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python3小车控制程序 python3实现raspberry pi(树莓派)4驱小车控制程序

weixin_42534940 人气:0

 0. 写在前面:

一两个月前偶然得到一个树莓派一代,发现还是挺强大的,然后就考虑着自己实现一个四驱小车。因为本身是学软件的,所以利用软件来控制实实在在可见的硬件一直是自己的一个梦想。所以当时也是花了很多时间来琢磨、实验小车控制方面的东西。因为时间过去比较久了,这里也就只是记录一下当时踩过的坑、实现的一些思路以及绝大部分源代码。截止当前,我的树莓派小车实现的主要功能是:

(本文只是介绍上述的第一个功能,其他功能的实现在后续的博文中介绍)

1. 准备:

一些可能遇到的坑:

2. 基本思路:

需要说明的是:由于使用引脚的不同,以及电机安装位置的差异,所以不能保证以下程序能够直接使用。

3. 配置文件内容如下(文件名为:config.ini):

[car]
# This is the parmaters that will control the car's wheels
# The number is the interface number of GPIO (GPIO.BOARD)
LEFT_FRONT_1 = 7
LEFT_FRONT_2 = 11
 
RIGHT_FRONT_1 = 13
RIGHT_FRONT_2 = 15
 
LEFT_BEHIND_1 = 31
LEFT_BEHIND_2 = 33
 
RIGHT_BEHIND_1 = 35
RIGHT_BEHIND_2 = 37

4. 小车控制程序(文件名为:car_controler.py):

# coding=utf-8
import RPi.GPIO as GPIO
import time
import configparser
 
 
class FourWheelDriveCar():
 # Define the number of all the GPIO that will used for the 4wd car
 
 def __init__(self):
  '''
  1. Read pin number from configure file
  2. Init all GPIO configureation
  '''
  config = configparser.ConfigParser()
  config.read("config.ini")
  self.LEFT_FRONT_1 = config.getint("car", "LEFT_FRONT_1")
  self.LEFT_FRONT_2 = config.getint("car", "LEFT_FRONT_2")
 
  self.RIGHT_FRONT_1 = config.getint("car", "RIGHT_FRONT_1")
  self.RIGHT_FRONT_2 = config.getint("car", "RIGHT_FRONT_2")
 
  self.LEFT_BEHIND_1 = config.getint("car", "LEFT_BEHIND_1")
  self.LEFT_BEHIND_2 = config.getint("car", "LEFT_BEHIND_2")
 
  self.RIGHT_BEHIND_1 = config.getint("car", "RIGHT_BEHIND_1")
  self.RIGHT_BEHIND_2 = config.getint("car", "RIGHT_BEHIND_2")
 
  GPIO.setmode(GPIO.BOARD)
  GPIO.setwarnings(False)
  GPIO.setup(self.LEFT_FRONT_1, GPIO.OUT)
  GPIO.setup(self.LEFT_FRONT_2, GPIO.OUT)
  GPIO.setup(self.RIGHT_FRONT_1, GPIO.OUT)
  GPIO.setup(self.RIGHT_FRONT_2, GPIO.OUT)
  GPIO.setup(self.LEFT_BEHIND_1, GPIO.OUT)
  GPIO.setup(self.LEFT_BEHIND_2, GPIO.OUT)
  GPIO.setup(self.RIGHT_BEHIND_1, GPIO.OUT)
  GPIO.setup(self.RIGHT_BEHIND_2, GPIO.OUT)
 
 def reset(self):
  # Rest all the GPIO as LOW
  GPIO.output(self.LEFT_FRONT_1, GPIO.LOW)
  GPIO.output(self.LEFT_FRONT_2, GPIO.LOW)
  GPIO.output(self.RIGHT_FRONT_1, GPIO.LOW)
  GPIO.output(self.RIGHT_FRONT_2, GPIO.LOW)
  GPIO.output(self.LEFT_BEHIND_1, GPIO.LOW)
  GPIO.output(self.LEFT_BEHIND_2, GPIO.LOW)
  GPIO.output(self.RIGHT_BEHIND_1, GPIO.LOW)
  GPIO.output(self.RIGHT_BEHIND_2, GPIO.LOW)
 
 def __forword(self):
  self.reset()
  GPIO.output(self.LEFT_FRONT_1, GPIO.HIGH)
  GPIO.output(self.LEFT_FRONT_2, GPIO.LOW)
  GPIO.output(self.RIGHT_FRONT_1, GPIO.HIGH)
  GPIO.output(self.RIGHT_FRONT_2, GPIO.LOW)
  GPIO.output(self.LEFT_BEHIND_1, GPIO.HIGH)
  GPIO.output(self.LEFT_BEHIND_2, GPIO.LOW)
  GPIO.output(self.RIGHT_BEHIND_1, GPIO.HIGH)
  GPIO.output(self.RIGHT_BEHIND_2, GPIO.LOW)
 
 def __backword(self):
  self.reset()
  GPIO.output(self.LEFT_FRONT_2, GPIO.HIGH)
  GPIO.output(self.LEFT_FRONT_1, GPIO.LOW)
  GPIO.output(self.RIGHT_FRONT_2, GPIO.HIGH)
  GPIO.output(self.RIGHT_FRONT_1, GPIO.LOW)
  GPIO.output(self.LEFT_BEHIND_2, GPIO.HIGH)
  GPIO.output(self.LEFT_BEHIND_1, GPIO.LOW)
  GPIO.output(self.RIGHT_BEHIND_2, GPIO.HIGH)
  GPIO.output(self.RIGHT_BEHIND_1, GPIO.LOW)
 
 def __turnLeft(self):
  '''
  To turn left, the LEFT_FRONT wheel will move backword
  All other wheels move forword
  '''
  self.reset()
  GPIO.output(self.LEFT_FRONT_2, GPIO.HIGH)
  GPIO.output(self.LEFT_FRONT_1, GPIO.LOW)
  GPIO.output(self.RIGHT_FRONT_1, GPIO.HIGH)
  GPIO.output(self.RIGHT_FRONT_2, GPIO.LOW)
  GPIO.output(self.LEFT_BEHIND_1, GPIO.HIGH)
  GPIO.output(self.LEFT_BEHIND_2, GPIO.LOW)
  GPIO.output(self.RIGHT_BEHIND_1, GPIO.HIGH)
  GPIO.output(self.RIGHT_BEHIND_2, GPIO.LOW)
 
 def __turnRight(self):
  '''
  To turn right, the RIGHT_FRONT wheel move backword
  All other wheels move forword
  '''
  self.reset()
  GPIO.output(self.LEFT_FRONT_1, GPIO.HIGH)
  GPIO.output(self.LEFT_FRONT_2, GPIO.LOW)
  GPIO.output(self.RIGHT_FRONT_2, GPIO.HIGH)
  GPIO.output(self.RIGHT_FRONT_1, GPIO.LOW)
  GPIO.output(self.LEFT_BEHIND_1, GPIO.HIGH)
  GPIO.output(self.LEFT_BEHIND_2, GPIO.LOW)
  GPIO.output(self.RIGHT_BEHIND_1, GPIO.HIGH)
  GPIO.output(self.RIGHT_BEHIND_2, GPIO.LOW)
 
 def __backLeft(self):
  '''
  To go backword and turn left, the LEFT_BEHIND wheel move forword
  All other wheels move backword
  '''
  self.reset()
  GPIO.output(self.LEFT_FRONT_2, GPIO.HIGH)
  GPIO.output(self.LEFT_FRONT_1, GPIO.LOW)
  GPIO.output(self.RIGHT_FRONT_2, GPIO.HIGH)
  GPIO.output(self.RIGHT_FRONT_1, GPIO.LOW)
  GPIO.output(self.LEFT_BEHIND_1, GPIO.HIGH)
  GPIO.output(self.LEFT_BEHIND_2, GPIO.LOW)
  GPIO.output(self.RIGHT_BEHIND_2, GPIO.HIGH)
  GPIO.output(self.RIGHT_BEHIND_1, GPIO.LOW)
 
 def __backRight(self):
  '''
  To go backword and turn right, the RIGHT_BEHIND wheel move forword
  All other wheels move backword
  '''
  self.reset()
  GPIO.output(self.LEFT_FRONT_2, GPIO.HIGH)
  GPIO.output(self.LEFT_FRONT_1, GPIO.LOW)
  GPIO.output(self.RIGHT_FRONT_2, GPIO.HIGH)
  GPIO.output(self.RIGHT_FRONT_1, GPIO.LOW)
  GPIO.output(self.LEFT_BEHIND_2, GPIO.HIGH)
  GPIO.output(self.LEFT_BEHIND_1, GPIO.LOW)
  GPIO.output(self.RIGHT_BEHIND_1, GPIO.HIGH)
  GPIO.output(self.RIGHT_BEHIND_2, GPIO.LOW)
 
 def __stop(self):
  self.reset()
 
 def carMove(self, direction):
  '''
  Car move according to the input paramter - direction
  '''
  if direction == 'F':
   self.__forword()
  elif direction == 'B':
   self.__backword()
  elif direction == 'L':
   self.__turnLeft()
  elif direction == 'R':
   self.__turnRight()
  elif direction == 'BL':
   self.__backLeft()
  elif direction == 'BR':
   self.__backRight()
  elif direction == 'S':
   self.__stop()
  else:
   print("The input direction is wrong! You can just input: F, B, L, R, BL,BR or S")
 
 
if __name__ == "__main__":
 raspCar = FourWheelDriveCar()
 while(True):
  direction = input("Please input direction: ")
  raspCar.carMove(direction)

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