import machine
import utime

# 定义舵机引脚
SERVO_X_PIN = 14  # 这里假设使用引脚14控制X轴舵机
SERVO_Y_PIN = 15  # 这里假设使用引脚15控制Y轴舵机

# 初始化舵机PWM
servo_x = machine.PWM(machine.Pin(SERVO_X_PIN), freq=50)
servo_y = machine.PWM(machine.Pin(SERVO_Y_PIN), freq=50)

# 定义舵机角度范围
SERVO_MIN_ANGLE = 0
SERVO_MAX_ANGLE = 180

# 舵机角度初始值
current_angle_x = 90  # 初始值为90度
current_angle_y = 90

# 读取键盘输入并控制舵机
while True:
    key = input()
    
    # 根据键盘输入调整舵机角度
    if key == 'w':  # 向上
        current_angle_y = min(current_angle_y + 10, SERVO_MAX_ANGLE)
    elif key == 's':  # 向下
        current_angle_y = max(current_angle_y - 10, SERVO_MIN_ANGLE)
    elif key == 'a':  # 向左
        current_angle_x = max(current_angle_x - 10, SERVO_MIN_ANGLE)
    elif key == 'd':  # 向右
        current_angle_x = min(current_angle_x + 10, SERVO_MAX_ANGLE)
    
    # 设置舵机角度
    servo_x.duty(current_angle_x)
    servo_y.duty(current_angle_y)
    
    utime.sleep(0.1)  # 等待一段时间，避免过快的舵机运动