树莓派小车控制案例

最新推荐文章于 2024-09-09 23:28:21 发布

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最新推荐文章于 2024-09-09 23:28:21 发布

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分类专栏： 24电赛文章标签： python 开发语言

本文链接：https://blog.csdn.net/jdk12123/article/details/140911898

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为了准备2024年TI杯，本团队提前封装一些可能用到的案例

树莓派小车控制

采用L19110S模块去控制

motor.py


class Motor(object):
    
    电机操作的基类
   

    def __init__(self, gpioPinIa: int, gpioPinIb: int):
        
        self._gpioPinIa = gpioPinIa
        self._gpioPinIb = gpioPinIb

        # 设置编码方式
        GPIO.setmode(GPIO.BOARD)
        # 设置GPIO引脚
        GPIO.setup(self._gpioPinIa, GPIO.OUT)
        GPIO.setup(self._gpioPinIb, GPIO.OUT)

        # 将电机设置成待机模式
        self.setStand()

    def _setGPIO(self, pinIaMod, pinIbMod):
        
        GPIO.output(self._gpioPinIa, pinIaMod)
        GPIO.output(self._gpioPinIb, pinIbMod)

    def setStand(self):
        """
        设置电机为待机模式
        :return:
        """
        # 设置GPIO低电平，实现电机待机
        self._setGPIO(GPIO.LOW, GPIO.LOW)

    def setForeward(self):
        """
        将电机设置成正转模式
        :return:
        """
        # 设置GPIO高低电平，实现电机正转
        self._setGPIO(GPIO.HIGH, GPIO.LOW)

    def setReversal(self):
        """
        将电机设置成反转模式
        :return:
        """
        # 设置GPIO低高电平，实现电机反转
        self._setGPIO(GPIO.LOW, GPIO.HIGH)

    def stop(self):
        """
        电机停止工作
        :return:
        """
        # 设置GPIO高电平，实现电机停止工作
        self._setGPIO(GPIO.HIGH, GPIO.HIGH)

    @staticmethod
    def close():
        """
        释放所有已经使用过的GPIO
        :return:
        """
        GPIO.cleanup()

main.py

import time
import RPi.GPIO as GPIO
from Motor import Motor

# 定义四个电机对应的 GPIO 引脚
pinMap = {
    'left_rear': (12, 16),
    'left_front': (11, 15),
    'right_rear': (36, 38),
    'right_front': (35, 37)
}


def forward(motors):
    motors['left_rear'].setForeward()
    motors['right_rear'].setForeward()
    motors['left_front'].setForeward()
    motors['right_front'].setForeward()


def backward(motors):
    motors['left_rear'].setReversal()
    motors['right_rear'].setReversal()
    motors['left_front'].setReversal()
    motors['right_front'].setReversal()


def turn_left(motors):
    motors['left_rear'].setReversal()
    motors['right_rear'].setForeward()
    motors['left_front'].setReversal()
    motors['right_front'].setForeward()


def turn_right(motors):
    motors['left_rear'].setForeward()
    motors['right_rear'].setReversal()
    motors['left_front'].setForeward()
    motors['right_front'].setReversal()


def testCarControl():
    # 实例化四个电机对象
    motors = {}
    for motor_name, pins in pinMap.items():
        motor = Motor(pins[0], pins[1])
        motors[motor_name] = motor

    # 前进
    forward(motors)
    time.sleep(2)

    # 后退
    backward(motors)
    time.sleep(2)

    # 直走
    motors['left_rear'].setForeward()
    motors['right_rear'].setForeward()
    motors['left_front'].setReversal()
    motors['right_front'].setReversal()
    time.sleep(5)

    # 左转
    turn_left(motors)
    time.sleep(5)

    # 右转
    turn_right(motors)
    time.sleep(5)

    # 停止
    for motor in motors.values():
        motor.stop()

    # 释放 GPIO 资源
    for motor in motors.values():
        motor.close()


if __name__ == '__main__':
    testCarControl()