資源簡介
樹莓派小車利用安裝在底盤位置的三個紅外線傳感器來進行循跡行駛
代碼片段和文件信息
#!/usr/bin/python??
#?coding=utf-8??
#本段代碼實現樹莓派智能小車的循跡效果
import?RPi.GPIO?as?GPIO??
import?time??
import?sys?
?
T_SensorRight?=?26
T_SensorLeft??=?13
PWMA???=?18
AIN1???=?22
AIN2???=?27
PWMB???=?23
BIN1???=?25
BIN2???=?24
BtnPin??=?19
Gpin????=?5
Rpin????=?6
?
def?t_up(speedt_time):
????????L_Motor.ChangeDutyCycle(speed)
????????GPIO.output(AIN2False)#AIN2
????????GPIO.output(AIN1True)?#AIN1
????????R_Motor.ChangeDutyCycle(speed)
????????GPIO.output(BIN2False)#BIN2
????????GPIO.output(BIN1True)?#BIN1
????????time.sleep(t_time)
????????
def?t_stop(t_time):
????????L_Motor.ChangeDutyCycle(0)
????????GPIO.output(AIN2False)#AIN2
????????GPIO.output(AIN1False)?#AIN1
????????R_Motor.ChangeDutyCycle(0)
????????GPIO.output(BIN2False)#BIN2
????????GPIO.output(BIN1False)?#BIN1
????????time.sleep(t_time)
????????
def?t_down(speedt_time):
????????L_Motor.ChangeDutyCycle(speed)
????????GPIO.output(AIN2True)#AIN2
????????GPIO.output(AIN1False)?#AIN1
????????R_Motor.ChangeDutyCycle(speed)
????????GPIO.output(BIN2True)#BIN2
????????GPIO.output(BIN1False)?#BIN1
????????time.sleep(t_time)
def?t_left(speedt_time):
????????L_Motor.ChangeDutyCycle(speed)
????????GPIO.output(AIN2True)#AIN2
????????GPIO.output(AIN1False)?#AIN1
????????R_Motor.ChangeDutyCycle(speed)
????????GPIO.output(BIN2False)#BIN2
????????GPIO.output(BIN1True)?#BIN1
????????time.sleep(t_time)
def?t_right(speedt_time):
????????L_Motor.ChangeDutyCycle(speed)
????????GPIO.output(AIN2False)#AIN2
????????GPIO.output(AIN1True)?#AIN1
????????R_Motor.ChangeDutyCycle(speed)
????????GPIO.output(BIN2True)#BIN2
????????GPIO.output(BIN1False)?#BIN1
????????time.sleep(t_time)
????????
def?keysacn():
????val?=?GPIO.input(BtnPin)
???
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