@Antonio-Francisco-S-Santos Desculpe, O Código que me refiro é esse aqui:
#!/usr/bin/python3
coding=utf8
import sys
import time
import math
import hiwonder.Mpu6050 as Mpu6050
import hiwonder.ActionGroupControl as AGC
import hiwonder.Board as Board
mpu = Mpu6050.mpu6050(0x68)#启动Mpu6050
mpu.set_gyro_range(mpu.GYRO_RANGE_2000DEG)#设置Mpu6050的陀螺仪的工作范围
mpu.set_accel_range(mpu.ACCEL_RANGE_2G)#设置Mpu6050的加速度计的工作范围
count1 = 0
count2 = 0
def standup():
global count1, count2
try:
accel_date = mpu.get_accel_data(g=True) #获取传感器值
angle_y = int(math.degrees(math.atan2(accel_date['y'], accel_date['z']))) #将获得的数据转化为角度值
if abs(angle_y) > 105: #y轴角度大于160，count1加1，否则清零
count1 += 1
else:
count1 = 0
if abs(angle_y) < 85: #y轴角度小于10，count2加1，否则清零
count2 += 1
else:
count2 = 0
time.sleep(0.1)
if count1 >= 1: #往前倒了一定时间后起来
count1 = 0
print("equilibrio_1！")#打印执行的动作名
AGC.runActionGroup('equilibrio_1')#执行动作
Board.setPWMServoPulse(1, 1300, 700)
Board.setPWMServoPulse(2, 1500, 700)
time.sleep(0.8)
AGC.runActionGroup('stand')
elif count2 >= 1: #往后倒了一定时间后起来
count2 = 0
print("equilibrio_2！")#打印执行的动作名
AGC.runActionGroup('equilibrio_2')#执行动作
Board.setPWMServoPulse(1, 1500, 700)
Board.setPWMServoPulse(2, 1500, 700)
time.sleep(0.8)
AGC.runActionGroup('stand')
except BaseException as e:
print(e)
if name == 'main':
print("Fall_and_Stand Init")
print("Fall_and_Stand Start")
while True : #循环检测机器人的状态
standup()
key = time.sleep(0.1)
if key == 27:
break
