中级实训，智能小车所用Python

最新推荐文章于 2024-07-26 16:42:35 发布

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最新推荐文章于 2024-07-26 16:42:35 发布

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本文链接：https://blog.csdn.net/qq_33826977/article/details/52634920

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#!/usr/bin/env python
#coding=utf-8
import httplib, urllib, base64,cv2,os
from PIL import Image, ImageDraw
from scipy.misc import imread
from time import sleep
import cv2.cv as cv
import picamera
class lcd1602:
    # commands
    LCD_CLEARDISPLAY        = 0x01
    LCD_RETURNHOME          = 0x02
    LCD_ENTRYMODESET        = 0x04
    LCD_DISPLAYCONTROL      = 0x08
    LCD_CURSORSHIFT         = 0x10
    LCD_FUNCTIONSET         = 0x20
    LCD_SETCGRAMADDR        = 0x40
    LCD_SETDDRAMADDR        = 0x80

    # flags for display entry mode
    LCD_ENTRYRIGHT      = 0x00
    LCD_ENTRYLEFT       = 0x02
    LCD_ENTRYSHIFTINCREMENT     = 0x01
    LCD_ENTRYSHIFTDECREMENT     = 0x00

    # flags for display on/off control
    LCD_DISPLAYON       = 0x04
    LCD_DISPLAYOFF      = 0x00
    LCD_CURSORON        = 0x02
    LCD_CURSOROFF       = 0x00
    LCD_BLINKON         = 0x01
    LCD_BLINKOFF        = 0x00

    # flags for display/cursor shift
    LCD_DISPLAYMOVE     = 0x08
    LCD_CURSORMOVE      = 0x00

    # flags for display/cursor shift
    LCD_DISPLAYMOVE     = 0x08
    LCD_CURSORMOVE      = 0x00
    LCD_MOVERIGHT       = 0x04
    LCD_MOVELEFT        = 0x00

    # flags for function set
    LCD_8BITMODE        = 0x10
    LCD_4BITMODE        = 0x00
    LCD_2LINE           = 0x08
    LCD_1LINE           = 0x00
    LCD_5x10DOTS        = 0x04
    LCD_5x8DOTS         = 0x00

    def __init__(self, pin_rs=14, pin_e=15, pins_db=[17, 18, 27, 22], GPIO = None):
        # Emulate the old behavior of using RPi.GPIO if we haven't been given
        # an explicit GPIO interface to use
        if not GPIO:
            import RPi.GPIO as GPIO
        self.GPIO = GPIO
        self.pin_rs = pin_rs
        self.pin_e = pin_e
        self.pins_db = pins_db
        self.GPIO.setmode(GPIO.BCM)
        self.GPIO.setwarnings(False)
        self.GPIO.setup(self.pin_e, GPIO.OUT)
        self.GPIO.setup(self.pin_rs, GPIO.OUT)  
        for pin in self.pins_db:
                self.GPIO.setup(pin, GPIO.OUT)
        self.write4bits(0x33) # initialization
        self.write4bits(0x32) # initialization
        self.write4bits(0x28) # 2 line 5x7 matrix
        self.write4bits(0x0C) # turn cursor off 0x0E to enable cursor
        self.write4bits(0x06) # shift cursor right
        self.displaycontrol = self.LCD_DISPLAYON | self.LCD_CURSOROFF | self.LCD_BLINKOFF
        self.displayfunction = self.LCD_4BITMODE | self.LCD_1LINE | self.LCD_5x8DOTS
        self.displayfunction |= s