Octopus_MicroPython_Myself/servo.py at master · Ahhmagi/Octopus_MicroPython_Myself · GitHub

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from microbit import *

class SERVO:
    def __init__(self, pin):
        """基本描述

        舵机控制类

        Args:
            pin: 连接舵机的引脚

        Returns:
            None
        """
        self._pin = pin
        self._angle = 90  # 初始角度

    def write(self, angle):
        """

        设置舵机角度

        Args:
            angle: 角度值，范围 0-180

        Returns:
            None
        """
        # 确保角度在有效范围内
        if angle < 0:
            angle = 0
        elif angle > 180:
            angle = 180

        self._angle = angle
        # 映射角度到PWM值 (0°=26, 90°=78, 180°=130)
        # 公式: pwm = (angle * 104 / 180) + 26
        pwm_value = int((angle * 104 / 180) + 26)
        self._pin.write_analog(pwm_value)

    def set_angle(self, angle):
        """

        设置舵机角度

        Args:
            angle: 角度值，范围 0-180

        Returns:
            None
        """
        self.write(angle)

    def get_angle(self):
        """

        获取当前舵机角度

        Returns:
            int: 当前角度值
        """
        return self._angle


if __name__ == '__main__':
    # 初始化舵机（假设连接到pin1）
    servo = SERVO(pin1)

    while True:
        # 测试舵机转动
        servo.set_angle(0)
        sleep(1000)
        servo.set_angle(90)
        sleep(1000)
        servo.set_angle(180)
        sleep(1000)