{"id":10247,"date":"2024-11-21T16:46:33","date_gmt":"2024-11-21T08:46:33","guid":{"rendered":"https:\/\/www.pusirobot.com\/?p=10247"},"modified":"2024-12-10T14:55:17","modified_gmt":"2024-12-10T06:55:17","slug":"tansuogengqiangxingnengdepython-controllerkaifamicropythonkuaisurumenjiaocheng","status":"publish","type":"post","link":"https:\/\/www.pusirobot.com\/index.php\/2024\/11\/21\/tansuogengqiangxingnengdepython-controllerkaifamicropythonkuaisurumenjiaocheng\/","title":{"rendered":"\u63a2\u7d22\u66f4\u5f3a\u6027\u80fd\u7684Python Controller\u5f00\u53d1\uff1aMicroPython\u5feb\u901f\u5165\u95e8\u6559\u7a0b"},"content":{"rendered":"\n<div class=\"wp-container-1 wp-block-group\"><div class=\"wp-block-group__inner-container\">\n<p><style>\n        body {\n            font-family: Arial, sans-serif;\n            line-height: 1.6;\n            margin: 20px;\n            background-color: #f9f9f9;\n        }\n        h1, h2, h3 {\n            color: #333;\n        }\n        pre {\n            background: #1e1e1e;\n            color: #dcdcdc;\n            padding: 15px;\n            border-radius: 5px;\n            border: 1px solid #ddd;\n            overflow-x: auto;\n        }\n        code {\n            font-family: Consolas, Monaco, \"Andale Mono\", \"Ubuntu Mono\", monospace;\n            font-size: 1em;\n        }\n        .hljs {\n            background: #1e1e1e !important;\n        }\n        .markdown-body img {\n            max-width: 100%;\n            height: auto;\n        }\n    <\/style> <script src=\"https:\/\/www.pusirobot.com\/wp-content\/uploads\/2024\/12\/highlight.min_.js\"><\/script> <script>\n        \/\/ \u9ad8\u4eae\u4ee3\u7801\n        hljs.highlightAll();\n\n        \/\/ \u6dfb\u52a0\u590d\u5236\u529f\u80fd\n        function copyCode(button) {\n            const pre = button.parentElement;\n            const code = pre.querySelector(\"code\").innerText;\n\n            navigator.clipboard.writeText(code).then(() => {\n                button.innerText = \"\u590d\u5236\u6210\u529f\uff01\";\n                setTimeout(() => {\n                    button.innerText = \"\u590d\u5236\u4ee3\u7801\";\n                }, 2000);\n            }).catch(() => {\n                button.innerText = \"\u590d\u5236\u5931\u8d25\uff01\";\n            });\n        }\n    <\/script>\n<link rel=\"stylesheet\" href=\"https:\/\/www.pusirobot.com\/wp-content\/uploads\/2024\/12\/github-markdown.min_.css\">\n    <link rel=\"stylesheet\" href=\"https:\/\/www.pusirobot.com\/wp-content\/uploads\/2024\/12\/github-dark.min_.css\">\n<\/p>\n<div class=\"markdown-body\">\n<h1>\u5f15\u8a00<\/h1>\n<p>\u5728\u5f53\u4eca\u7684\u9879\u76ee\u5f00\u53d1\u4e2d\uff0c\u65e0\u8bba\u662f\u5927\u5b66\u751f\u7684\u6bd5\u8bbe\uff0c\u7814\u7a76\u751f\u7684\u8bfe\u9898\u7814\u7a76\uff0c\u8fd8\u662f\u5c0f\u578b\u4eea\u5668\u8bbe\u5907\u7684\u63a7\u5236\u5e94\u7528\uff0c\u5927\u5bb6\u90fd\u5e0c\u671b\u80fd\u627e\u5230\u4e00\u6b3e\u529f\u80fd\u5f3a\u5927\u3001\u64cd\u4f5c\u7b80\u5355\u7684\u63a7\u5236\u4e3b\u673a\u3002\u800c Python Controller \u6b63\u662f\u8fd9\u6837\u4e00\u6b3e\u65e2\u5177\u5907\u591a\u529f\u80fd\uff0c\u53c8\u80fd\u8f7b\u677e\u4e0a\u624b\u7684\u5229\u5668\uff01<\/p>\n<p>Python Controller \u4f5c\u4e3a\u4e00\u79cd\u9ad8\u5ea6\u7075\u6d3b\u4e14\u529f\u80fd\u5f3a\u5927\u7684\u786c\u4ef6\u6a21\u5757\uff0c\u4e0d\u4ec5\u9002\u7528\u4e8e\u5404\u79cd\u7c7b\u578b\u7684\u9879\u76ee\u5f00\u53d1\uff0c\u8fd8\u80fd\u5728\u63a7\u5236\u7cfb\u7edf\u67b6\u6784\u4e2d\u626e\u6f14\u591a\u79cd\u89d2\u8272\u3002\u5177\u4f53\u6765\u8bf4\uff0c\u5b83\u53ef\u4ee5\u4f5c\u4e3a\u4e0a\u4f4d\u673a\u63a7\u5236\u7cfb\u7edf\u7684\u4e00\u90e8\u5206\uff0c\u901a\u8fc7can\u548c485\u603b\u7ebf\u63a7\u5236\u4ece\u673a\uff0c\u4e5f\u53ef\u4ee5\u5145\u5f53IO\u63a7\u5236\uff0cPWM\u8f93\u51fa\u7b49\u529f\u80fd\u7684\u4e2d\u8f6c\u8bbe\u5907\uff0c\u4e3a\u6574\u4e2a\u7cfb\u7edf\u63d0\u4f9b\u9ad8\u6548\u7684\u7ba1\u7406\u548c\u534f\u8c03\u673a\u5236\u3002\u8fd9\u4e9b\u7279\u6027\u4f7f\u5f97Python Controller\u5728\u5f88\u591a\u5e94\u7528\u573a\u666f\u4e2d\u53ef\u4ee5\u66ff\u4ee3PLC\u6216\u8005\u5de5\u63a7\u673a\uff0c\u4f46\u662f\u5374\u5177\u6709\u524d\u8005\u65e0\u53ef\u6bd4\u62df\u7684\u65b9\u4fbf\u6027\u548c\u6613\u7528\u6027\uff0c\u53ef\u4ee5\u6781\u5927\u63d0\u9ad8\u9879\u76ee\u7684\u5b9e\u65bd\u901f\u5ea6\u3002<\/p>\n<p>\u4eca\u5929\uff0c\u6211\u4eec\u5c06\u901a\u8fc7\u4e00\u4e2a\u7b80\u5355\u6613\u61c2\u7684\u6559\u7a0b\uff0c\u5e26\u4f60\u5feb\u901f\u4e0a\u624bPython Controller\u5f00\u53d1\uff0c\u89e3\u9501\u66f4\u591a\u73a9\u6cd5\uff01<\/p>\n<h1>\u51c6\u5907\u5de5\u4f5c<\/h1>\n<p>\u67e5\u770b\u4f7f\u7528\u624b\u518c\u4e0a\u7684\u63a5\u53e3\u8bf4\u660e\uff0c\u6839\u636e\u9700\u8981\u63a5\u597d\u7ebf\uff0c\u5e76\u4f7f\u7528 type-c \u6570\u636e\u7ebf\u5c06 Python Controller \u8fde\u63a5\u5230\u7535\u8111\u3002<\/p>\n<h1>\u73af\u5883\u5b89\u88c5<\/h1>\n<p>Micropython \u7684\u539f\u751f IDE \u662f Thonny\uff0c\u4f46\u662f\u8be5 IDE \u754c\u9762\u5355\u4e00\u4e14\u6ca1\u6709\u4ee3\u7801\u8865\u5168\u63d0\u793a\u7b49\u529f\u80fd\uff0c\u4e3a\u4e86\u83b7\u5f97\u66f4\u597d\u7684\u7f16\u7a0b\u4f53\u9a8c\uff0c\u672c\u6559\u7a0b\u4f7f\u7528 VSCode \u7f16\u8f91\u5668\uff0c\u5b89\u88c5\u63d2\u4ef6\u4ee5\u63d0\u4f9b Micropython \u7f16\u7a0b\u652f\u6301\u3002<\/p>\n<h2>1. \u63d2\u4ef6\u5b89\u88c5<\/h2>\n<p>\u6253\u5f00 VSCode\uff0c\u5728\u63d2\u4ef6\u7ba1\u7406\u91cc\u641c\u7d22\u5e76\u5b89\u88c5 MicroPico \u63d2\u4ef6\uff1a<\/p>\n<img src=\"https:\/\/www.pusirobot.com\/wp-content\/uploads\/2024\/11\/image-1732181136033.png\" alt=\"\u63d2\u4ef6\u5b89\u88c5\">\n<h2>2. \u9879\u76ee\u914d\u7f6e<\/h2>\n<p>\u6253\u5f00\u4e00\u4e2a\u6587\u4ef6\u5939\u4f5c\u4e3a Micropython \u9879\u76ee\uff0c\u7136\u540e\u6309 <code>Ctrl+Shift+P<\/code> \u6253\u5f00\u547d\u4ee4\u641c\u7d22\u6846\uff0c\u641c\u7d22 <code>MicroPico:Configure MicroPico Project<\/code> \u6216 <code>MicroPico:Setup MicroPico Project<\/code>\uff0c\u7136\u540e\u70b9\u51fb\u914d\u7f6e\u9879\u76ee\uff1a<\/p>\n<img src=\"https:\/\/www.pusirobot.com\/wp-content\/uploads\/2024\/11\/image-1732181655603.png\" alt=\"\u9879\u76ee\u914d\u7f6e\">\n<p>\u5f53\u53f3\u4e0b\u89d2\u663e\u793a<code>Project configuration complete!<\/code>\u5373\u4ee3\u8868\u9879\u76ee\u914d\u7f6e\u6210\u529f\uff0c\u540c\u65f6\u5de6\u4e0b\u89d2\u4e5f\u4f1a\u663e\u793aMicroPico\u76f8\u5173\u64cd\u4f5c<\/p>\n<img src=\"https:\/\/www.pusirobot.com\/wp-content\/uploads\/2024\/11\/image-1732181699191.png\" alt=\"\u9879\u76ee\u914d\u7f6e\">\n<h2>3. \u4e0b\u8f7d\u9879\u76ee<\/h2>\n<p>\u70b9\u51fb\u5de6\u4e0b\u89d2\u7684<code>All commands<\/code>\u6253\u5f00MicroPico\u547d\u4ee4\u641c\u7d22\u6846\uff0c\u6216\u6309<code>Ctrl+Shift+P<\/code>\u6253\u5f00\u547d\u4ee4\u641c\u7d22\u6846\uff0c\u641c\u7d22<code>MicroPico:Download project from Pico<\/code>\uff0c\u7136\u540e\u70b9\u51fb\u641c\u7d22\u7ed3\u679c\u5f00\u59cb\u4e0b\u8f7d\u9879\u76ee<\/p>\n<img src=\"https:\/\/www.pusirobot.com\/wp-content\/uploads\/2024\/11\/image-1732182022210.png\" alt=\"\u4e0b\u8f7d\u9879\u76ee\">\n<p>\u53f3\u4e0b\u89d2\u663e\u793a<code>Project downloaded.<\/code>\u5373\u4ee3\u8868\u4e0b\u8f7d\u5b8c\u6210\uff0c\u540c\u65f6\u5728\u9879\u76ee\u91cc\u9762\u4e5f\u80fd\u770b\u5230\u4e0b\u8f7d\u4e0b\u6765\u7684\u6587\u4ef6<\/p>\n<img src=\"https:\/\/www.pusirobot.com\/wp-content\/uploads\/2024\/11\/image-1732182221530.png\" alt=\"\u4e0b\u8f7d\u9879\u76ee\">\n<h2>4. \u4ee3\u7801\u8fd0\u884c<\/h2>\n<p>\u4ee3\u7801\u5199\u597d\u540e\uff0c\u53f3\u952e\u70b9\u51fb\u4ee3\u7801\u6587\u4ef6\uff0c\u5728\u53f3\u952e\u83dc\u5355\u4e2d\u70b9\u51fb<code>Run current file on Pico<\/code>\u6216\u76f4\u63a5\u70b9\u51fb\u5de6\u4e0b\u89d2\u7684Run\u5373\u53ef\u5728Python Controller\u4e0a\u8fd0\u884c\u8be5\u7a0b\u5e8f\uff0c\u5728\u8f93\u51fa\u7a97\u53e3\u4e2d\u53ef\u4ee5\u67e5\u770b\u4ee3\u7801\u8fd0\u884c\u8f93\u51fa<\/p>\n<img src=\"https:\/\/www.pusirobot.com\/wp-content\/uploads\/2024\/11\/image-1732182541430.png\" alt=\"\u4ee3\u7801\u8fd0\u884c\">\n<h2>5. \u6587\u4ef6\u4e0a\u4f20<\/h2>\n<p>\u5f53\u9879\u76ee\u5199\u5b8c\u540e\uff0c\u9700\u8981\u5c06\u4e3b\u51fd\u6570\u4ee3\u7801\u6587\u4ef6\u547d\u540d\u4e3a<code>main.py<\/code>\uff0c\u7136\u540e\u5c06\u9879\u76ee\u76f8\u5173\u6587\u4ef6\u90fd\u901a\u8fc7<code>Upload file to Pico<\/code>\u6216<code>Upload Project to Pico<\/code>\u529f\u80fd\u4e0a\u4f20\u5230Python Controller\u4e2d\u624d\u80fd\u8ba9\u8bbe\u5907\u4e0a\u7535\u81ea\u52a8\u8fd0\u884c\u8be5\u9879\u76ee<\/p>\n<img src=\"https:\/\/www.pusirobot.com\/wp-content\/uploads\/2024\/11\/image-1732182727763.png\" alt=\"\u6587\u4ef6\u4e0a\u4f20\">\n<h2>\u4ee3\u7801\u793a\u4f8b<\/h2>\n<h3>1. CAN\u901a\u8baf<\/h3>\n<pre><code class=\"language-python\">\nimport sys\nimport pylibrary\nimport time\n\nclass cantest:\n    def __init__(self):\n        #\u521d\u59cb\u5316\u4e00\u4e2a\u6ce2\u7279\u7387\u4f4d125kbps\u7684can\u5bf9\u8c61\n        self.can = pylibrary.can(125)\n\n    def recive_handler(self, pin):\n        #\u6570\u636e\u63a5\u6536\u68c0\u6d4b\n        is_recive, channel = self.can.check_message()\n        if is_recive:\n            #\u8bfb\u53d6\u6570\u636e\n            frame_id, recive_data = self.can.receive(channel)\n            hex_data = [f'{x:02x}' for x in recive_data]\n            sys.stdout.write(f\"\u5e27ID\uff1a {hex(frame_id)}\uff0c \u6570\u636e\uff1a {hex_data}\\n\")\n            #\u53d1\u9001\u6570\u636e\n            self.can.send(frame_id, len(recive_data), recive_data)\n\nif __name__ == \"__main__\":\n    cantest = cantest()\n    #\u6ce8\u518c\u4e00\u4e2acan\u63a5\u6536\u4e2d\u65ad\uff0c\u4e2d\u65ad\u5904\u7406\u51fd\u6570\u4e3acantest.recive_handler(pin)\n    cantest.can.recive_interrupt_init(cantest.recive_handler)\n    while 1:\n        time.sleep(5)\n        <\/code><\/pre>\n<h3>2. RS485\u901a\u8baf<\/h3>\n<pre><code class=\"language-python\">\nimport pylibrary\nimport sys\n\nclass rs485test:\n    def __init__(self):\n        #\u521d\u59cb\u5316\u4e00\u4e2ars485\u5bf9\u8c61\uff0c\u4f7f\u7528\u901a\u90531\uff0c\u6ce2\u7279\u7387\u8bbe\u7f6e\u4e3a9600\n        self.rs485 = pylibrary.rs485(1, 9600)\n        #\u9ed8\u8ba4\u8bbe\u7f6e\u4e3a\u63a5\u6536\u6a21\u5f0f\n        self.rs485.set_recive_mode()\n\n    def recive_handler(self):\n       #\u76f4\u5230\u6709\u63a5\u6536\u5230\u6570\u636e\u624d\u7ee7\u7eed\u5411\u4e0b\u6267\u884c\n        while not self.rs485.is_recive_data():\n            pass\n        #\u8bfb\u53d6\u6570\u636e\n        recive_data = self.rs485.read()\n        sys.stdout.write(f\"\u63a5\u6536\uff1a {recive_data}\\n\")\n        #\u8bbe\u7f6e\u4e3a\u53d1\u9001\u6a21\u5f0f\n        self.rs485.set_send_mode()\n        #\u53d1\u9001\u6570\u636e\n        self.rs485.write(recive_data)\n        #\u76f4\u5230\u53d1\u9001\u5b8c\u6210\u624d\u7ee7\u7eed\u5411\u4e0b\u6267\u884c\n        while not self.rs485.is_send_success():\n            pass\n        #\u8bbe\u7f6e\u4e3a\u63a5\u6536\u6a21\u5f0f\n        self.rs485.set_recive_mode()\n\nif __name__ == \"__main__\":\n    rs485test = rs485test()\n    while 1:\n        rs485test.recive_handler()\n        <\/code><\/pre>\n<h3>3. SPI\u901a\u8baf<\/h3>\n<pre><code class=\"language-python\">\nimport pylibrary as pl\n\n#\u521d\u59cb\u5316\u4e00\u4e2aspi\u5bf9\u8c61\uff0c\u6781\u6027\u4e3a0\uff0c\u5b57\u8282\u6570\u4e3a8\nspi = pl.spi(10000, 0, 0, 8)\n#\u5f00\u542fspi\u901a\u4fe1\uff0c\u5373\u62c9\u4f4eCS\nspi.start()\n#\u53d1\u9001\u5e76\u8bfb\u53d6\u6570\u636e\nvalue = spi.transmit(2, [0x01, 0x02])\n#\u5173\u95edSPI\u901a\u4fe1\uff0c\u5373\u62c9\u9ad8CS\nspi.stop()\n        <\/code><\/pre>\n<h3>4. \u7535\u673a\u9a71\u52a8<\/h3>\n<pre><code class=\"language-python\">\nimport pylibrary\nimport time\n\n\nclass mtest:\n\n    def __init__(self):\n        #\u521d\u59cb\u5316\u4e00\u4e2amotor\u5bf9\u8c61\uff0c\u4f7f\u7528M1\u63a5\u53e3\n        self.motor = pylibrary.motor(1)\n\n\nif __name__ == \"__main__\":\n    mtest = mtest()\n    #\u8bbe\u7f6e\u65b9\u5411\u4e3a\u6b63\u5411\n    mtest.motor.set_direction(1)\n    #\u4ee550%\u7684\u901f\u5ea6\u5f00\u59cb\u8f6c\u52a8\uff0c\u5373\u7ed9\u5b9a\u7535\u538b\u4e3a\u6700\u5927\u7535\u538b\u768450%\n    mtest.motor.start(50)\n    time.sleep(3)\n    #\u505c\u6b62\u7535\u673a\u8f6c\u52a8\n    mtest.motor.stop()\n    time.sleep(1)\n    #\u8bbe\u7f6e\u65b9\u5411\u4e3a\u53cd\u5411\n    mtest.motor.set_direction(0)\n    #\u4ee5100%\u7684\u901f\u5ea6\u5f00\u59cb\u8f6c\u52a8\uff0c\u5373\u7ed9\u5b9a\u7535\u538b\u4e3a\u6700\u5927\u7535\u538b\u7684100%\n    mtest.motor.start(100)\n    time.sleep(3)\n    #\u505c\u6b62\u7535\u673a\u8f6c\u52a8\n    mtest.motor.stop()\n        <\/code><\/pre>\n<h3>5. \u6a21\u62df\u91cf\u8f93\u5165<\/h3>\n<pre><code class=\"language-python\">\nimport pylibrary\nimport sys\nimport time\n\n\nclass adctest:\n\n    def __init__(self):\n        #\u521d\u59cb\u5316\u4e00\u4e2aadc\u5bf9\u8c61\n        self.adc = pylibrary.adc()\n\n\nif __name__ == \"__main__\":\n    adctest = adctest()\n    while 1:\n        #\u8bfb\u53d6ADC\u7684\u503c\n        adc_value = adctest.adc.read()\n        #\u4ee5\u8f93\u5165\u4e3a4-20mA\u4e3a\u4f8b\uff0c\u8ba1\u7b97\u5b9e\u9645\u7535\u6d41\u503c\n        v_value = (adc_value * 16 \/ 65535) + 4\n        sys.stdout.write(f\"\u7535\u6d41\u4e3a: {v_value}mA\\n\")\n        time.sleep(1)\n        <\/code><\/pre>\n<h3>6. PWM\u8f93\u51fa<\/h3>\n<pre><code class=\"language-python\">\nimport sys\nimport pylibrary\nimport time\n\n\nclass pwmtest:\n\n    def __init__(self):\n        #\u521d\u59cb\u5316\u4e00\u4e2apwm\uff0c\u4f7f\u7528\u901a\u90531\n        self.pwm = pylibrary.pwm(1)\n        #\u8bbe\u7f6e\u9891\u7387\u4e3a10Hz\n        self.pwm.set_freq(10)\n        #\u8bbe\u7f6e\u5360\u7a7a\u6bd4\u4e3a50%\n        self.pwm.set_dutycycle(50)\n\n\nif __name__ == \"__main__\":\n    pwmtest = pwmtest()\n    while 1:\n        sys.stdout.write(\"pwm1\u8f93\u51fa\\n\")\n        time.sleep(5)\n        <\/code><\/pre>\n<h3>7. GPIO\u53e3<\/h3>\n<pre><code class=\"language-python\">\nimport sys\nimport pylibrary\nimport time\n\n\nclass gpiotest:\n\n    def __init__(self):\n        #\u521d\u59cb\u5316\u4e00\u4e2agpio\u5bf9\u8c61\uff0c\u4f7f\u7528GPIO-1\uff0c\u8bbe\u7f6e\u4e3a\u8f93\u51fa\u6a21\u5f0f\n        self.gpio = pylibrary.gpio(1, pylibrary.gpio.OUT)\n        #\u8f93\u51fa\u4f4e\u7535\u5e73\n        self.gpio.bit_reset()\n\n\nif __name__ == \"__main__\":\n    gpiotest = gpiotest()\n    while 1:\n        #\u8f93\u51fa\u9ad8\u7535\u5e73\n        gpiotest.gpio.bit_set()\n        sys.stdout.write(\"\u8f93\u51fa\u9ad8\u7535\u5e73\\n\")\n        time.sleep(3)\n        #\u8f93\u51fa\u4f4e\u7535\u5e73\n        gpiotest.gpio.bit_reset()\n        sys.stdout.write(\"\u8f93\u51fa\u4f4e\u7535\u5e73\\n\")\n        time.sleep(3)\n        <\/code><\/pre>\n<\/div>\n<\/div><\/div>\n","protected":false},"excerpt":{"rendered":"<p>\u5f15\u8a00 \u5728\u5f53\u4eca\u7684\u9879\u76ee\u5f00\u53d1\u4e2d\uff0c\u65e0\u8bba\u662f\u5927\u5b66\u751f\u7684\u6bd5\u8bbe\uff0c\u7814\u7a76\u751f<span class=\"excerpt-hellip\"> [\u2026]<\/span><\/p>\n","protected":false},"author":6,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":[],"categories":[17],"tags":[191,148,193,25,190,189],"_links":{"self":[{"href":"https:\/\/www.pusirobot.com\/index.php\/wp-json\/wp\/v2\/posts\/10247"}],"collection":[{"href":"https:\/\/www.pusirobot.com\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/www.pusirobot.com\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/www.pusirobot.com\/index.php\/wp-json\/wp\/v2\/users\/6"}],"replies":[{"embeddable":true,"href":"https:\/\/www.pusirobot.com\/index.php\/wp-json\/wp\/v2\/comments?post=10247"}],"version-history":[{"count":58,"href":"https:\/\/www.pusirobot.com\/index.php\/wp-json\/wp\/v2\/posts\/10247\/revisions"}],"predecessor-version":[{"id":10324,"href":"https:\/\/www.pusirobot.com\/index.php\/wp-json\/wp\/v2\/posts\/10247\/revisions\/10324"}],"wp:attachment":[{"href":"https:\/\/www.pusirobot.com\/index.php\/wp-json\/wp\/v2\/media?parent=10247"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.pusirobot.com\/index.php\/wp-json\/wp\/v2\/categories?post=10247"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.pusirobot.com\/index.php\/wp-json\/wp\/v2\/tags?post=10247"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}