RaspberryPi5_motor

import lgpio
import time
import sys

# GPIO配置
GPIO_PIN = 18  # GPIO18/Pin12
FREQUENCY = 50  # 50Hz
PERIOD_MS = 1000 / FREQUENCY  # 20ms
NEUTRAL_PULSE = 0.0015  # 1500μs (停止)
FULL_CW_PULSE = 0.002   # 2000μs (全速CW)

# 初始化GPIO
try:
    h = lgpio.gpiochip_open(0)
    lgpio.gpio_claim_output(h, GPIO_PIN)
except Exception as e:
    print(f"GPIO初始化错误：{e}")
    sys.exit(1)

def set_pwm(state):
    """
    控制推进器状态
    state: 0 (停止), 1 (顺时针全速)
    """
    try:
        pulse_width = FULL_CW_PULSE if state == 1 else NEUTRAL_PULSE
        for _ in range(100):  # 2秒循环
            lgpio.gpio_write(h, GPIO_PIN, 1)
            time.sleep(pulse_width)
            lgpio.gpio_write(h, GPIO_PIN, 0)
            time.sleep(PERIOD_MS / 1000 - pulse_width)
        print(f"推进器{'顺时针全速运行' if state == 1 else '停止'}")
    except Exception as e:
        print(f"设置PWM错误：{e}")

try:
    print("初始化ESC，请等待2秒...")
    set_pwm(0)  # 中立信号
    time.sleep(2)

    print("输入 '1' 启动顺时针旋转，'0' 停止，'q' 退出")
    while True:
        user_input = input("命令 (1=启动, 0=停止, q=退出): ")
        if user_input.lower() == 'q':
            set_pwm(0)
            break
        if user_input in ['0', '1']:
            set_pwm(int(user_input))
        else:
            print("请输入 '1', '0' 或 'q'")
except KeyboardInterrupt:
    print("\n程序终止")
finally:
    print("清理GPIO...")
    set_pwm(0)
    lgpio.gpio_write(h, GPIO_PIN, 0)
    lgpio.gpiochip_close(h)
    print("GPIO已清理")