树莓派控制舵机和步进电机

树莓派GPIO引脚输出PWM

import RPi.GPIO as GPIO import time Pwm=GPIO.PWM(pin,frequence) #创建PWM实例 Pwm.start(dc) #启动PWM dc值 占空比（0.0<dc<100.0） Pwm.ChangeFrequency(freq) #改变PWM频率 Pwm.ChangeDutyCycle(dc) # 改变PWM的占空比0.0<=dc <=100. Pwm.stop() #停止PWM

控制舵机实例

舵机电源接入树莓派5v供电,控制端接GPIO.1引脚

import RPi.GPIO as GPIO import time pin = 12 # GPIO端口号，根据实际修改 frequence = 50 # Hz (软件PWM方式，频率不能设置过高) a = 10 b = 2 def setDirection(direction): duty = a / 180 * direction + b pwm.ChangeDutyCycle(duty) time.sleep(1) GPIO.setmode(GPIO.BOARD) GPIO.setup(P_SERVO, GPIO.OUT) pwm = GPIO.PWM(pin,frequence) pwm.start(50) setDirection(10) setDirection(20) setDirection(10) setDirection(30) setDirection(10) GPIO.cleanup()

控制步进电机实例

共阴接DIR和PUL,DIR+和PUL+分别接引脚19和26

import RPi.GPIO as GPIO import time GPIO.setmode(GPIO.BCM) GPIO.setup(19, GPIO.OUT) GPIO.setup(26, GPIO.OUT) p1 = GPIO.PWM(26, 1000) p2 = GPIO.PWM(19, 1000) while True: p1.start(50) p2.start(50) time.sleep(10)