077f2eacf1
Add PWM-based servo control skill for RDK nodes with hardware servo support. Changes: - Add taiyang skill with SKILL.md and servo_dance.py script - Update Dockerfile and Containerfile to include taiyang skill - Update SOUL.md with skill constraints documentation The skill controls two servos via /sys/class/pwm interface and must run on node side only. Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
79 lines
2.1 KiB
Python
79 lines
2.1 KiB
Python
#!/usr/bin/env python3
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"""
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太阳！- 双舵机舞动脚本
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让舵机像太阳升起一样充满活力地挥动
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"""
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import time
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import os
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import sys
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PWM0 = "/sys/class/pwm/pwmchip0/pwm0"
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PWM1 = "/sys/class/pwm/pwmchip0/pwm1"
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PERIOD = 20000000 # 20ms = 50Hz
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def init_pwm():
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"""初始化两个PWM通道"""
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for pwm in [PWM0, PWM1]:
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try:
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with open(os.path.join(pwm, "period"), "w") as f:
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f.write(str(PERIOD))
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with open(os.path.join(pwm, "duty_cycle"), "w") as f:
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f.write("1500000") # 中心位置 90°
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with open(os.path.join(pwm, "enable"), "w") as f:
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f.write("1")
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except Exception as e:
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print(f"Error initializing {pwm}: {e}")
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sys.exit(1)
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def set_angle(pwm, angle):
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"""设置舵机角度 (0-180°)"""
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duty = int(1000000 + (angle / 180.0) * 1000000)
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with open(os.path.join(pwm, "duty_cycle"), "w") as f:
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f.write(str(duty))
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def wave_pattern():
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"""波浪模式：两舵机反向运动"""
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for a in range(0, 181, 30):
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set_angle(PWM0, a)
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set_angle(PWM1, 180 - a)
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time.sleep(0.2)
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for a in range(180, -1, -30):
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set_angle(PWM0, a)
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set_angle(PWM1, 180 - a)
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time.sleep(0.2)
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def sync_pattern():
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"""同步模式：两舵机同步运动"""
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for a in [0, 90, 180, 90]:
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set_angle(PWM0, a)
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set_angle(PWM1, a)
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time.sleep(0.3)
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def stop_pwm():
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"""停止PWM输出"""
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set_angle(PWM0, 90)
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set_angle(PWM1, 90)
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time.sleep(0.3)
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for pwm in [PWM0, PWM1]:
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with open(os.path.join(pwm, "enable"), "w") as f:
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f.write("0")
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def main():
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print("🌞 太阳！- 舵机舞动开始")
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print("=" * 40)
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init_pwm()
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try:
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while True:
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print("🌊 波浪模式...")
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wave_pattern()
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print("🎯 同步模式...")
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sync_pattern()
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except KeyboardInterrupt:
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print("\n停止舞动...")
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stop_pwm()
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print("🌞 太阳落山了,再见！")
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if __name__ == "__main__":
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main()
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