shinking02 / spot2 Goto Github PK
View Code? Open in Web Editor NEW四足歩行ロボットのコードです
四足歩行ロボットのコードです
60→50かも
ニュートラル変わる
qiitqから持ってきたけど長くて省略されてる
データシート見るしかない
qiita:https://qiita.com/toyoda/items/bb6be6614750a8410fc9#%E3%82%B5%E3%83%B3%E3%83%97%E3%83%AB
dataseat:https://akizukidenshi.com/download/ds/nxp/pca9685.pdf
マイナス値未対応
+-入れ替え時に0までのスピード受け付けれない
プログラムでサーボの位置を追う必要あり
unsupported operand type(s)& がでる
全部理解して書き換えないとサーボ死ぬ
12個定義しなおす
かきなおしverのpyファイル spot2sp.py
ニュートラル時にひっくり返る問題を直す
ずれる
playspで実行できない 多分引数足りてない
Traceback (most recent call last):
File "playsp.py", line 6, in
speed.moveHead(100, 0)
File "/home/pi/Spot2/test/speed.py", line 68, in moveHead
headNow = moveServo (0, degree, adj, max, min, speed, headNow) File "/home/pi/Spot2/test/speed.py", line 47, in moveServo
setPCA9685Duty(id, 0, dst)
File "/home/pi/Spot2/test/speed.py", line 40, in setPCA9685Duty
bus.write_i2c_block_data(address_pca9685, channelpos, [on&0xFF, on>>8, off&0xFF, off>>8])
TypeError: unsupported operand type(s) for &: 'float' and 'int'
ゴム足必要
前に倒れる
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