论述网站建设的具体步骤有哪些,百度问答我要提问,微信官网网址,做官网设计好的公司基于Jetson Nano板子搭建一个无人车#xff0c;少不了减速电机驱动轮子滚动#xff0c;那如何驱动呢#xff1f;从Jetson.GPIO库文件来说#xff0c;里面没有支持产生PWM的引脚#xff0c;也就意味着Jetson nano没有硬件产生PWM的能力#xff0c;所以我们不得不使用别的方…基于Jetson Nano板子搭建一个无人车少不了减速电机驱动轮子滚动那如何驱动呢从Jetson.GPIO库文件来说里面没有支持产生PWM的引脚也就意味着Jetson nano没有硬件产生PWM的能力所以我们不得不使用别的方法产生PWM完成驱动控制而刚好STM8解决了这一问题并且节约了它有限的GPIO资源我们借助STM8这款MCU作为协处理器大大增强了Jetson nano的驱动能力PWM的周期和占空比(在一个脉冲循环内通电时间相对于总时间所占的比例)都完全可控。我们来看下它的参数我们使用的是上图所示的QFN20封装的STM8它主要参数特征如下1. I2C接口支持多路PWM输出2. 内置16MHz晶振可不连接外部晶振也可以连接外部晶振3. 支持2.95V-5.5V电压最大耐压值5.5V4. 具有上电复位以及软件复位等功能由上图三极管驱动的有源蜂鸣器电路而三极管控制引脚接在协处理器可知开启蜂鸣器只需要通过IIC给协处理器对应的指令即可下面我们看到通讯协议在上一篇文章我们演示的蜂鸣器我们通过IIC向协处理器地址0x1B的寄存器0x06发送1即可打开蜂鸣器发送0即关闭蜂鸣器bus.write_byte_data(0x1B,0x06,1或0)同样的给出两路电机的电路图我们来实际驱动电机看下这里电机控制部分用到了Jetbotmini的库from jetbotmini import Robot
import time
robot Robot()print(dir(robot))
#[__class__, __delattr__, __dict__, __dir__, __doc__, __eq__, __format__, __ge__, __getattribute__, __getstate__, __gt__, __hash__, __init__, __init_subclass__, __le__, __lt__, __module__, __ne__, __new__, __reduce__, __reduce_ex__, __repr__, __setattr__, __setstate__, __sizeof__, __str__, __subclasshook__, __weakref__, _add_notifiers, _config_changed, _cross_validation_lock, _find_my_config, _instance, _load_config, _log_default, _notify_trait, _register_validator, _remove_notifiers, _trait_default_generators, _trait_notifiers, _trait_validators, _trait_values, _walk_mro, add_traits, backward, class_config_rst_doc, class_config_section, class_get_help, class_get_trait_help, class_own_trait_events, class_own_traits, class_print_help, class_trait_names, class_traits, clear_instance, config, cross_validation_lock, forward, has_trait, hold_trait_notifications, i2c_bus, initialized, instance, left, left_motor, left_motor_alpha, left_motor_channel, log, motor_driver, notify_change, observe, on_trait_change, parent, right, right_motor, right_motor_alpha, right_motor_channel, section_names, set_motors, set_trait, setup_instance, stop, trait_events, trait_metadata, trait_names, traits, unobserve, unobserve_all, update_config]print(dir(robot.left_motor))
#[__class__, __delattr__, __dict__, __dir__, __doc__, __eq__, __format__, __ge__, __getattribute__, __getstate__, __gt__, __hash__, __init__, __init_subclass__, __le__, __lt__, __module__, __ne__, __new__, __reduce__, __reduce_ex__, __repr__, __setattr__, __setstate__, __sizeof__, __str__, __subclasshook__, __weakref__, _add_notifiers, _config_changed, _cross_validation_lock, _driver, _find_my_config, _load_config, _motor, _notify_trait, _observe_value, _register_validator, _release, _remove_notifiers, _trait_default_generators, _trait_notifiers, _trait_validators, _trait_values, _write_value, add_traits, alpha, beta, class_config_rst_doc, class_config_section, class_get_help, class_get_trait_help, class_own_trait_events, class_own_traits, class_print_help, class_trait_names, class_traits, config, cross_validation_lock, has_trait, hold_trait_notifications, notify_change, observe, on_trait_change, parent, section_names, set_trait, setup_instance, trait_events, trait_metadata, trait_names, traits, unobserve, unobserve_all, update_config, value]#这个转速的范围是[0,1]不过我设置成0.1也没有转设置成0.2及以上才转不知道是不是电量不是很足的原因了。
robot.left_motor.value 0.8
robot.right_motor.value 0.8
#这样就可以让电机转动了很简单然后做停止电机的操作
robot.left_motor.value 0
robot.right_motor.value 0
#或者直接将robot停止也可以
#robot.stop()这段赋值左右马达的意思就是控制电机速度的值的范围是0~1.0即代表给出的PWM的占空比为0~100%所以赋值为0就是把输出给电机的PWM占空比设置为0这样就关闭了电机更多的robot实例方法可以自行查阅源码Help on Robot in module jetbotmini.robot object:class Robot(traitlets.config.configurable.SingletonConfigurable)| A configurable that only allows one instance.| | This class is for classes that should only have one instance of itself| or *any* subclass. To create and retrieve such a class use the| :meth:SingletonConfigurable.instance method.| | Method resolution order:| Robot| traitlets.config.configurable.SingletonConfigurable| traitlets.config.configurable.LoggingConfigurable| traitlets.config.configurable.Configurable| traitlets.traitlets.HasTraits| traitlets.traitlets.HasDescriptors| builtins.object| | Methods defined here:| | __init__(self, *args, **kwargs)| Create a configurable given a config config.| | Parameters| ----------| config : Config| If this is empty, default values are used. If config is a| :class:Config instance, it will be used to configure the| instance.| parent : Configurable instance, optional| The parent Configurable instance of this object.| | Notes| -----| Subclasses of Configurable must call the :meth:__init__ method of| :class:Configurable *before* doing anything else and using| :func:super::| | class MyConfigurable(Configurable):| def __init__(self, configNone):| super(MyConfigurable, self).__init__(configconfig)| # Then any other code you need to finish initialization.| | This ensures that instances will be configured properly.| | backward(self, speed1.0)| | forward(self, speed1.0, durationNone)| | left(self, speed1.0)| | right(self, speed1.0)| | set_motors(self, left_speed, right_speed)| | stop(self)| | ----------------------------------------------------------------------| Data descriptors defined here:| | i2c_bus| An int trait.| | left_motor| A trait whose value must be an instance of a specified class.| | The value can also be an instance of a subclass of the specified class.| | Subclasses can declare default classes by overriding the klass attribute| | left_motor_alpha| A float trait.| | left_motor_channel| An int trait.| | right_motor| A trait whose value must be an instance of a specified class.| | The value can also be an instance of a subclass of the specified class.| | Subclasses can declare default classes by overriding the klass attribute| | right_motor_alpha| A float trait.| | right_motor_channel| An int trait.| | ----------------------------------------------------------------------| Class methods inherited from traitlets.config.configurable.SingletonConfigurable:| | clear_instance() from traitlets.traitlets.MetaHasTraits| unset _instance for this class and singleton parents.| | initialized() from traitlets.traitlets.MetaHasTraits| Has an instance been created?| | instance(*args, **kwargs) from traitlets.traitlets.MetaHasTraits| Returns a global instance of this class.| | This method create a new instance if none have previously been created| and returns a previously created instance is one already exists.| | The arguments and keyword arguments passed to this method are passed| on to the :meth:__init__ method of the class upon instantiation.| | Examples| --------| | Create a singleton class using instance, and retrieve it::| | from traitlets.config.configurable import SingletonConfigurable| class Foo(SingletonConfigurable): pass| foo Foo.instance()| foo Foo.instance()| True| | Create a subclass that is retrived using the base class instance::| | class Bar(SingletonConfigurable): pass| class Bam(Bar): pass| bam Bam.instance()| bam Bar.instance()| True| | ----------------------------------------------------------------------| Data descriptors inherited from traitlets.config.configurable.LoggingConfigurable:| | log| A trait whose value must be an instance of a specified class.| | The value can also be an instance of a subclass of the specified class.| | Subclasses can declare default classes by overriding the klass attribute| | ----------------------------------------------------------------------| Methods inherited from traitlets.config.configurable.Configurable:| | update_config(self, config)| Update config and load the new values| | ----------------------------------------------------------------------| Class methods inherited from traitlets.config.configurable.Configurable:| | class_config_rst_doc() from traitlets.traitlets.MetaHasTraits| Generate rST documentation for this class config options.| | Excludes traits defined on parent classes.| | class_config_section() from traitlets.traitlets.MetaHasTraits| Get the config class config section| | class_get_help(instNone) from traitlets.traitlets.MetaHasTraits| Get the help string for this class in ReST format.| | If inst is given, its current trait values will be used in place of| class defaults.| | class_get_trait_help(trait, instNone) from traitlets.traitlets.MetaHasTraits| Get the help string for a single trait.| | If inst is given, its current trait values will be used in place of| the class default.| | class_print_help(instNone) from traitlets.traitlets.MetaHasTraits| Get the help string for a single trait and print it.| | section_names() from traitlets.traitlets.MetaHasTraits| return section names as a list| | ----------------------------------------------------------------------| Data descriptors inherited from traitlets.config.configurable.Configurable:| | config| A trait whose value must be an instance of a specified class.| | The value can also be an instance of a subclass of the specified class.| | Subclasses can declare default classes by overriding the klass attribute| | parent| A trait whose value must be an instance of a specified class.| | The value can also be an instance of a subclass of the specified class.| | Subclasses can declare default classes by overriding the klass attribute| | ----------------------------------------------------------------------| Methods inherited from traitlets.traitlets.HasTraits:| | __getstate__(self)| | __setstate__(self, state)| | add_traits(self, **traits)| Dynamically add trait attributes to the HasTraits instance.| | has_trait(self, name)| Returns True if the object has a trait with the specified name.| | hold_trait_notifications(self)| Context manager for bundling trait change notifications and cross| validation.| | Use this when doing multiple trait assignments (init, config), to avoid| race conditions in trait notifiers requesting other trait values.| All trait notifications will fire after all values have been assigned.| | notify_change(self, change)| | observe(self, handler, namestraitlets.All, typechange)| Setup a handler to be called when a trait changes.| | This is used to setup dynamic notifications of trait changes.| | Parameters| ----------| handler : callable| A callable that is called when a trait changes. Its| signature should be handler(change), where change is a| dictionary. The change dictionary at least holds a type key.| * type: the type of notification.| Other keys may be passed depending on the value of type. In the| case where type is change, we also have the following keys:| * owner : the HasTraits instance| * old : the old value of the modified trait attribute| * new : the new value of the modified trait attribute| * name : the name of the modified trait attribute.| names : list, str, All| If names is All, the handler will apply to all traits. If a list| of str, handler will apply to all names in the list. If a| str, the handler will apply just to that name.| type : str, All (default: change)| The type of notification to filter by. If equal to All, then all| notifications are passed to the observe handler.| | on_trait_change(self, handlerNone, nameNone, removeFalse)| DEPRECATED: Setup a handler to be called when a trait changes.| | This is used to setup dynamic notifications of trait changes.| | Static handlers can be created by creating methods on a HasTraits| subclass with the naming convention _[traitname]_changed. Thus,| to create static handler for the trait a, create the method| _a_changed(self, name, old, new) (fewer arguments can be used, see| below).| | If remove is True and handler is not specified, all change| handlers for the specified name are uninstalled.| | Parameters| ----------| handler : callable, None| A callable that is called when a trait changes. Its| signature can be handler(), handler(name), handler(name, new),| handler(name, old, new), or handler(name, old, new, self).| name : list, str, None| If None, the handler will apply to all traits. If a list| of str, handler will apply to all names in the list. If a| str, the handler will apply just to that name.| remove : bool| If False (the default), then install the handler. If True| then unintall it.| | set_trait(self, name, value)| Forcibly sets trait attribute, including read-only attributes.| | setup_instance(self, *args, **kwargs)| This is called **before** self.__init__ is called.| | trait_metadata(self, traitname, key, defaultNone)| Get metadata values for trait by key.| | trait_names(self, **metadata)| Get a list of all the names of this class traits.| | traits(self, **metadata)| Get a dict of all the traits of this class. The dictionary| is keyed on the name and the values are the TraitType objects.| | The TraitTypes returned dont know anything about the values| that the various HasTraits instances are holding.| | The metadata kwargs allow functions to be passed in which| filter traits based on metadata values. The functions should| take a single value as an argument and return a boolean. If| any function returns False, then the trait is not included in| the output. If a metadata key doesnt exist, None will be passed| to the function.| | unobserve(self, handler, namestraitlets.All, typechange)| Remove a trait change handler.| | This is used to unregister handlers to trait change notifications.| | Parameters| ----------| handler : callable| The callable called when a trait attribute changes.| names : list, str, All (default: All)| The names of the traits for which the specified handler should be| uninstalled. If names is All, the specified handler is uninstalled| from the list of notifiers corresponding to all changes.| type : str or All (default: change)| The type of notification to filter by. If All, the specified handler| is uninstalled from the list of notifiers corresponding to all types.| | unobserve_all(self, nametraitlets.All)| Remove trait change handlers of any type for the specified name.| If name is not specified, removes all trait notifiers.| | ----------------------------------------------------------------------| Class methods inherited from traitlets.traitlets.HasTraits:| | class_own_trait_events(name) from traitlets.traitlets.MetaHasTraits| Get a dict of all event handlers defined on this class, not a parent.| | Works like event_handlers, except for excluding traits from parents.| | class_own_traits(**metadata) from traitlets.traitlets.MetaHasTraits| Get a dict of all the traitlets defined on this class, not a parent.| | Works like class_traits, except for excluding traits from parents.| | class_trait_names(**metadata) from traitlets.traitlets.MetaHasTraits| Get a list of all the names of this class traits.| | This method is just like the :meth:trait_names method,| but is unbound.| | class_traits(**metadata) from traitlets.traitlets.MetaHasTraits| Get a dict of all the traits of this class. The dictionary| is keyed on the name and the values are the TraitType objects.| | This method is just like the :meth:traits method, but is unbound.| | The TraitTypes returned dont know anything about the values| that the various HasTraits instances are holding.| | The metadata kwargs allow functions to be passed in which| filter traits based on metadata values. The functions should| take a single value as an argument and return a boolean. If| any function returns False, then the trait is not included in| the output. If a metadata key doesnt exist, None will be passed| to the function.| | trait_events(nameNone) from traitlets.traitlets.MetaHasTraits| Get a dict of all the event handlers of this class.| | Parameters| ----------| name: str (default: None)| The name of a trait of this class. If name is None then all| the event handlers of this class will be returned instead.| | Returns| -------| The event handlers associated with a trait name, or all event handlers.| | ----------------------------------------------------------------------| Data descriptors inherited from traitlets.traitlets.HasTraits:| | cross_validation_lock| A contextmanager for running a block with our cross validation lock set| to True.| | At the end of the block, the locks value is restored to its value| prior to entering the block.| | ----------------------------------------------------------------------| Static methods inherited from traitlets.traitlets.HasDescriptors:| | __new__(cls, *args, **kwargs)| Create and return a new object. See help(type) for accurate signature.| | ----------------------------------------------------------------------| Data descriptors inherited from traitlets.traitlets.HasDescriptors:| | __dict__| dictionary for instance variables (if defined)| | __weakref__| list of weak references to the object (if defined)
