Quarupted robot running no-input homeokinesis-优快云博客

本文链接：https://blog.youkuaiyun.com/jerry173985/article/details/119861223

这段代码展示了如何使用Adafruit_PCA9685库来控制PCA9685 PWM控制器，配置伺服电机的脉冲范围，并通过HK神经网络生成的输出来改变伺服电机的角度。程序不断循环，每次迭代更新输入到神经网络，并将输出转换为伺服电机的脉冲宽度，从而实现伺服运动。最后，所有伺服恢复到中间位置。

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from __future__ import division
import time

# Import the PCA9685 module.
import Adafruit_PCA9685


# Uncomment to enable debug output.
#import logging
#logging.basicConfig(level=logging.DEBUG)

# Initialise the PCA9685 using the default address (0x40).
pwm = Adafruit_PCA9685.PCA9685()

# Alternatively specify a different address and/or bus:
#pwm = Adafruit_PCA9685.PCA9685(address=0x41, busnum=2)

# Configure min and max servo pulse lengths
servo_min = 150  # Min pulse length out of 4096
servo_max = 600  # Max pulse length out of 4096

# Helper function to make setting a servo pulse width simpler.
def set_servo_pulse(channel, pulse):
    pulse_length = 1000000    # 1,000,000 us per second
    pulse_length //= 60       # 60 Hz
    print('{0}us per period'.format(pulse_length))
    pulse_length //= 4096     # 12 bits of resolution
    print('{0}us per bit'.format(pulse_length))
    pulse *= 1000
    pulse //= pulse_length
    pwm.set_pwm(channel, 0, pulse)

# Set frequency to 60hz, good for servos.
pwm.set_pwm_freq(60)

import numpy as np
from hk import *

NN = 100

hk = HK(idim=12, odim=12)

print('Moving servo on channel 0, press Ctrl-C to quit...')

input = np.random.rand(12).reshape(12,1)
print(input)
for i in range(1000):
    input = hk.step(input)
    output = np.floor(np.abs(input.squeeze())* NN) - int(NN/2) + 375
    print(output[0])
    pwm.set_pwm(1, 0, int(output[0]))
    pwm.set_pwm(2, 0, int(output[1]))
    pwm.set_pwm(3, 0, int(output[2]))
    pwm.set_pwm(4, 0, int(output[3]))
    pwm.set_pwm(5, 0, int(output[4]))
    pwm.set_pwm(6, 0, int(output[5]))
    pwm.set_pwm(7, 0, int(output[6]))
    pwm.set_pwm(8, 0, int(output[7]))
    pwm.set_pwm(9, 0, int(output[8]))
    pwm.set_pwm(10, 0, int(output[9]))
    pwm.set_pwm(11, 0, int(output[10]))
    pwm.set_pwm(12, 0, int(output[11]))
    time.sleep(0.1)
    print("Homeokinesis output: ", output)


pwm.set_pwm(1, 0, 375)
pwm.set_pwm(2, 0, 375)
pwm.set_pwm(3, 0, 375)
pwm.set_pwm(4, 0, 375)
pwm.set_pwm(5, 0, 375)
pwm.set_pwm(6, 0, 375)
pwm.set_pwm(7, 0, 375)
pwm.set_pwm(8, 0, 375)
pwm.set_pwm(9, 0, 375)
pwm.set_pwm(10, 0, 375)
pwm.set_pwm(11, 0, 375)
pwm.set_pwm(12, 0, 375)