Сервопривод — это мотор-редуктор, способный поворачивать выходной вал в заданное положение (на заданный угол) и удерживать его в этом положении, вопреки сопротивлениям и возмущениям. Сервопривод Tower Pro 9g SG90 не имеет мощные характеристики (всего 1,2-1,6 кг*см), но имеет недорогую цену. Отлично подходит для управления небольшими легкими механизмами под управлением контроллеров Arduino, Raspberry Pi и т.п.. Рабочее напряжение Tower Pro 9g SG90 от 3В до 7.2В, угол поворота ограничен диапазоном от 0 до 180 градусов (в реальность — чуть больше).
В этой статье будем управлять сервоприводом SG90 с помощью PCA9685 из Python на Orange Pi PC. Можно использовать Raspberry Pi, Banana Pi, NanoPi или любой другой мини-компьютер под управлением ОС Linux имеющий I2C порт.
Библиотека на Python для PCA9685
Поскольку библиотека Adafruit_Python_PCA9685 для работы с PCA9685 из Python работает только на Raspberry Pi, она была переписана так, чтобы ее можно было использовать на Orange Pi и Banana Pi. Теперь используется SMBus в качестве I2C драйвера, как установить тут: SMBus: Работа с шиной I2C на Python в Raspberry Pi/Orange Pi/Banana Pi.
Файл PCA9685.py
import logging import time import math # Based on Adafruit Lib: # https://github.com/adafruit/Adafruit_Python_PCA9685/blob/master/Adafruit_PCA9685/PCA9685.py # Default address: PCA9685_ADDRESS = 0x40 # Registers/etc: MODE1 = 0x00 MODE2 = 0x01 SUBADR1 = 0x02 SUBADR2 = 0x03 SUBADR3 = 0x04 PRESCALE = 0xFE LED0_ON_L = 0x06 LED0_ON_H = 0x07 LED0_OFF_L = 0x08 LED0_OFF_H = 0x09 ALL_LED_ON_L = 0xFA ALL_LED_ON_H = 0xFB ALL_LED_OFF_L = 0xFC ALL_LED_OFF_H = 0xFD # Bits: RESTART = 0x80 SLEEP = 0x10 ALLCALL = 0x01 INVRT = 0x10 OUTDRV = 0x04 # Channels CHANNEL00 = 0x00 CHANNEL01 = 0x01 CHANNEL02 = 0x02 CHANNEL03 = 0x03 CHANNEL04 = 0x04 CHANNEL05 = 0x05 CHANNEL06 = 0x06 CHANNEL07 = 0x07 CHANNEL08 = 0x08 CHANNEL09 = 0x09 CHANNEL10 = 0x0A CHANNEL11 = 0x0B CHANNEL12 = 0x0C CHANNEL13 = 0x0D CHANNEL14 = 0x0E CHANNEL15 = 0x0F class PCA9685(object): def __init__(self, i2cBus, address=PCA9685_ADDRESS): self.i2cBus = i2cBus self.address = address self.begin() def begin(self): """Initialize device""" self.set_all_pwm(0, 0) self.i2cBus.write_byte_data(self.address, MODE2, OUTDRV) self.i2cBus.write_byte_data(self.address, MODE1, ALLCALL) time.sleep(0.005) # wait for oscillator mode1 = self.i2cBus.read_byte_data(self.address, MODE1) mode1 = mode1 & ~SLEEP # wake up (reset sleep) self.i2cBus.write_byte_data(self.address, MODE1, mode1) time.sleep(0.005) # wait for oscillator def reset(self): self.i2cBus.write_byte_data(self.address, MODE1, RESTART) time.sleep(0.01) def set_address(self, address): """Sets device address.""" self.address = address def set_i2c_bus(self, i2cBus): """Sets I2C Bus.""" self.i2cBus = i2cBus def set_pwm(self, channel, on, off): """Sets a single PWM channel.""" self.i2cBus.write_byte_data(self.address, LED0_ON_L + 4 * channel, on & 0xFF) self.i2cBus.write_byte_data(self.address, LED0_ON_H + 4 * channel, on >> 8) self.i2cBus.write_byte_data(self.address, LED0_OFF_L + 4 * channel, off & 0xFF) self.i2cBus.write_byte_data(self.address, LED0_OFF_H + 4 * channel, off >> 8) def set_all_pwm(self, on, off): """Sets all PWM channels.""" self.i2cBus.write_byte_data(self.address, ALL_LED_ON_L, on & 0xFF) self.i2cBus.write_byte_data(self.address, ALL_LED_ON_H, on >> 8) self.i2cBus.write_byte_data(self.address, ALL_LED_OFF_L, off & 0xFF) self.i2cBus.write_byte_data(self.address, ALL_LED_OFF_H, off >> 8) def set_pwm_freq(self, freq_hz): """Set the PWM frequency to the provided value in hertz.""" prescaleval = 25000000.0 # 25MHz prescaleval /= 4096.0 # 12-bit prescaleval /= float(freq_hz) prescaleval -= 1.0 prescale = int(math.floor(prescaleval + 0.5)) oldmode = self.i2cBus.read_byte_data(self.address, MODE1) newmode = (oldmode & 0x7F) | 0x10 # sleep self.i2cBus.write_byte_data(self.address, MODE1, newmode) # go to sleep self.i2cBus.write_byte_data(self.address, PRESCALE, prescale) self.i2cBus.write_byte_data(self.address, MODE1, oldmode) time.sleep(0.005) self.i2cBus.write_byte_data(self.address, MODE1, oldmode | 0x80) def __enter__(self): return self def __exit__(self, exception_type, exception_value, traceback): self.reset()
Описание методов (функций)
__init__()
Конструктор класса.
__init__(self, i2cBus, address=PCA9685_ADDRESS)
Параметры
i2cBus
— Объект типа PCA9685.
address
— I2C адрес устройства. По умолчанию PCA9685_ADDRESS = 0x40
.
begin()
Инициализация устройства.
begin(self)
set_address()
Установка адреса устройства.
set_address(self, address)
Параметры
address
— I2C адрес устройства.
set_i2c_bus()
Установка I2C шины.
set_i2c_bus(self, i2cBus)
Параметры
i2cBus
— Объект типа PCA9685.
set_pwm()
Устанавливает ШИМ одного из выводов PCA9685.
set_pwm(self, channel, on, off)
Параметры
channel
— Один из выводов PWM от 0 до 15.
on
— В какой момент цикла из 4096 частей включить ШИМ.
off
— В какой момент цикла из 4096 частей выключить ШИМ.
set_all_pwm()
Устанавливает ШИМ на все выводы PCA9685.
set_all_pwm(self, on, off)
Параметры
on
— В какой момент цикла из 4096 частей включить ШИМ.
off
— В какой момент цикла из 4096 частей выключить ШИМ.
set_pwm_freq()
Устанавливает частоту ШИМ для всего чипа, до ~ 1,6 кГц.
set_pwm_freq(self, freq_hz)
Параметры
freq_hz
— Частота в Герцах.
Библиотека на Python для сервоприводов
Для более удобного управления сервоприводом, основные функции были собраны в одном классе — ServoPCA9685
. Тут можно найти минимальную (servo_min = 130
) и максимальную (servo_max = 510
) длину импульса для безопасного управления сервоприводом SG90.
# Configure min and max servo pulse lengths servo_min = 130 servo_max = 510
Если ваш сервопривод работает с другими значениями, тогда вы можете редактировать их.
Файл ServoPCA9685.py
import time # Servo with PCA9685 implementation # Configure min and max servo pulse lengths servo_min = 130 # Min pulse length out of 4096 / 150/112 servo_max = 510 # Max pulse length out of 4096 / 600/492 def map(x, in_min, in_max, out_min, out_max): return (x - in_min) * (out_max - out_min + 1) / (in_max - in_min + 1) + out_min class ServoPCA9685(object): def __init__(self, pca9685, channel): self.pca9685 = pca9685 self.channel = channel self.set_pwm_freq(50) self.set_pulse(300) def set_pwm_freq(self, freq=50): self.pca9685.set_pwm_freq(freq) time.sleep(0.005) def set_angle(self, angle): self.set_pulse(map(angle, 0, 180, servo_min, servo_max)) def set_pulse(self, pulse): if pulse >= servo_min and pulse <= servo_max: self.pca9685.set_pwm(self.channel, 0, pulse) time.sleep(0.005) def disable(self): self.pca9685.set_pwm(self.channel, 0, 0) time.sleep(0.005)
Описание методов (функций)
__init__()
Конструктор класса.
__init__(self, pca9685, channel)
pca9685
— Объект типа PCA9685.
channel
— Один из ШИМ выводов PCA9685 от 0 до 15.
set_pwm_freq()
Установка частоты ШИМ для вашего сервопривода.
set_pwm_freq(self, freq=50)
freq
— Частота в Герцах. По умолчанию freq=50
.
set_angle()
Установка примерного угла сервопривода.
set_angle(self, angle)
angle
— Угол от 0 до 180 градусов.
set_pulse()
Установка длины импульса.
set_pulse(self, pulse)
pulse
— Длина ШИМ импульса.
disable()
Отключение сервопривода (установка длины импульса в ноль «0»).
disable(self)
Примеры программ
Схема подключения сервопривода SG90 к PCA9685
Управление одним сервоприводом SG90
Чтобы управлять сервоприводом посредством PCA9685 нужно соблюдать следующие шаги:
- Нужно открыть шину I2C «0» (или «1»);
i2cBus = smbus.SMBus(0)
- Создаём объект класса
PCA9685
, а в качестве параметра конструктора используем выше созданный объект:i2cBus
;pca9685 = PCA9685.PCA9685(i2cBus)
- Создаём объект класса
ServoPCA9685
для управления одного сервопривода, в качестве первого параметра используем выше созданный объект,pca9685
, а второй параметр — это номер канала PCA9685, можно выбрать следующие значения:PCA9685.CHANNEL00
,PCA9685.CHANNEL01
,PCA9685.CHANNEL02
, …,PCA9685.CHANNEL15
или номера от 0 до 15;servo00 = ServoPCA9685.ServoPCA9685(pca9685, PCA9685.CHANNEL00)
- Для управления сервоприводом можно использовать два метода, а именно:
set_pulse(pulse)
, гдеpulse
— это длина ШИМ импульса отservo_min = 130
доservo_max = 510
; иset_angle(angle)
, гдеangle
— это угол поворота от 0 до 180 градусов, метод (функция) пропорционально переносит значение из текущего диапазона значений в градусах (от 0 до 180) в новый диапазон (от 130 до 510) в импульсах.
Нижеприведённый пример кода поварачивает сервопривод в одну сторону,
# 130 -> 510 for pulse in range(ServoPCA9685.servo_min, ServoPCA9685.servo_max + 1): servo00.set_pulse(pulse) time.sleep(0.01)
потом в другую
# 510 -> 130 for pulse in reversed(range(ServoPCA9685.servo_min, ServoPCA9685.servo_max + 1)): servo00.set_pulse(pulse) time.sleep(0.01)
с использованием метода set_pulse(pulse)
, а в конце отключает подаваемый на сервопривод ШИМ.
servo00.disable()
Файл servo_1x_pulse.py
Пример управления сервоприводом используя метод set_pulse(pulse)
.
import time import smbus import PCA9685 import ServoPCA9685 i2cBus = smbus.SMBus(0) pca9685 = PCA9685.PCA9685(i2cBus) servo00 = ServoPCA9685.ServoPCA9685(pca9685, PCA9685.CHANNEL00) # 130 -> 510 for pulse in range(ServoPCA9685.servo_min, ServoPCA9685.servo_max + 1): servo00.set_pulse(pulse) time.sleep(0.01) # 510 -> 130 for pulse in reversed(range(ServoPCA9685.servo_min, ServoPCA9685.servo_max + 1)): servo00.set_pulse(pulse) time.sleep(0.01) servo00.disable()
Файл servo_1x_angle.py
Пример управления сервоприводом используя метод set_angle(angle)
.
import time import smbus import PCA9685 import ServoPCA9685 i2cBus = smbus.SMBus(0) pca9685 = PCA9685.PCA9685(i2cBus) servo00 = ServoPCA9685.ServoPCA9685(pca9685, PCA9685.CHANNEL00) # 0 - > 180 for angle in range(0, 180 + 1): servo00.set_angle(angle) time.sleep(0.01) # 180 -> 0 for angle in reversed(range(0, 180 + 1)): servo00.set_angle(angle) time.sleep(0.01) servo00.disable()
Управление несколькими сервоприводами SG90
Управлять несколькими сервоприводами можно аналогичным способом, как и одним. Единственное отличие в том, что нужно создать для каждого сервопривода отдельный экземпляр класса ServoPCA9685
. К примеру:
servo00 = ServoPCA9685.ServoPCA9685(pca9685, PCA9685.CHANNEL00) servo01 = ServoPCA9685.ServoPCA9685(pca9685, PCA9685.CHANNEL01) servo02 = ServoPCA9685.ServoPCA9685(pca9685, PCA9685.CHANNEL02) servo03 = ServoPCA9685.ServoPCA9685(pca9685, PCA9685.CHANNEL03)
каждый объект должен иметь отличное от других имя и свой собственный канал (от 0 до 15).
servo_Nx_pulse.py
Пример управления несколькими (четырьмя) сервоприводами используя метод set_pulse(pulse)
.
import time import smbus import PCA9685 import ServoPCA9685 i2cBus = smbus.SMBus(0) pca9685 = PCA9685.PCA9685(i2cBus) servo00 = ServoPCA9685.ServoPCA9685(pca9685, PCA9685.CHANNEL00) servo01 = ServoPCA9685.ServoPCA9685(pca9685, PCA9685.CHANNEL01) servo02 = ServoPCA9685.ServoPCA9685(pca9685, PCA9685.CHANNEL02) servo03 = ServoPCA9685.ServoPCA9685(pca9685, PCA9685.CHANNEL03) # 130 -> 510 for pulse in range(ServoPCA9685.servo_min, ServoPCA9685.servo_max + 1): servo00.set_pulse(pulse) servo01.set_pulse(pulse) servo02.set_pulse(pulse) servo03.set_pulse(pulse) time.sleep(0.01) # 510 -> 130 for pulse in reversed(range(ServoPCA9685.servo_min, ServoPCA9685.servo_max + 1)): servo00.set_pulse(pulse) servo01.set_pulse(pulse) servo02.set_pulse(pulse) servo03.set_pulse(pulse) time.sleep(0.01) servo00.disable() servo01.disable() servo02.disable() servo03.disable()
Материалы
Все файлы в одном архиве (Скачать zip архив)
SMBus: Работа с шиной I2C на Python в Raspberry Pi/Orange Pi/Banana Pi
GitHub — adafruit/Adafruit_Python_PCA9685: Python code to use the PCA9685 PWM servo/LED controller with a Raspberry Pi or BeagleBone black.
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