Censors

sudo apt update
sudo apt install lirc

dtoverlay=gpio-ir,gpio_out_pin=17,gpio_in_pin=18,gpio_in_pull=up

driver = default
device = /dev/lirc0

ls -l /dev/lirc0
lsmod | grep lirc

systemctl status lircd.service
systemctl status lircd.socket

from omxplayer.player import OMXPlayer
from time import sleep

VIDEO_PATH = "../tests/media/test_media_1.mp4"
player = OMXPlayer(VIDEO_PATH)
sleep(5)
player.quit()

#!/usr/bin/python3

from time import sleep
import RPi.GPIO as GPIO

PIN_S1 = 4
PIN_S2 = 17

def clean(servers):
    for s in servers:
        s.stop()
    GPIO.cleanup()

def rotate(servo, angle):
    servo.ChangeDutyCycle(2 + 10 * (angle / 180))


if __name__ == "__main__":
    GPIO.setmode(GPIO.BCM)
    GPIO.setup(PIN_S1, GPIO.OUT)
    GPIO.setup(PIN_S2, GPIO.OUT)
    s1 = GPIO.PWM(PIN_S1, 50)
    s2 = GPIO.PWM(PIN_S2, 50)
    s1.start(0)
    s2.start(0)

    while True:
        command = input('Please input servo:angle')
        if command == 'q':
            break
        if len(command.split(':')) != 2:
            print('wrong inputs')
        else:
            s, angle = command.split(':')
            if s not in ('1', '2'):
                print('wrong server number')
                continue
            try:
                angle = int(angle)
            except ValueError:
                print('wrong angle')
                continue
            if angle < 0 or angle > 180:
                print('wrong angle')
                continue
                
            if s == '1':
                rotate(s1, angle)
            elif s == '2':
                rotate(s2, angle)
            else:
                continue
    clean([s1, s2])

git clone https://github.com/richardghirst/PiBits.git
cd PiBits/ServoBlaster/user
make
sudo make install

sudo ./servod
echo 0=90 > /dev/servoblaster # 舵机1转向90度
echo 0=180 > /dev/servoblaster # 舵机2转向180度

#!/usr/bin/python3

import curses
import os
import time

SERVODBLASTER_PATH = '/home/pi/Projects/PiBits/ServoBlaster/user/servod'
INIT_PAN = 132
INIT_TILT = 142

if __name__ == '__main__':

    #activating servo blaster
    os.system('sudo ' + SERVODBLASTER_PATH)


    # get the curses screen window
    screen = curses.initscr()

    # turn off input echoing
    curses.noecho()

    # respond to keys immediately (don't wait for enter)
    curses.cbreak()

    # map arrow keys to special values
    screen.keypad(True)

    #setting start up serrvo positions
    #positions range from (50-250)
    servo1 = INIT_PAN
    servo2 = INIT_TILT

    try:
        while True:
            char = screen.getch()
            if char == ord('q'):
                #if q is pressed quit
                break
            elif char == curses.KEY_RIGHT:
                if servo1 < 150:
                    servo1 = servo1 +2
                screen.addstr(0, 0, 'right %03d' % servo1)
                os.system("echo 0=%s > /dev/servoblaster" % servo1) 
                time.sleep(0.005)
            elif char == curses.KEY_LEFT:
                if servo1 > 50:
                    servo1 = servo1 -2
                screen.addstr(0, 0, 'left  %03d' % servo1)
                os.system("echo 0=%s > /dev/servoblaster" % servo1) 
                time.sleep(0.005)
            elif char == curses.KEY_UP:
                if servo2 < 150:
                    servo2 = servo2 +2
                screen.addstr(0, 0, 'up    %03d' % servo2)
                os.system("echo 1=%s > /dev/servoblaster" % servo2) 
                time.sleep(0.005)
            elif char == curses.KEY_DOWN:
                if servo2 > 50:    
                    servo2 = servo2 -2
                screen.addstr(0, 0, 'down  %03d' % servo2)
                os.system("echo 1=%s > /dev/servoblaster" % servo2) 
                time.sleep(0.005)
    finally:
        # shut down cleanly
        curses.nocbreak()
        screen.keypad(0)
        curses.echo()
        curses.endwin()