ros小车暑假开发记录（七）

树莓派小车python驱动程序

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前言

树莓派小车使用thonny软件驱动舵机、电机的python程序，终端使用cheese软件开启摄像头。
硬件：笔记本、树莓派4b小车（树莓派4b、sd卡、舵机云台、摄像头、tt马达、BST-AI拓展板、电池、车体外壳、轮子）
软件：Ubuntu22.04、thonny、cheese、向日葵
日期：2022.08.27

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一、硬件部分（组装好小车）

如图所示：

二、软件部分

1.安装好Ubuntu22.04系统，thonny、cheese、向日葵软件

Ubuntu22.04系统，thonny、cheese、向日葵软件我之前博客都有安装介绍，这里不再赘述。

2.写入python程序

代码如下：

# -*- coding: utf-8 -*-

from __future__ import division
import time
import Adafruit_PCA9685
from pynput import keyboard

pwm = Adafruit_PCA9685.PCA9685()

#每个电机由两个阵脚的脉冲进行控制
mA1=8
mA2=9
mB1=10
mB2=11
mC1=1
mC2=2

pwm.set_pwm_freq(50)

# Configure min and max servo pulse lengths
servo_min = 150  # Min pulse length out of 4096
servo_max = 600  # Max pulse length out of 4096

# Helper function to make setting a servo pulse width simpler.
def set_servo_pulse(channel, pulse):
    pulse_length = 1000000    # 1,000,000 us per second
    pulse_length //= 60       # 60 Hz
    print('{0}us per period'.format(pulse_length))
    pulse_length //= 4096     # 12 bits of resolution
    print('{0}us per bit'.format(pulse_length))
    pulse *= 1000
    pulse //= pulse_length
    pwm.set_pwm(channel, 0, pulse)
    
def set_servo_angle(channel,angle):
    angle=4096*((angle*11)+500)/20000
    pwm.set_pwm(channel,0,int(angle))

#舵机初始位置
yaw_angle = 90
pitch_angle = 90
set_servo_angle(mC1,yaw_angle)
set_servo_angle(mC2,pitch_angle)

#舵机左转
def left_yaw():
    global yaw_angle
    yaw_angle += 0.5
    set_servo_angle(mC2,yaw_angle)
    time.sleep(0.01)

#舵机右转
def right_yaw():
    global yaw_angle
    yaw_angle -= 0.5
    set_servo_angle(mC2,yaw_angle)
    time.sleep(0.01)

#舵机上仰
def up_pitch():
    global pitch_angle
    pitch_angle -= 0.5
    set_servo_angle(mC1,pitch_angle)
    time.sleep(0.01)

#舵机下俯
def down_pitch():
    global pitch_angle
    pitch_angle += 0.5
    set_servo_angle(mC1,pitch_angle)
    time.sleep(0.01)
       
#最大频率是4096，4096时达到最高速度，1024，2048，3072
#向前，两个电机向相同方向旋转
def forward():
    pwm.set_pwm(mA1,0,1024)
    pwm.set_pwm(mA2,0,0)
    pwm.set_pwm(mB1,0,1024)
    pwm.set_pwm(mB2,0,0)
    time.sleep(0.01)
#向后，两个电机向与forward（）向反的方向旋转
def back():
    pwm.set_pwm(mA1,0,0)
    pwm.set_pwm(mA2,0,1024)
    pwm.set_pwm(mB1,0,0)
    pwm.set_pwm(mB2,0,1024)
    time.sleep(0.01)
#原地左转，给右电机向前速度，给左电机向后速度
def spin_left():
    pwm.set_pwm(mA1,0,1024)
    pwm.set_pwm(mA2,0,0)
    pwm.set_pwm(mB1,0,0)
    pwm.set_pwm(mB2,0,1024)
    time.sleep(0.01)
#原地右转，给左电机向前速度，给右电机向后速度
def spin_right():
    pwm.set_pwm(mA1,0,0)
    pwm.set_pwm(mA2,0,1024)
    pwm.set_pwm(mB1,0,1024)
    pwm.set_pwm(mB2,0,0)
    time.sleep(0.01)
#左转，通过频率差值改变转向角度
'''def left():
    pwm.set_pwm(mA1,0,512)
    pwm.set_pwm(mA2,0,0)
    pwm.set_pwm(mB1,0,1024)
    pwm.set_pwm(mB2,0,0)
    time.sleep(0.01)
#右转，通过频率差值改变旋转角度
def right():
    pwm.set_pwm(mA1,0,1024)
    pwm.set_pwm(mA2,0,0)
    pwm.set_pwm(mB1,0,512)
    pwm.set_pwm(mB2,0,0)
    time.sleep(0.01)'''

def stop():
    pwm.set_pwm(mA1,0,0)
    pwm.set_pwm(mA2,0,0)
    pwm.set_pwm(mB1,0,0)
    pwm.set_pwm(mB2,0,0)
    time.sleep(0.01)
#延时程序可以省略

#按键检测
def on_press(key):
        '按下按键时执行。'
        try:
                if key == keyboard.KeyCode.from_char('enter'):
                        pass
                elif key == keyboard.Key.left:
                    print("舵机向左")
                    left_yaw()
                elif key == keyboard.Key.right:
                    print("舵机向右")
                    right_yaw()
                elif key == keyboard.Key.up:
                    print("舵机向上")
                    up_pitch()
                elif key == keyboard.Key.down:
                    print("舵机向下")
                    down_pitch()
                elif key == keyboard.KeyCode.from_char('w'):
                    print("前进")
                    forward()
                elif key == keyboard.KeyCode.from_char('s'):
                    print("后退")
                    back()
                elif key == keyboard.KeyCode.from_char('a'):
                    print("左转")
                    spin_left()
                elif key == keyboard.KeyCode.from_char('d'):
                    print("右转")
                    spin_right()
                elif key == keyboard.KeyCode.from_char('q'):
                    exit(-1)

        except AttributeError:
                print('special key {0} pressed'.format(key))
    #通过属性判断按键类型。

def on_release(key):
    '松开按键时执行。'
    #print('{0} released'.format(key))
    print("停止")
    stop()
    if key == keyboard.Key.esc:
        # Stop listener
        return False

with keyboard.Listener(on_press=on_press,on_release=on_release) as listener:
    listener.join()
#非阻塞式的键盘事件监听,不会影响程序其他线程的执行，阻塞式（with...as....）的键盘事件监听

将程序保存到Adafruit_Python_PCA9685文件夹下，使用thonny打开运行。
如果报如下错误：

可在终端运行：

sudo chmod 777 /dev/i2c-1

暂时开放权限

操作控制如下：
“w”前进 “s”后退 “a”左转 “d”右转
“↑”舵机云台上仰 “↓”舵机云台下俯 ”←“舵机云台左转 “→”舵机云台右转

终端运行

cheese

打开摄像头

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总结

（万事开头难，路遥知马力）