max_angle or new_angle < min_angle:
self.direction *= -1
new_angle = max(min(new_angle, max_angle), min_angle)
self.swing_angle = new_angle
# 设置目标PWM
target_pwm = 1500 + (self.swing_angle / 0.09)
self.swing_arm.set_target(int(target_pwm))
def adjust_swing_center(self, delta_time):
self.auto_speed = 90
# 计算中心位置(1000→-25°,2000→25°)
center = (self.input_pwm - 1500) * 0.05
# 计算摆动边界(中心±22.5度)
min_angle = center - 22.5
max_angle = center + 22.5
# 更新角度并检测边界
new_angle = self.swing_angle + self.auto_speed * delta_time * self.direction
if new_angle > max_angle or new_angle < min_angle:
self.direction *= -1
new_angle = max(min(new_angle, max_angle), min_angle)
self.swing_angle = new_angle
# 设置目标PWM
target_pwm = 1500 + (self.swing_angle / 0.09)
self.swing_arm.set_target(int(target_pwm))
# 更新参考线位置
min_rad = math.radians(min_angle)
max_rad = math.radians(max_angle)
self.canvas.coords(self.min_line,
200, 150,
200 + 100 * math.cos(min_rad),
150 - 100 * math.sin(min_rad))
self.canvas.coords(self.max_line,
200, 150,
200 + 100 * math.cos(max_rad),
150 - 100 * math.sin(max_rad))
def update_animation(self):
# self.do_swing(0.02)
self.adjust_swing_center(0.02)
self.swing_arm.update(0.02)
self.angle_label.config(text=f"当前角度: {self.swing_arm.current_angle:+.2f}°")
self.canvas.coords(self.arm, 200, 150, self.swing_arm.x, self.swing_arm.y)
self.master.after(50, self.update_animation)
def update_angle(self, pwm_value=None):
try:
# 从滑动条获取值
pwm = int(pwm_value) if pwm_value else self.pwm_slider.get()
print(f"更新pwm: {pwm}")
#self.swing_arm.set_target(pwm)
self.input_pwm = pwm
except Exception as e:
print(f"更新错误: {e}")
except ValueError:
self.angle_label.config(text="输入无效!")
if __name__ == "__main__":
root = tk.Tk()
app = ServoSimulator(root)
root.mainloop()