Question

当我使用以下命令运行以下代码时，我的覆盆子pi重新启动：sudo python robot.py 我的覆盆子pi通过robohat控制器（Robohat）连接到4个电机，平移和倾斜组件以及超声波传感器

import robohat, time, random
dist_l = 0
dist_r = 0
speed = 80
pan = 1
tilt = 0
tVal = 25 # 20 degrees is centre
pVal = 20 # 25 degrees is centre

robohat.init()
def doServos():# Set servo to wanted degrees
    robohat.setServo(pan, pVal)
    robohat.setServo(tilt, tVal)

end = "False"
while end == "False":

   def dist_check(): #gets distance
        pVal = 20
        tVal = 25
    doServos() #Centre the servos       
def servoPosGo():
    pVal2 = (90)
    robohat.setServo(pan, pVal2)
    robohat.setServo(tilt, tVal)
    dist_l = robohat.getDistance()
servoPosGo()
#Take right reading at 90 degrees


def servoPosGo2():
    pVal3 = (-60)
    robohat.setServo(pan, pVal3)
    robohat.setServo(tilt, tVal)
    dist_r = robohat.getDistance()
servoPosGo2()

doServos() #Centres the servos
dist_check()
if dist_r < 100 or dist_l < 100: #Is the distance greater than 100, and go which is greater but less than 100
    if dist_l > dist_r:
        robohat.spinLeft(speed)
        robohat.forward(speed)
        time.sleep(dist_l - 10)
        robohat.stop()
    elif dist_r > dist_l:
        robohat.spinRight(speed)
        robohat.forward(speed)
        time.sleep(dist_r - 10)
        robohat.stop()
    elif dist_l == dist_r: #If the two distnaces are the same, choose a   random one
        ran = random.randrange(1, 2)
        if ran == (1):
            robohat.spinLeft(speed)
            robohat.forward(speed)
            time.sleep(dist_l - 10)
            robohat.stop()
        elif ran = (2):
            robohat.spinRight(speed)
            robohat.forward(speed)
            time.sleep(dist_r - 10)
            robohat.stop()
elif dist_l > 100 or dist_r > 100: #If distance IS greater than 100, go forward and set end to true
    end = "True"
    robohat.forward(speed)
     if dist_r > dist_l:
        time.sleep(dist_r - 10)
     elif dist_l > dist_r:
        time.sleep(dist_l - 10)

Answer 1

为您的RPi提供更强大的AC适配器。它应该至少有1.2 A。

另外，确保您的伺服电机不是由RPi供电，接地必须相同且只有伺服命令线连接到RPi引脚。事实上，RPi为其GPIO提供3.5V输出，而大多数伺服电源需要5V电源和cmd线。虽然其中一些可以在cmd线上以较低电压正常工作。

如果您没有将电机直接连接到GPIO，则必须重新检查接地等。

有时会帮助在电源输入上添加大电容，这样突然瞬态不会让您的RPi重新启动。

Rasperry pi在运行程序时重新启动

1 个答案: