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"