本文章为树莓派后台小车代码,前台代码可以自由选取
小车代码为:
import RPi.GPIO as GPIO
import time
GPIO.setmode(GPIO.BOARD)
m1_fwd = 12
m1_rev = 11
m2_fwd = 13
m2_rev = 15
red_left = 07
red_right = 16
trip = 38
echo = 37
def init():
GPIO.setup(m1_fwd,GPIO.OUT)
GPIO.setup(m1_rev,GPIO.OUT)
GPIO.setup(m2_fwd,GPIO.OUT)
GPIO.setup(m2_rev,GPIO.OUT)
def stop():
GPIO.output(m1_fwd,False)
GPIO.output(m1_rev,False)
GPIO.output(m2_fwd,False)
GPIO.output(m2_rev,False)
GPIO.cleanup()
def fwd():
GPIO.output(m1_fwd,GPIO.HIGH)
GPIO.output(m1_rev,GPIO.LOW)
GPIO.output(m2_fwd,GPIO.HIGH)
GPIO.output(m2_rev,GPIO.LOW)
GPIO.cleanup()
def rev():
GPIO.output(m1_fwd,GPIO.LOW)
GPIO.output(m1_rev,GPIO.HIGH)
GPIO.output(m2_fwd,GPIO.LOW)
GPIO.output(m2_rev,GPIO.HIGH)
GPIO.cleanup()
def right():
GPIO.output(m1_fwd,GPIO.HIGH)
GPIO.output(m1_rev,GPIO.LOW)
GPIO.output(m2_fwd,False)
GPIO.output(m2_rev,False)
GPIO.cleanup()
def left():
GPIO.output(m1_fwd,False)
GPIO.output(m1_rev,False)
GPIO.output(m2_fwd,GPIO.HIGH)
GPIO.output(m2_rev,GPIO.LOW)
GPIO.cleanup()
def get_distance():
GPIO.setup(trip,GPIO.OUT)
GPIO.setup(echo,GPIO.IN)
GPIO.output(trip,GPIO.HIGH)
time.sleep(0.000015)
GPIO.output(trip,GPIO.LOW)
while not GPIO.input(echo):
pass
t1 = time.time()
while GPIO.input(echo):
pass
t2 = time.time()
return (t2-t1)*34300/2
def turnaround():
GPIO.setup(red_left,GPIO.IN)
GPIO.setup(red_right,GPIO.IN)
while GPIO.input(red_left) and GPIO.input(red_right)==0:
rev()
if GPIO.input(red_left)==1:
left(1)
else:
right(1)
GPIO.cleanup()
while True:
distance = get_distance()
time.sleep(0.5)
if distance > 20:
fwd()
elif distance == 20:
stop()
else:
stop()
turnaround()