树莓派头追舵机操作云台

 #!/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):
    radians = math.atan2(x, dist(y, z))
    return -math.degrees(radians)


def get_x_rotation(x, y, z):
    radians = math.atan2(y, dist(x, z))
    return math.degrees(radians)


bus = smbus.SMBus(1)
address = 0x68

bus.write_byte_data(address, power_mgmt_1, 0)

setup()
while True:
    time.sleep(0.1)
    gyro_xout = read_word_2c(0x43)
    gyro_yout = read_word_2c(0x45)
    gyro_zout = read_word_2c(0x47)

    # print ' '
    # print "gyro_xout : ", gyro_xout, " scaled: ", (gyro_xout / 131)
    # print "gyro_yout : ", gyro_yout, " scaled: ", (gyro_yout / 131)
    # print "gyro_zout : ", gyro_zout, " scaled: ", (gyro_zout / 131)

    accel_xout = read_word_2c(0x3b)
    accel_yout = read_word_2c(0x3d)
    accel_zout = read_word_2c(0x3f)

    accel_xout_scaled = accel_xout / 16384.0
    accel_yout_scaled = accel_yout / 16384.0
    accel_zout_scaled = accel_zout / 16384.0

    # print "accel_xout: ", accel_xout, " scaled: ", accel_xout_scaled
    # print "accel_yout: ", accel_yout, " scaled: ", accel_yout_scaled
    # print "accel_zout: ", accel_zout, " scaled: ", accel_zout_scaled
    x = get_x_rotation(accel_xout_scaled, accel_yout_scaled, accel_zout_scaled)
    y = get_y_rotation(accel_xout_scaled, accel_yout_scaled, accel_zout_scaled)
    print "x rotation: ", get_x_rotation(accel_xout_scaled, accel_yout_scaled, accel_zout_scaled)
    print "y rotation: ", get_y_rotation(accel_xout_scaled, accel_yout_scaled, accel_zout_scaled)
    setDirection(x,y)

GPIO.cleanup()