35 lines
1.3 KiB
Python
35 lines
1.3 KiB
Python
import hiwonder
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import time
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import csv
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# 初始化JetMax机械臂
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jetmax = hiwonder.JetMax()
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# 定义记录频率(Hz)，即每秒记录次数
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record_freq = 5
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# 打开 CSV 文件用于写入
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current_time = time.strftime("%Y-%m-%d %H:%M:%S", time.localtime())
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step = 0
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with open(f'servo_positions-{current_time}.csv', 'w', newline='') as csvfile:
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csv_writer = csv.writer(csvfile)
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# 写入CSV表头，定义数据列
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csv_writer.writerow(['Step', 'Servo 1', 'Servo 2', 'Servo 3'])
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while True:
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step += 1
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# 读取三个舵机的当前位置
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servo_1 = hiwonder.serial_servo.read_position(1) # 读取舵机1位置
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servo_2 = hiwonder.serial_servo.read_position(2) # 读取舵机2位置
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servo_3 = hiwonder.serial_servo.read_position(3) # 读取舵机3位置
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# 打印当前步骤和舵机位置信息到控制台
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print(f'Step: {step}, servo_1: {servo_1}, servo_2: {servo_2}, servo_3: {servo_3}')
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# 将数据写入CSV文件，步骤时间通过step/record_freq计算
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csv_writer.writerow([step / record_freq, servo_1, servo_2, servo_3])
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csvfile.flush() # 强制将缓冲区数据写入文件，确保数据实时保存
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# 根据记录频率设置延时
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time.sleep(1 / record_freq)
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