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147 lines
5.1 KiB
147 lines
5.1 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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#######################################
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#############信号引脚定义##############
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#######################################
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GPIO.setmode(GPIO.BCM)
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GPIO.setwarnings(False)
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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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base = BaseController('/dev/ttyAMA0', 115200)
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class CAR:
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def __init__(self):
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self.LED0 = 10 #LED0的IO口定义
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self.LED1 = 9 #LED1的IO口定义
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self.LED2 = 25 #LED2的IO口定义
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self.ENA = 13 #//L298 使能A
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self.ENB = 20 #//L298 使能B
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self.IN1 = 19 #//电机接口1
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self.IN2 = 16 #//电机接口2
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self.IN3 = 21 #//电机接口3
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self.IN4 = 26 #//电机接口4
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GPIO.setup(self.LED0, GPIO.OUT, initial=GPIO.HIGH) ##led0初始化为高电平
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GPIO.setup(self.LED1, GPIO.OUT, initial=GPIO.HIGH) ##led1初始化为高电平
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GPIO.setup(self.LED2, GPIO.OUT, initial=GPIO.HIGH) ##led2初始化为高电平
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GPIO.setup(self.ENA, GPIO.OUT, initial=GPIO.LOW) ##ENA初始化为低电平
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GPIO.setup(self.ENB, GPIO.OUT, initial=GPIO.LOW) ##ENB初始化为低电平
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GPIO.setup(self.IN1, GPIO.OUT, initial=GPIO.LOW) ##IN1初始化为低电平
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GPIO.setup(self.IN2, GPIO.OUT, initial=GPIO.LOW) ##IN2初始化为低电平
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GPIO.setup(self.IN3, GPIO.OUT, initial=GPIO.LOW) ##IN3初始化为低电平
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GPIO.setup(self.IN4, GPIO.OUT, initial=GPIO.LOW) ##IN4初始化为低电平
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def led(self):
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GPIO.output(self.LED0,False)
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GPIO.output(self.LED1,False)
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GPIO.output(self.LED2,False)###LED0,LED1,LED2 = 亮 亮 亮
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time.sleep(0.5)
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GPIO.output(self.LED0,True)
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GPIO.output(self.LED1,False)
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GPIO.output(self.LED2,False)###LED0,LED1,LED2 = 灭 亮 亮
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time.sleep(0.5)
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GPIO.output(self.LED0,False)
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GPIO.output(self.LED1,True)
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GPIO.output(self.LED2,False)###LED0,LED1,LED2 = 亮 灭 亮
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time.sleep(0.5)
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GPIO.output(self.LED0,False)
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GPIO.output(self.LED1,False)
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GPIO.output(self.LED2,True)###LED0,LED1,LED2 = 亮 亮 灭
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time.sleep(0.5)
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GPIO.output(self.LED0,False)
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GPIO.output(self.LED1,False)
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GPIO.output(self.LED2,False)###LED0,LED1,LED2 = 亮 亮 亮
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time.sleep(0.5)
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GPIO.output(self.LED0,True)
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GPIO.output(self.LED1,True)
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GPIO.output(self.LED2,True)###LED0,LED1,LED2 = 灭 灭 灭
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time.sleep(0.5)
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print("run: led")
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def led_light(self):
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GPIO.output(self.LED0,False)
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GPIO.output(self.LED1,False)
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GPIO.output(self.LED2,False)###LED0,LED1,LED2 = 亮 亮 亮
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print("run: led_light")
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def led_dark(self):
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GPIO.output(self.LED0,True)
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GPIO.output(self.LED1,True)
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GPIO.output(self.LED2,True)###LED0,LED1,LED2 = 灭 灭 灭
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print("run: led_dark")
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def stop(self): # 停止运行
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GPIO.output(self.ENA,False)
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GPIO.output(self.ENB,False)
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GPIO.output(self.IN1,False)
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GPIO.output(self.IN2,False)
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GPIO.output(self.IN3,False)
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GPIO.output(self.IN4,False)
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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(2)
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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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GPIO.output(self.ENA,True)
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GPIO.output(self.ENB,True)
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GPIO.output(self.IN1,True)
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GPIO.output(self.IN2,False)
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GPIO.output(self.IN3,True)
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GPIO.output(self.IN4,False)
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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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GPIO.output(self.ENA,True)
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GPIO.output(self.ENB,True)
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GPIO.output(self.IN1,False)
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GPIO.output(self.IN2,True)
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GPIO.output(self.IN3,True)
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GPIO.output(self.IN4,False)
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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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GPIO.output(self.ENA,True)
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GPIO.output(self.ENB,True)
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GPIO.output(self.IN1,True)
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GPIO.output(self.IN2,False)
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GPIO.output(self.IN3,False)
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GPIO.output(self.IN4,True)
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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() |