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round.py
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#-*- coding:UTF-8 -*-
import RPi.GPIO as GPIO
import time
#小车电机引脚定义
IN1 = 20
IN2 = 21
IN3 = 19
IN4 = 26
ENA = 16
ENB = 13
#小车按键定义
key = 8
#循迹红外引脚定义
#TrackSensorLeftPin1 TrackSensorLeftPin2 TrackSensorRightPin1 TrackSensorRightPin2
# 3 5 4 18
TrackSensorLeftPin1 = 3 #定义左边第一个循迹红外传感器引脚为3口
TrackSensorLeftPin2 = 5 #定义左边第二个循迹红外传感器引脚为5口
TrackSensorRightPin1 = 4 #定义右边第一个循迹红外传感器引脚为4口
TrackSensorRightPin2 = 18 #定义右边第二个循迹红外传感器引脚为18口
#设置GPIO口为BCM编码方式
GPIO.setmode(GPIO.BCM)
#忽略警告信息
GPIO.setwarnings(False)
#电机引脚初始化为输出模式
#按键引脚初始化为输入模式
#寻迹引脚初始化为输入模式
def init():
global pwm_ENA
global pwm_ENB
GPIO.setup(ENA,GPIO.OUT,initial=GPIO.HIGH)
GPIO.setup(IN1,GPIO.OUT,initial=GPIO.LOW)
GPIO.setup(IN2,GPIO.OUT,initial=GPIO.LOW)
GPIO.setup(ENB,GPIO.OUT,initial=GPIO.HIGH)
GPIO.setup(IN3,GPIO.OUT,initial=GPIO.LOW)
GPIO.setup(IN4,GPIO.OUT,initial=GPIO.LOW)
GPIO.setup(key,GPIO.IN)
GPIO.setup(TrackSensorLeftPin1,GPIO.IN)
GPIO.setup(TrackSensorLeftPin2,GPIO.IN)
GPIO.setup(TrackSensorRightPin1,GPIO.IN)
GPIO.setup(TrackSensorRightPin2,GPIO.IN)
#设置pwm引脚和频率为2000hz
pwm_ENA = GPIO.PWM(ENA, 500)
pwm_ENB = GPIO.PWM(ENB, 500)
pwm_ENA.start(0)
pwm_ENB.start(0)
#小车前进
def run(leftspeed, rightspeed):
GPIO.output(IN1, GPIO.HIGH)
GPIO.output(IN2, GPIO.LOW)
GPIO.output(IN3, GPIO.HIGH)
GPIO.output(IN4, GPIO.LOW)
pwm_ENA.ChangeDutyCycle(leftspeed)
pwm_ENB.ChangeDutyCycle(rightspeed)
#小车后退
def back(leftspeed, rightspeed):
GPIO.output(IN1, GPIO.LOW)
GPIO.output(IN2, GPIO.HIGH)
GPIO.output(IN3, GPIO.LOW)
GPIO.output(IN4, GPIO.HIGH)
pwm_ENA.ChangeDutyCycle(leftspeed)
pwm_ENB.ChangeDutyCycle(rightspeed)
#小车左转
def left(leftspeed, rightspeed):
GPIO.output(IN1, GPIO.LOW)
GPIO.output(IN2, GPIO.LOW)
GPIO.output(IN3, GPIO.HIGH)
GPIO.output(IN4, GPIO.LOW)
pwm_ENA.ChangeDutyCycle(leftspeed)
pwm_ENB.ChangeDutyCycle(rightspeed)
#小车右转
def right(leftspeed, rightspeed):
GPIO.output(IN1, GPIO.HIGH)
GPIO.output(IN2, GPIO.LOW)
GPIO.output(IN3, GPIO.LOW)
GPIO.output(IN4, GPIO.LOW)
pwm_ENA.ChangeDutyCycle(leftspeed)
pwm_ENB.ChangeDutyCycle(rightspeed)
#小车原地左转
def spin_left(leftspeed, rightspeed):
GPIO.output(IN1, GPIO.LOW)
GPIO.output(IN2, GPIO.HIGH)
GPIO.output(IN3, GPIO.HIGH)
GPIO.output(IN4, GPIO.LOW)
pwm_ENA.ChangeDutyCycle(leftspeed)
pwm_ENB.ChangeDutyCycle(rightspeed)
#小车原地右转
def spin_right(leftspeed, rightspeed):
GPIO.output(IN1, GPIO.HIGH)
GPIO.output(IN2, GPIO.LOW)
GPIO.output(IN3, GPIO.LOW)
GPIO.output(IN4, GPIO.HIGH)
pwm_ENA.ChangeDutyCycle(leftspeed)
pwm_ENB.ChangeDutyCycle(rightspeed)
#小车停止
def brake():
GPIO.output(IN1, GPIO.LOW)
GPIO.output(IN2, GPIO.LOW)
GPIO.output(IN3, GPIO.LOW)
GPIO.output(IN4, GPIO.LOW)
#按键检测
def key_scan():
while GPIO.input(key):
pass
while not GPIO.input(key):
time.sleep(0.01)
if not GPIO.input(key):
time.sleep(0.01)
while not GPIO.input(key):
pass
#延时2s
time.sleep(2)
#try/except语句用来检测try语句块中的错误，
#从而让except语句捕获异常信息并处理。
try:
init()
spin_right(80,80)
time.sleep(0.305s)
except KeyboardInterrupt:
pass
pwm_ENA.stop()
pwm_ENB.stop()
GPIO.cleanup()