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control2.py

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import serial

import os

import asyncio

import time

def raise_arm(PWM):

PWM.change_angle(5)

def drop_arm(PWM):

PWM.change_angle(25)

def proccess_received(Ser,rec):

if(rec == b'begin\r\n'):

turn_page()

send_serial('end')

else:

print('receive error')

async def read_serial():

have_receive = 0

last_size = 0

ser = serial.Serial('/dev/ttyS1',115200)

if ser.isOpen == False:

ser.open()

try:

while True:

size = ser.inWaiting()

if size!=0:

if have_receive == 0:

await asyncio.sleep(0.5)

have_receive = 1

last_size = size

else :

if(size != last_size):

await asyncio.sleep(0.5)

last_size = size

else:

response=ser.read(size)

print(response)

proccess_received(ser,response)

ser.flushInput()

last_size = 0

have_receive = 0

await asyncio.sleep(0.5)

except KeyboardInterrupt:

ser.close() # 关闭串口

def send_serial(s):

ser = serial.Serial('/dev/ttyS1',115200)

if ser.isOpen == False:

ser.open()

ser.write(b'over\r\n')

# os.system('echo ' + s + ' > /dev/ttyS1')

def slow(P,now,target):

while(now != target):

if(now > target):

now = now - 1

elif (now < target):

now = now + 1

P.change_angle(now)

time.sleep(0.1)

def turn_page():

print('begin turn page')

P1 = pwm('1') #arm

P0 = pwm('0')

P1.enable()

P0.enable()

yaw = 15

pitch = 25

P0.change_angle(15)

P1.change_angle(25)

time.sleep(3)

slow(P0,15,18)

slow(P1,25,15)

slow(P1,15,7)

time.sleep(0.7)

slow(P1,5,15)

slow(P1,15,25)

slow(P0,20,15)

slow(P0,15,5)

time.sleep(0.5)

slow(P0,10,15)

time.sleep(3)

print('finish turn page')

async def main():

await asyncio.gather(read_serial())

class pwm:

def __init__(self,index):

self.index = index

# print(os.path.join('/sys/class/pwm/pwmchip0','pwm'+index))

if(os.path.exists(os.path.join('/sys/class/pwm/pwmchip' + index,'pwm0'))):

print('device exists')

else:

os.system('echo 0 > /sys/class/pwm/pwmchip' + index + '/export')

print('create pwm' + index + ' successfully')

os.system('echo 50000000 > /sys/class/pwm/pwmchip' + index + '/pwm0/period')

os.system('echo 47500000 > /sys/class/pwm/pwmchip' + index + '/pwm0/duty_cycle')

def change_angle(self,num):

if(num > 25):

num = 25

if(num < 5):

num = 5

num = (500 - num)*100000

os.system('echo ' + str(int(num)) + ' > /sys/class/pwm/pwmchip' + self.index + '/pwm0/duty_cycle')

def enable(self):

os.system('echo 1 > /sys/class/pwm/pwmchip' + self.index + '/pwm0/enable')

def disable(self):

os.system('echo 0 > /sys/class/pwm/pwmchip' + self.index + '/pwm0/enable')

if __name__ == '__main__':

loop = asyncio.get_event_loop()

loop.run_until_complete(main())