python汽车_Python 小车代码

小车底盘结构 如封面一样，两轮

前后左右 只需要控制 两个驱动轮即可。舵机是用来控制 放置摄像头云台 转动的

具体小车部分的代码

#!/usr/bin/env python

#coding: utf8

import RPi.GPIO as GPIO

import time

class Car:

LED = 37 # LED

PWM1 = 7 # PWM 调速

OUT1 = 11 # 对应 轮子

OUT2 = 13

PWM2 = 12

OUT3 = 18

OUT4 = 16

# 定义 舵机

RUDDER_GPIO = {'camera-1': 35}

RUDDER_PWM = {}

PWM_MIN = 20

PWM_OUT = [0, 0]

STATUS_GO = False

STATUS_BACK = False

# 初始化

def __init__(self):

GPIO.setmode(GPIO.BOARD)

GPIO.setup(self.LED, GPIO.OUT)

GPIO.output(self.LED, GPIO.HIGH)

GPIO.setup(self.OUT1, GPIO.OUT)

GPIO.setup(self.OUT2, GPIO.OUT)

GPIO.setup(self.OUT3, GPIO.OUT)

GPIO.setup(self.OUT4, GPIO.OUT)

GPIO.setup(sel