树莓派小车，从基础上手到完整工程（二）——麦克纳姆轮

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树莓派小车

麦克纳姆轮

po一张原理图，安装的时候注意轮子方向。
我把电机控制部分的代码大致封装了一下，后续可以自行添加其他功能。
motor.py

import RPi.GPIO as GPIO
import time

class Motor:
    def __init__(self):
        # 引脚 1、2 左前 3、4 右前 5、6 右后 7、8 左后
        self.in1 = 7
        self.in2 = 11
        self.in3 = 13
        self.in4 = 15
        self.in5 = 29
        self.in6 = 31
        self.in7 = 33
        self.in8 = 35
        self.speed1 = 40
        self.speed2 = 70

        # 设置引脚编码模式
        GPIO.setmode(GPIO.BOARD)
        # 设置引脚模式
        GPIO.setup(self.in1, GPIO.OUT)
        GPIO.setup(self.in2, GPIO.OUT)
        GPIO.setup(self.in3, GPIO.OUT)
        GPIO.setup(self.in4, GPIO.OUT)
        GPIO.setup(self.in5, GPIO.OUT)
        GPIO.setup(self.in6, GPIO.OUT)
        GPIO.setup(self.in7, GPIO.OUT)
        GPIO.setup(self.in8, GPIO.OUT)
        # 初始化PWM
        self.pwm1 = GPIO.PWM(self.in1, 50)
        self.pwm2 = GPIO.PWM(self.in2, 50)
        self.pwm3 = GPIO.PWM(self.in3, 50)
        self.pwm4 = GPIO.PWM(self.in4, 50)
        self.pwm5 = GPIO.PWM(self.in5, 50)
        self.pwm6 = GPIO.PWM(self.in6, 50)
        self.pwm7 = GPIO.PWM(self.in7, 50)
        self.pwm8 = GPIO.PWM(self.in8, 50)
        self.pwm1.start(0)
        self.pwm2.start(0)
        self.pwm3.start(0)
        self.pwm4.start(0)
        self.pwm5.start(0)
        self.pwm6.start(0)
        self.pwm7.start(0)
        self.pwm8.start(0)

    def Front(self):
        self.pwm1.ChangeDutyCycle(0)
        self.pwm2.ChangeDutyCycle(self.speed1)
        self.pwm3.ChangeDutyCycle(0)
        self.pwm4.ChangeDutyCycle(self.speed1)
        self.pwm5.ChangeDutyCycle(self.speed1)
        self.pwm6.ChangeDutyCycle(0)
        self.pwm7.ChangeDutyCycle(self.speed1)
        self.pwm8.ChangeDutyCycle(0)

    def Rear(self):
        self.pwm1.ChangeDutyCycle(self.speed1)
        self.pwm2.ChangeDutyCycle(0)
        self.pwm3.ChangeDutyCycle(self.speed1)
        self.pwm4.ChangeDutyCycle(0)
        self.pwm5.ChangeDutyCycle(0)
        self.pwm6.ChangeDutyCycle(self.speed1)
        self.pwm7.ChangeDutyCycle(0)
        self.pwm8.ChangeDutyCycle(self.speed1)

    def Left(self):
        self.pwm1.ChangeDutyCycle(0)
        self.pwm2.ChangeDutyCycle(0)
        self.pwm3.ChangeDutyCycle(0)
        self.pwm4.ChangeDutyCycle(self.speed2)
        self.pwm5.ChangeDutyCycle(self.speed2)
        self.pwm6.ChangeDutyCycle(0)
        self.pwm7.ChangeDutyCycle(0)
        self.pwm8.ChangeDutyCycle(0)

    def Right(self):
        self.pwm1.ChangeDutyCycle(0)
        self.pwm2.ChangeDutyCycle(self.speed2)
        self.pwm3.ChangeDutyCycle(0)
        self.pwm4.ChangeDutyCycle(0)
        self.pwm5.ChangeDutyCycle(0)
        self.pwm6.ChangeDutyCycle(0)
        self.pwm7.ChangeDutyCycle(self.speed2)
        self.pwm8.ChangeDutyCycle(0)

    def Stop(self):
        self.pwm1.ChangeDutyCycle(0)
        self.pwm2.ChangeDutyCycle(0)
        self.pwm3.ChangeDutyCycle(0)
        self.pwm4.ChangeDutyCycle(0)
        self.pwm5.ChangeDutyCycle(0)
        self.pwm6.ChangeDutyCycle(0)
        self.pwm7.ChangeDutyCycle(0)
        self.pwm8.ChangeDutyCycle(0)        

main.py

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

GPIO.cleanup()
motor = Motor()
TestPin = 12
GPIO.setmode(GPIO.BOARD)
GPIO.setup(TestPin, GPIO.IN)

while True:
    motor.Left()
    time.sleep(2)
    motor.Right()
    time.sleep(2)