树莓派python编程小车_树莓派智能车AlphaBot教程11：Python 网络编程

cpp代码：import threading

import SocketServer

import RPi.GPIO as GPIO

from SocketServer import StreamRequestHandler as SRH

from AlphaBot import AlphaBot

from PCA9685 import PCA9685

from time import ctime

Ab = AlphaBot()

pwm = PCA9685(0x40)

pwm.setPWMFreq(50)

BUZ = 4

GPIO.setmode(GPIO.BCM)

GPIO.setwarnings(False)

GPIO.setup(BUZ,GPIO.OUT)

#Set the Horizontal servo parameters

HPulse = 1500 #Sets the initial Pulse

HStep = 0 #Sets the initial step length

pwm.setServoPulse(0,HPulse)

#Set the vertical servo parameters

VPulse = 1500 #Sets the initial Pulse

VStep = 0 #Sets the initial step length

pwm.setServoPulse(1,VPulse)

host = '192.168.10.235'

port = 8000

addr = (host,port)

def beep_on():

GPIO.output(BUZ,GPIO.HIGH)

def beep_off():

GPIO.output(BUZ,GPIO.LOW)

class Servers(SRH):

def handle(self):

global HStep,VStep

print 'got connection from ',self.client_address

self.wfile.write('connection %s:%s at %s succeed!' % (host,port,ctime()))

while True:

data = self.request.recv(1024)

if not data:

break

if data == "Stop":

HStep = 0

VStep = 0

Ab.stop()

elif data == "Forward":

Ab.forward()

elif data == "Backward":

Ab.backward()

elif data == "TurnLeft":

Ab.left()

elif data == "TurnRight":

Ab.right()

elif data == "Up":

VStep = -5

elif data == "Down":

VStep = 5

elif data == "Left":

HStep = 5

elif data == "Right":

HStep = -5

elif data == "BuzzerOn":

beep_on()

elif data == "BuzzerOff":

beep_off()

else:

value = 0

try:

value = int(data)

if(value >= 0 and value <= 100):

print(value)

Ab.setPWMA(value);

Ab.setPWMB(value);

except:

print("Command error")

print data

#print "recv from ", self.client_address[0]

self.request.send(data)

def timerfunc():

global HPulse,VPulse,HStep,VStep,pwm

if(HStep != 0):

HPulse += HStep

if(HPulse >= 2500):

HPulse = 2500

if(HPulse <= 500):

HPulse = 500

#set channel 2, the Horizontal servo

pwm.setServoPulse(0,HPulse)

if(VStep != 0):

VPulse += VStep

if(VPulse >= 2500):

VPulse = 2500

if(VPulse <= 500):

VPulse = 500

#set channel 3, the vertical servo

pwm.setServoPulse(1,VPulse)

global t #Notice: use global variable!

t = threading.Timer(0.02, timerfunc)

t.start()

t = threading.Timer(0.02, timerfunc)

t.setDaemon(True)

t.start()

print 'server is running....'

server = SocketServer.ThreadingTCPServer(addr,Servers)

server.serve_forever()