用python3实现raspberry pi(树莓派)4驱小车控制程序

目录

0. 写在前面:

1. 准备:

2. 基本思路:

3. 配置文件内容如下(文件名为:config.ini):

4. 小车控制程序(文件名为:car_controler.py):


 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:

  • 控制小车前进、后退、左转、右转、后退左转、后退右转
  • 摄像头两路舵机控制(实现摄像头上下左右旋转)
  • 网页版小车控制程序(小车控制程序、实时监控、摄像头旋转控制)
  • 微信小程序版小车控制程序(功能基本同上)

(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:

  • 给树莓派安装系统(这个网上资料太多,一搜一大把,我装的是raspbian)
  • 安装python3
  • 准备四个步进电机,电机驱动,并组装连接好(我都是在某宝上买的,电机及其组件是在“亚博智能科技”买的,驱动是在“深圳市艾尔赛科技”上买的L298N四路电机驱动)

一些可能遇到的坑:

  • 首先要注意电机驱动的输入电压,电压过低很可能无法带动电机(当然也不可过高)
  • 电机驱动输入有一个GND,这个一定要连接树莓派的一个GND输出,否则可能出现电机驱动异常(我当时遇到的情况是:手接触驱动电路中的金属电机就可以正常转动,手一松开电机就不能正常运转了)

2. 基本思路:

  • 将连接端口作为一个配置文件,该配置文件定义小车需要使用的端口
  • 控制程序读取配置文件,并实现小车的方向控制
  • 小车控制程序定义了私有的向各个方向移动的方法,然后定义一个方法接受方向参数,该方法内部再调用具体的移动方法

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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