树莓派智能小车（循迹、避障、测距）

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树莓派智能小车（循迹、避障、测距）

2024-07-09 10:05| 来源: 网络整理| 查看: 265

1、基本运动（move.py）

import RPi.GPIO as GPIO import time AIN1=18 AIN2=19 PWMA=13 BIN1=20 BIN2=21 PWMB=12 def setup(): global l_motor global r_motor GPIO.setwarnings(False) GPIO.setmode(GPIO.BCM) GPIO.setup(PWMA,GPIO.OUT) GPIO.setup(PWMB,GPIO.OUT) GPIO.setup(AIN1,GPIO.OUT) GPIO.setup(AIN2,GPIO.OUT) GPIO.setup(BIN1,GPIO.OUT) GPIO.setup(BIN2,GPIO.OUT) l_motor=GPIO.PWM(PWMA,500) r_motor=GPIO.PWM(PWMB,500) l_motor.start(0) r_motor.start(0) def turn_up(speed,t): l_motor.ChangeDutyCycle(speed) r_motor.ChangeDutyCycle(speed) GPIO.output(AIN1,0) GPIO.output(BIN1,0) GPIO.output(AIN2,1) GPIO.output(BIN2,1) time.sleep(t) def turn_down(speed,t): l_motor.ChangeDutyCycle(speed) r_motor.ChangeDutyCycle(speed) GPIO.output(AIN1,1) GPIO.output(BIN1,1) GPIO.output(AIN2,0) GPIO.output(BIN2,0) time.sleep(t) def turn_right(speed,t): l_motor.ChangeDutyCycle(speed) r_motor.ChangeDutyCycle(speed) GPIO.output(AIN1,1) GPIO.output(BIN1,0) GPIO.output(AIN2,0) GPIO.output(BIN2,1) time.sleep(t) def turn_left(speed,t): l_motor.ChangeDutyCycle(speed) r_motor.ChangeDutyCycle(speed) GPIO.output(AIN1,0) GPIO.output(BIN1,1) GPIO.output(AIN2,1) GPIO.output(BIN2,0) time.sleep(t) def stop(t): GPIO.output(AIN1,0) GPIO.output(BIN1,0) GPIO.output(AIN2,0) GPIO.output(BIN2,0) time.sleep(t) def loop(): while 1: turn_up(30,0) def destory(): stop(0) GPIO.cleanup() l_motor.stop() r_motor.stop() if __name__=='__main__': setup() try: loop() except KeyboardInterrupt: destory()

2.红外循迹

import move import RPi.GPIO as GPIO sensor_left=25 sensor_right=24 def setup(): GPIO.setup(sensor_left,GPIO.IN) GPIO.setup(sensor_right,GPIO.IN) def loop(): while 1: SR=GPIO.input(sensor_right) SL=GPIO.input(sensor_left) if SR==1 and SL==0: move.turn_right(50,0) elif SR==0 and SL==1: move.turn_left(50,0) elif SR==0 and SL==0: move.turn_up(50,0) else: move.stop(0) if __name__=='__main__': move.setup() setup() try: loop() except KeyboardInterrupt: move.destory()

3.红外避障

import move import RPi.GPIO as GPIO sensor_left=17 sensor_right=16 def setup(): GPIO.setup(sensor_left,GPIO.IN) GPIO.setup(sensor_right,GPIO.IN) def loop(): while 1: SR=GPIO.input(sensor_right) SL=GPIO.input(sensor_left) if SR==1 and SL==1: move.turn_up(50,0) elif SR==0 and SL==1: move.turn_left(50,0) elif SR==1 and SL==0: move.turn_right(50,0) else: move.stop(1) move.turn_down(50,0.5) move.turn_left(50,0.5) if __name__=='__main__': move.setup() setup() try: loop() except KeyboardInterrupt: move.destory()

4.超声波测距

import time import move import RPi.GPIO as GPIO trig=27 echo=26 def setup(): GPIO.setup(trig,GPIO.OUT) GPIO.setup(echo,GPIO.IN) def distance(): GPIO.output(trig,0) time.sleep(0.000002) GPIO.output(trig,1) time.sleep(0.00001) GPIO.output(trig,0) while GPIO.input(echo)==0: pass t1=time.time() while GPIO.input(echo)==1: pass t2=time.time() dur=t2-t1 print(dur*340/2*100) return dur*340/2*100 def loop(): while 1: dist=distance() if dist

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树莓派智能小车（循迹、避障、测距）

树莓派智能小车（循迹、避障、测距）

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