ESP32(MicroPython) 四足机器人（二）转向与倾斜
（由于网页版发布界面一直打不开，只能在手机上发了。由于发布推迟，会集中发布接下来几期内容。）
这部分程序实现了四足机器人的直行（向正前方直行或斜向移动）、转向（前后的转向舵机向反方向旋转）和前后倾斜功能。实测发现之前的方案供电不足的问题比较严重，后续会换一个5v10a的供电方案，但只能插电使用。
代码如下（由于供电问题，倾斜功能使用较小的倾斜角度以降低舵机负载）
import time
from machine import SoftI2C,Pin
from servo import Servos
i2c=SoftI2C(sda=Pin(9),scl=Pin(8),freq=10000)
servos=Servos(i2c,address=0x40)
servos.position(0,90)
servos.position(1,90)
servos.position(2,90)
servos.position(3,90)
servos.position(4,90)
servos.position(5,90)
servos.position(6,90)
servos.position(7,90)
servos.position(8,120)
servos.position(9,120)
servos.position(10,120)
servos.position(11,120)
time.sleep(1)
Height1=0 #前部高度，0为最高
Height2=0 #后部高度，0为最高
def straight(angle): #直行，给所有转向舵机写入相应角度以调整方向
servos.position(0,angle)
servos.position(1,angle)
servos.position(2,angle)
servos.position(3,angle)
def turn(angle): #倾斜
servos.position(0,angle)
servos.position(1,angle)
servos.position(2,180-angle)
servos.position(3,180-angle)
def tilt(height1,height2): #前后倾斜,局部变量与全局变量通过大小写区分
servos.position(4,90-height1)
servos.position(5,90-height1)
servos.position(6,90-height2)
servos.position(7,90-height2)
servos.position(8,120-height1-height1) #底部舵机使用两倍偏置以确保平衡
servos.position(9,120-height1-height1)
servos.position(10,120-height2-height2)
servos.position(11,120-height2-height2)
while True: #测试
straight(30)
time.sleep(0.5)
straight(90)
time.sleep(0.5)
straight(120)
time.sleep(0.5)
straight(90)
time.sleep(0.5)
turn(30)
time.sleep(0.5)
turn(90)
time.sleep(0.5)
turn(120)
time.sleep(0.5)
turn(90)
time.sleep(0.5)
Height1=15
tilt(Height1,Height2)
time.sleep(1)
Height1=0
tilt(Height1,Height2)
time.sleep(1)
Height2=15
tilt(Height1,Height2)
time.sleep(1)
Height2=0
tilt(Height1,Height2)
time.sleep(1)
Height1=15
Height2=15
tilt(Height1,Height2)
time.sleep(1)
Height1=0
Height2=0
tilt(Height1,Height2)
time.sleep(1)