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树莓派调用舵机云台 

# Software PWM Servo.py

import RPi.GPIO as GPIO
import time

P_SERVO = [11,12]
fPWM = 50
a = 10
b = 2

def setup():
    global pwm
    global pwm1
    GPIO.setmode(GPIO.BOARD)
    GPIO.setup(P_SERVO, GPIO.OUT)
    pwm = GPIO.PWM(P_SERVO[0], fPWM)
    pwm1 = GPIO.PWM(P_SERVO[1], fPWM)
    pwm.start(0)
    pwm1.start(0)

def setDirection(direction):
    duty = a / 180 * direction + b
    pwm.ChangeDutyCycle(2)
    pwm1.ChangeDutyCycle(2)
    time.sleep(1)
    pwm.ChangeDutyCycle(12)
    pwm1.ChangeDutyCycle(12)
    time.sleep(1)
    print "direction =", direction, "-> duty =", duty
    time.sleep(1)
print "starting"
setup()
for direction in range(0, 10, 10):
    setDirection(direction)
direction = 0
setDirection(0)
GPIO.cleanup()
print "done"

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  #!/usr/bin/python import smbus import math import time power_mgmt_1 = 0x6b power_mgmt_2 = 0x6c import RPi.GPIO as GPIO P_SERVO = [ 11 , 12 ] fPWM = 50 a = 10 b = 2 def setup (): global pwm global pwm1 GPIO.setmode(GPIO.BOARD) GPIO.setup(P_SERVO , GPIO.OUT) pwm = GPIO.PWM(P_SERVO[ 0 ] , fPWM) pwm1 = GPIO.PWM(P_SERVO[ 1 ] , fPWM) pwm.start( 0 ) pwm1.start( 0 ) def setDirection (x , y): pwm.ChangeDutyCycle( abs (y) / 10 ) pwm1.ChangeDutyCycle( abs (x)/ 10 ) time.sleep( 0.2 ) def read_byte (adr): return bus.read_byte_data(address , adr) def read_word (adr): high = bus.read_byte_data(address , adr) low = bus.read_byte_data(address , adr + 1 ) val = (high << 8 ) + low return val def read_word_2c (adr): val = read_word(adr) if (val >= 0x8000 ): return -(( 65535 - val) + 1 ) else : return val def dist (a , b): return math.sqrt((a * a) + (b * b)) def get_y_rotation (x , y , z): rad...
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