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104 lines
2.8 KiB
104 lines
2.8 KiB
#coding:utf-8
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import os
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import time
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import RPi.GPIO as GPIO
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from base_ctrl import BaseController
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GPIO.setmode(GPIO.BCM)
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GPIO.setwarnings(False)
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#底盘连接
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def is_raspberry_pi5():
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with open('/proc/cpuinfo', 'r') as file:
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for line in file:
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if 'Model' in line:
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if 'Raspberry Pi 5' in line:
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return True
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else:
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return False
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#云台连接
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base = BaseController('/dev/ttyAMA0', 115200)
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class CAR:
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input_x = 0
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input_y = 0
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input_speed = 0
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input_acc = 0
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def stop(self): # 停止运行
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base.send_command({"T":1,"L":0,"R":0})
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print("run: stop move")
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def Q(self): # 停止的快捷键
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self.stop()
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def q(self):
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self.stop()
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def forward(self): # 前进
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base.send_command({"T":1,"L":0.2,"R":0.2})
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time.sleep(1)
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base.send_command({"T":1,"L":0,"R":0})
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print("run: move !!!!forward")
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def W(self): # 前进的快捷键
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self.forward()
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def w(self):
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self.forward()
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def back(self): # 后退
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base.send_command({"T":1,"L":-0.2,"R":-0.2})
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time.sleep(1)
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base.send_command({"T":1,"L":0,"R":0})
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print("run: move back")
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def S(self): # 后退的快捷键
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self.back()
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def s(self):
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self.back()
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def left(self): # 左转
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base.send_command({"T":1,"L":-0.1,"R":0.1})
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time.sleep(0.3)
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base.send_command({"T":1,"L":0,"R":0})
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print("run: move left")
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def A(self): # 左转的快捷键
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self.left()
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def a(self):
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self.left()
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def right(self): # 右转
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base.send_command({"T":1,"L":0.1,"R":-0.1})
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time.sleep(0.3)
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base.send_command({"T":1,"L":0,"R":0})
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print("run: move right")
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def D(self): # 右转的快捷键
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self.right()
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def d(self):
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self.right()
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def up(self):
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self.input_y+=10
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base.gimbal_ctrl(self.input_x, self.input_y, self.input_speed, self.input_acc)
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def down(self):
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self.input_y-=10
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base.gimbal_ctrl(self.input_x, self.input_y, self.input_speed, self.input_acc)
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def yunleft(self):
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self.input_x-=10
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base.gimbal_ctrl(self.input_x, self.input_y, self.input_speed, self.input_acc)
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def yunright(self):
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self.input_x+=10
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base.gimbal_ctrl(self.input_x, self.input_y, self.input_speed, self.input_acc)
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def guiwei(self):
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self.input_x = 2
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self.input_y = 2
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self.input_speed = 0
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base.gimbal_base_ctrl(self.input_x, self.input_y, self.input_speed)
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