树莓派 wifi小车制作（3）小车移动控制模块

目录
0.树莓派 wifi小车制作（0）总览
1.树莓派 wifi小车制作（1）获取手柄按键输入
2. 树莓派 wifi小车制作（2）搭建网络摄像头
3.树莓派 wifi小车制作（3）小车移动控制模块
4.树莓派wifi小车制作（4）舵机云台控制
5.树莓派 wifi小车制作（5）socket通讯连接PC与树莓派
6.树莓派wifi小车制作（6）wifi小车大功告成（附源码）

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序言

这里其实应该要贴上小车的接线图的……但是太乱了……不是很想弄，以后再说

正文

car_control.py

#!/home/pi/server
# coding=utf-8

import  RPi.GPIO as GPIO
import time

PWMA = 18
AIN1   =  22
AIN2   =  27

PWMB = 23
BIN1   = 25
BIN2  =  24
GPIO.setwarnings(False) 
GPIO.setmode(GPIO.BCM)
GPIO.setup(AIN2,GPIO.OUT)
GPIO.setup(AIN1,GPIO.OUT)
GPIO.setup(PWMA,GPIO.OUT)

GPIO.setup(BIN1,GPIO.OUT)
GPIO.setup(BIN2,GPIO.OUT)
GPIO.setup(PWMB,GPIO.OUT)
L_Motor= GPIO.PWM(PWMA,100)
L_Motor.start(0)
R_Motor = GPIO.PWM(PWMB,100)
R_Motor.start(0)

def L_motor_control(speed):
        if speed>0:
                L_Motor.ChangeDutyCycle(speed)
                GPIO.output(AIN2,False)#AIN2
                GPIO.output(AIN1,True) #AIN1
        else:
                L_Motor.ChangeDutyCycle(-speed)
                GPIO.output(AIN2,True)#AIN2
                GPIO.output(AIN1,False) #AIN1 

def R_motor_control(speed):
        if speed>0:
                R_Motor.ChangeDutyCycle(speed)
                GPIO.output(BIN2,False)#AIN2
                GPIO.output(BIN1,True) #AIN1
        else:
                R_Motor.ChangeDutyCycle(-speed)
                GPIO.output(BIN2,True)#AIN2
                GPIO.output(BIN1,False) #AIN1 



def car_up(speed,t_time):
        L_motor_control(speed)
        R_motor_control(speed)
        time.sleep(t_time)

def car_move(l_speed,r_speed,t_time):
        L_motor_control(l_speed)
        R_motor_control(r_speed)
        time.sleep(t_time)

def car_stop(t_time):
        L_motor_control(0)
        R_motor_control(0)
        time.sleep(t_time)

def main():
        try:
            while True:
                for i in range(5):
                        for j in range(5): 
                                print("l speed = ",i*10-20," r speed  = ",j*10-20)
                                car_move(i*10-20,j*10-20,1)
                car_stop(3)
        except KeyboardInterrupt:
            GPIO.cleanup()

如何运行

手动加

main()

然后运行就好